Module sync 

Synchronisation object (SYNC) — the network heartbeat for synchronous communication (CiA 301 §7.2.5).

SYNC is a high-priority, broadcast frame produced periodically by a single node (the SYNC producer). It carries no addressed data: consumers act on its arrival — sampling inputs, applying synchronous RPDOs, transmitting synchronous TPDOs. The frame is empty by default, or carries a single counter byte when the producer’s synchronous-counter-overflow value (object 0x1019) is set to 2..=240.

The default COB-ID is 0x080 (SYNC_COB_ID), configurable via object 0x1005.

Structs

SyncCounter

The counter for a SYNC producer (CiA 301 §7.2.5.2.1).

Constants

SYNC_COB_ID

The default SYNC COB-ID (0x080), configurable via object 0x1005.

Functions

decode

Decode a received SYNC frame’s data field.

encode_counter

The data field of a counting SYNC carrying count.

is_valid_counter_overflow

Whether a synchronous-counter-overflow value (object 0x1019) is valid: 0 disables the counter (empty SYNC), and 2..=240 enables a counting SYNC. The value 1 is reserved.