Synchronization Object (Sync) - Delta ASDA-A3 Series User Manual

CANopen Mode

12.2.2.4 Synchronization object (SYNC)

The Synchronization objects (SYNCs) are periodically broadcast by the SYNC producer.
12 There is no data in the SYNC packet (L = 0).
The SYNC protocol is as follows:
Request
The SYNC object is used to achieve PDO transmission and reception synchronization between
the controller and servo drive. The SYNC object transmission cycle is set by the object OD 1006h
(see Section 12.4 for detailed settings).
The following figure shows the timing sequence between the servo drive RxPDO reception and
the controller SYNC transmission. The controller transmits RxPDO to the servo drive between
two SYNCs (communication cycle), and the servo drive will not execute the RxPDO received in
the previous communication cycle until it receives the SYNC.
SYNC
Message
12-12
SYNC producer
(controller)
Communication cycle
Objects mapped
in synchronous
RxPDO
Execute the
synchronous
mapped RxPDO
received in the
previous cycle
SYNC consumer
Write SYNC
Data size L = 0
SYNC
Message
Execute the
synchronous
mapped RxPDO
received in the
previous cycle
(servo drive)
Indication
Indication
Indication
Objects mapped
in synchronous
RxPDO
ASDA-A3