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CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------
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Acyclic synchronous
For the TxPDO object, after receiving an object from the SYNC producer,
the CAN-8123/CAN-8223/CAN-8423 will respond with a pre-defined TxPDO
message to the PDO consumers. For the RxPDO object, the
CAN-8123/CAN-8223/CAN-8423 needs to receive the SYNC objects to
actuate the RxPDO object, which is received before the SYNC object. The
following figures indicate how the acyclic synchronous transmission type works
on the RxPDO and the TxPDO.