Servo torque and input read in EtherCAT at Cyclic mode
Shaked Kalo
Jul-17th, 2023 8:49

To read torque in Cyclic mode one can use EtherCAT SDO Read.

the SDO index of torque is H6007.

SDO Subindex is 0.

Number of bytes to read is 2.

for digital input reading, one can use a different index.

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