Re: [etherlab-users] Accessing same PDO for both read and write

On Jan 23, 2013, at 11:21 PM, Graeme Foot wrote: Hi, I don't know the answer to the question, but as a workaround you could set up reading the value via PDO and write the value via an SDO. Writing via SDOs take approx 30ms for CoE. Regards, Graeme. From:

Re: [etherlab-users] Accessing same PDO for both read and write

For some odd reason I didn't receive the message below, only the replies. But in any case: I haven't tested this myself, but I think you can still use it as read/write from a single domain. Remember that the EtherCAT main loop consists of: 1. Read previously received incoming packet.

Re: [etherlab-users] Accessing same PDO for both read and write

Hi Graeme, thanks for the advices! We are going to try the safe for real time SDO approach. However I have looked at ecrt_slave_config_reg_pdo_entry() implementation and adding some kind of Rx/Tx distinguishing flag should be relatively simple because sync_configs[] already know whether it