Is it possible to use one servo motor as both spindle and C-axis using Ethercat?

Hi,everyone.I'm developing a machine,which need using one servo motor as both spindle and C-axis,and it's controlled by ethercat.I dont know how to make it using linuxcnc-ethercat.By reading the doc of cia402 component ,it seems to be unavailable to switch from csp mode to csv mode in realtime ,does anyone know how to make it done ? Thanks

I suggested to ask in the Ethercat section as it did not seem to attract the usual Ethercat users.
If you could move the original thread
forum.linuxcnc.org/38-general-linuxcnc-q...indle-to-axis#304650
over to the EtherCAT section and delete this one then that would be much better.
Thanks

Hi,tommy,I just followed the Aciera's suggestion to post in the Ethercat section ,to see if there will be more infomation about achiving to make a ethercat controlled servo motor as both spindle and C-axis,sorry for any inconvinience.