changing ethercat SDOs using user panel

is it posible to change drives SDOs using user panel ?
i mean, sending a comand using hal 
for example :
a button that sends this comand :

Maybe....

You can set buttons that set a HAL pin to run MDI commands, then the MDI command can be a user-defined M-code that can be any executable file. It's a bit convoluted, but it works.
linuxcnc.org/docs/stable/html/config/ini....html#_halui_section
and
linuxcnc.org/docs/stable/html/gcode/m-code.html#mcode:m100-m199

Alternatively the GladeVCP and probably QTVCP allow you to embed code directly in the button.
linuxcnc.org/docs/stable/html/gui/gladev...on_widgets_reference
And, any normal UI element can call handler code in the backend file to do the same thing, possibly with the Python os.system("ethercat upload -t int32 -p 0 0x2001 0 0")

Or, you could use a custom HAL component (I wuld probably use Python Userspace) that has HAL pins that connect to the buttons and sends the commands when the pin values change. This approach would (probably) work best for physical hardware buttons, though the MDI_COMMAND approach can also work that way.

My understanding is in the ethercat world SDOs are set on startup and PDOs can be dynamically changed.
So it not possible to change SDOs at runtime

Thank you. It will help for sure.

The idea came to my mind after i find this :
github.com/sittner/linuxcnc-ethercat/blo...c/lcec_deasda.c#L175
Ecrt_slave_config_sdo8
Changes 0x6060 sdo in delta asda c file.

these lines are executed at config time (preop state), in front of starting the realtime thread (op state) .

You can readout sdos per terminal everytime, for writing there is more complex code needed.

github.com/steup-engineering/linuxcnc-et.../lcec_class_rt_sdo.c

github.com/steup-engineering/linuxcnc-et.../src/lcec_nanopd4e.c

this is an slave, where i added all neccesary pdos for drive tuning/setup , to change them online from lcnc.

With etherlab master you have to know which sdos you want to access and must add memory addresses for them at setup state....