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If you want to build a ship don't herd people together to collect wood and don't assign them tasks and work, but rather teach them to long for the endless immensity of the sea. (Antoine-Marie-Roger de Saint-Exupéry)

Time driven

In the time driven communication method a TPDO is transmitted on a fixed time basis, the Event Timer. The Event Timer for a TPDO is specified in milliseconds.

While on one hand the time driven communication method simplifies performance, bandwidth and latency calculations, on the other, it produces more overhead than the event driven communication since data will get transmitted even if it did not change at all.