def on_read_settings_pressed(self, widget, data=None):     
     import subprocess
     
     #slave position
     self.widgets.slave_position_label.set_text(self.widgets.slave_position.get_text())
     
     #encoder internal / external
     read_encoder = "ethercat -p {0}".format(self.widgets.slave_position.get_text()) + " upload --type uint8 0x8012 0x08"
     encoder = subprocess.check_output(read_encoder, shell=True)    
     print(encoder)     
     self.widgets.encoder_label.set_text(encoder)       
     
     #invert input 1
     read_drive_input_1 = "ethercat upload -p {0}".format(self.widgets.slave_position.get_text()) + " -t uint8 0x8012 0x30"
     invert_input_1 = subprocess.check_output(read_drive_input_1, shell=True)    
     print(invert_input_1)     
     self.widgets.invert_input_1_label.set_text(invert_input_1)     
     
     #invert input 2 
     read_drive_input_2 = "ethercat upload -p {0}".format(self.widgets.slave_position.get_text()) + " -t uint8 0x8012 0x31"
     invert_input_2 = subprocess.check_output(read_drive_input_2, shell=True)    
     print(invert_input_2)     
     self.widgets.invert_input_2_label.set_text(invert_input_2)   
     
     #microstep 
     read_motor_microstep = "ethercat upload -p {0}".format(self.widgets.slave_position.get_text()) + " -t uint8 0x8012 0x45"
     microstep = subprocess.check_output(read_motor_microstep, shell=True)    
     print(microstep)     
     self.widgets.microstep_label.set_text(microstep)    
     
     #voltage  
     read_motor_voltage = "ethercat -p {0}".format(self.widgets.slave_position.get_text()) + " upload --type uint16 0x8010 0x03"
     voltage = subprocess.check_output(read_motor_voltage, shell=True)    
     print(voltage)     
     self.widgets.voltage_label.set_text(voltage)    
     
     #current
     read_motor_current = "ethercat -p {0}".format(self.widgets.slave_position.get_text()) + " upload --type uint16 0x8010 0x01"
     current = subprocess.check_output(read_motor_current, shell=True)    
     print(current)     
     self.widgets.current_label.set_text(current)     
         
  def on_write_settings_pressed(self, widget, data=None): 
	 #set slave position
     self.widgets.slave_position_label.set_text(self.widgets.slave_position.get_text())
	 #set encoder
     os.system  ("ethercat -p {0}".format(self.widgets.slave_position.get_text()) + " download --type uint8 0x8012 0x08 {0}".format(self.widgets.set_encoder.get_text()) )
	 #set invert input 1
     os.system  ("ethercat -p {0}".format(self.widgets.slave_position.get_text()) + " download --type uint8 0x8012 0x30 {0}".format(self.widgets.set_invert_input_1.get_text()) )
	 #set invert input 2
     os.system  ("ethercat -p {0}".format(self.widgets.slave_position.get_text()) + " download --type uint8 0x8012 0x31 {0}".format(self.widgets.set_invert_input_2.get_text()) )
	 #set microstep
     os.system  ("ethercat -p {0}".format(self.widgets.slave_position.get_text()) + " download --type uint8 0x8012 0x45 {0}".format(self.widgets.set_microstep.get_text()) )
	 #set voltage 
     os.system  ("ethercat -p {0}".format(self.widgets.slave_position.get_text()) + " download --type uint16 0x8010 0x03 {0}".format(self.widgets.set_voltage.get_text()) )
     #set current
     os.system  ("ethercat -p {0}".format(self.widgets.slave_position.get_text()) + " download --type uint16 0x8010 0x01 {0}".format(self.widgets.set_current.get_text()) )