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

[ mailto:clement.gasp...@u-bordeaux.fr |   clement.gasp...@u-bordeaux.fr   ] 
        Département Mécatronique | ENS Rennes 
[ mailto:clement.gasp...@ens-rennes.fr | clement.gasp...@ens-rennes.fr  ] 
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