diff --git a/ingenialink/drive_context_manager.py b/ingenialink/drive_context_manager.py
index ce214ae1..a87dcdbe 100644
--- a/ingenialink/drive_context_manager.py
+++ b/ingenialink/drive_context_manager.py
@@ -5,6 +5,7 @@
 
 from ingenialink.dictionary import CanOpenObject
 from ingenialink.enums.register import RegAccess
+from ingenialink.ethercat.servo import EthercatServo
 from ingenialink.exceptions import ILIOError
 from ingenialink.register import Register
 from ingenialink.servo import RegisterAccessOperation, Servo
@@ -185,6 +186,8 @@ def _store_register_data(self) -> None:
                 self._original_register_values[axis][uid] = register_value
 
     def _store_objects_data(self) -> None:
+        if not isinstance(self.drive, EthercatServo):
+            return
         for obj in self.drive.dictionary.all_objs():
             uid = obj.uid
             # Always read the rpdo/tpdo map objects using complete access
diff --git a/ingenialink/servo.py b/ingenialink/servo.py
index a763c00e..3ff48322 100644
--- a/ingenialink/servo.py
+++ b/ingenialink/servo.py
@@ -1420,7 +1420,7 @@ def read_complete_access(
             buffer_size: Size of the buffer to read.
 
         Raises:
-            ValueError: if buffer size is not specified or cannot be detected
+            ValueError: if buffer size is not specified or cannot be detected for EthercatRegister.
             TypeError: if the register is not a CanopenRegister or EthercatRegister.
 
         Returns:
@@ -1434,14 +1434,17 @@ def read_complete_access(
             _reg = reg.registers[0]
             buffer_size = reg.byte_length
 
-        if buffer_size is None:
-            raise ValueError(
-                "Buffer size must be specified for complete access read."
-                "Alternatively, use a CanOpenObject to infer the size required "
-                "automatically."
-            )
+        if isinstance(_reg, EthercatRegister):
+            if buffer_size is None:
+                raise ValueError(
+                    "Buffer size must be specified for complete access read."
+                    "Alternatively, use a CanOpenObject to infer the size required "
+                    "automatically."
+                )
+            value = self._read_raw(reg=_reg, buffer_size=buffer_size, complete_access=True)
+        else:
+            value = self._read_raw(reg=_reg)
 
-        value = self._read_raw(_reg, buffer_size=buffer_size, complete_access=True)
         self._notify_register_update_complete_access(
             _reg, value, operation=RegisterAccessOperation.READ
         )