Callback on a periodic RPDO transmit?

[BCMicBem]

Hello,
I have an entry in the OD that needs to be incremented with each RPDO1 transmission ("Lifetime"). The entry is mapped into the said RPDO1.
How can I get notified that the RPDO1 was transmitted by the task started with
node.rpdo[1].start(0.200)
for instance?
The callback
node.rpdo[1].add_callback(OnRPDO1)
does not work as neither
node.network.subscribe(node.rpdo[1].cob_id, OnRPDO1)
does.
Any hints?

Thank you very much for your excellent work!

[acolomb]

There's no such functionality built into the library. The mechanisms you describe are for receiving messages only.

I'd recommend to not use the automatic PDO timer transmission thread in your case. For advanced cases where the data needs to change on your application level, it is much easier to set that up however it best integrates into your application (e.g. an independent timer thread that calls a function). From that application routine, you then just call node.rpdo[1].transmit() after adjusting the necessary values.

Note that especially if you use the SYNC protocol, the integrated timer thread mechanism does not have any connection to that. It just runs on its own independent schedule.