Hello Clement,
you should be able to call the SDO functions, but they must NOT be
called from the cyclic task thread. AFAIR, they are blocking and they
need several cyclic task thread cycles to execute.
Best regards,
Ian
On 5/16/24 17:56, Clement Gaspard wrote:
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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
clement.gasp...@u-bordeaux.fr <mailto:clement.gasp...@u-bordeaux.fr>
Département Mécatronique | ENS Rennes
clement.gasp...@ens-rennes.fr <mailto:clement.gasp...@ens-rennes.fr>
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