Hello, Franck, Thank you very much! I came to the same to same conclusion as you, focusing on instead changing the state of the ethercat master (even made another thread about it, which now needs to be updated: https://developer.community.boschrexroth.com/t5/ctrlX-WORKS/Switching-the-ethercatmaster-between-states/m-p/56395#M618 ), and I also used the CXA_EthercatMaster library to great effect 🙂 I will keep this thread "unresolved" just in case we find a solution directly on the CytroPac/Box.
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