7.3.3. SYNC communication .................................................................................................... 38
7.3.4. Emergency object ........................................................................................................... 38
7.4. Communication disconnection detection function ................................................................... 39
7.4.1. Heartbeat Consumer ...................................................................................................... 39
7.4.2. Heartbeat producer ......................................................................................................... 39
7.4.3. Node Guarding ............................................................................................................... 40
7.4.4. NMT Boot-up .................................................................................................................. 40
8. Example communication .................................................................................................................. 41
8.1. ASYNC communication ........................................................................................................... 41
8.2. SYNC communication ............................................................................................................. 43
9. Specifications ................................................................................................................................... 46
9.1. Data and operating specification ............................................................................................. 46
9.2. CANopen device specification ................................................................................................. 46
9.3. Connecting of CANopen communication option...................................................................... 47
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