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. There
12
is no data in the SYNC packet (L = 0).
The SYNC protocol is as follows:
Request
The SYNC object is used to achieve the synchronization of PDO transmission and reception
between the controller and servo drive. The SYNC object transmission cycle is set by the object
OD 1006h (see Section 12.4 Object dictionary 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
mapped objects in
the synchronous
RxPDO received
in the previous
cycle
SYNC consumer
Write SYNC
Data length (L) = 0
SYNC
message
Execute the
mapped objects in
the synchronous
RxPDO received
in the previous
cycle
(servo drive)
Indication
Indication
Indication
Objects mapped in
synchronous RxPDO
ASDA-A3