SYNC
SYNC object is a broadcast message sent by one of the devices in the bus (normally the master) to provide synchronization to the network and to allow coordination between nodes. The nodes could be programmed to return any variable (actual position, etc) by means of TPDO at reception of SYNC object. The SYNC object has no data.
Controllers based on emcl are able also to generate SYNC messages. The cycle period of transmission is specified using Communication cycle period (object 0x1006).
Example of SYNC:
COB-ID (hex) | Number of Bytes | Data field (hex) | Description |
|---|---|---|---|
80 | 0 | - | Producer sends a SYNC message to all bus nodes. |