[Etherlab-users] Read/Write SDO during cyclic task

Fri May 17 02:27:37 CEST 2024

There’s basically two different ways to interact with SDOs once the cyclic task is running:

 1.  You can continue to use ecrt_master_sdo_download/upload, but only from a non-cyclic thread.
 2.  You can use ecrt_slave_config_create_sdo_request to create one or more cyclic request objects (in advance before starting cyclic operation), then the ecrt_sdo_request_* functions to interact with them (set up, kick it off, check status, collect results) from the cyclic thread.  These are non-blocking and polled, so you need to check them every cycle while a request is in progress.

Gavin Lambert

Software Engineer

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From: Etherlab-users <etherlab-users-bounces at etherlab.org> On Behalf Of Clement Gaspard
Sent: Friday, May 17, 2024 3:56 AM
To: etherlab-users <etherlab-users at etherlab.org>
Subject: [Etherlab-users] Read/Write SDO during cyclic task

Good afternoon everyone,

I am controlling ZeroErr eRob Actuators using the IgH EtherCAT Master from the stable-1.5 branch.

I have defined Tx and Rx PDO registers to read/write informations during the cyclic task.

However, is it possible to use SDO download and upload while the cyclic task is running?

If not, what is the best way to consult SDO information in the shortest possible time?

(I have tried to use ecrt_master_sdo_upload and ecrt_master_sdo_download during the cyclic task without much success. However, it works if I use these functions before calling ecrt_master_activate.)

For example, I would like to know the temperature of the drive regularly (only accessible via SDO and not PDO mappable as described in the actuator documentation).

Thank you very much in advance.

Best regards,

---------------------------------
Clément GASPARD
[cid:image001.jpg at 01DAA84D.47AF7440]

Equipe Rhoban - Dpt Méthodes et Modèles Formels | LaBRI - Université de Bordeaux

[cid:image002.png at 01DAA84D.47AF7440]clement.gaspard at u-bordeaux.fr <mailto:clement.gaspard at u-bordeaux.fr>

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Département Mécatronique | ENS Rennes

[cid:image002.png at 01DAA84D.47AF7440]clement.gaspard at ens-rennes.fr <mailto:clement.gaspard at ens-rennes.fr>

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