Read SDOs?

Is it possible to read an SDO, and have it allocated to a halPin in the xml for testing purposes?

If so, what is the code?
Or is there some other mechanism for reading SDOs?

I can see plenty examples where SDOs are written to (sdoConfig), but can't find anything for reading them.

Per default sdo communication is not possible after the realtime thread is started. (ethercat op state)

You can send sdo data from the config_xml to setup registers or drives data, but this happens in init/preop state in front of pdo mapping etc..

You can read and write sdo that are not mapped to pdos from the terminal with ethercat download and upload.

The only way to get acces to sdo data from lcec is to code this in an lcec device driver. You can look at the source from the class_ax5xxx.c or in stoeber servo drive.