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Synchronous network behavior can be achieved with the SYNC
protocol. The cyclically transmitted SYNC message indicates
to the consumers to start their application-specific behavior,
which is coupled to the reception of the SYNC message. Synchronous
PDOs use the SYNC message as triggering event for PDO transmission
respectively as indication for switching the data valid, which
has been received previous to the SYNC message.
The SYNC protocol uses a producer/consumer
communication coherence. There is one SYNC producer and several
SYNC consumers. In case a device supports the SYNC consumer
capability, this functionality can be switched on in the COB-ID
entry for the SYNC object (1005h). Furthermore this entry provides
the CAN-Identifier for the SYNC message. All consumers need
to assign the same CAN-Identifier to that COB-ID entry. Furthermore
they indicate the consumer functionality in bit 30.
Devices implemented according to CANopen CiA 301 Version 4.1
and higher may support a SYNC message, which provides a SYNC
counter value. This counter value enables an adjustment of the
synchronous behavior of different devices in the same network.
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