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:[email protected] | [email protected] ]
Département Mécatronique | ENS Rennes
[ mailto:[email protected] | [email protected] ]
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