START
115200, baud rate, from 1200,2400 ~ 57600,115200
N, N=No Parity, E=EVEN, O=ODD
1, 1=one STOP bit, 2=two STOP bits
100, TimeOut for Modbus command, format=Dec, valid=[0 ~ 255], unit=0.01 sec, 0.01x100=1 sec, max=2.55 sec
0, delay in the end of Modbus command, format=Dec, valid=[0 ~ 255], unit=0.01 sec, max=2.55 sec
0, InTxPdoMax/2, format=Dec, valid=[0 ~ 128], default=0=Auto
0, OutRxPdoMax/2, format=Dec, valid=[0 ~ 128], default=0=Auto
3 0 0 0 0 0 0, 7 Reserved, format=Hex, default=0,CtrlX[0]=03=Ext_Sync_Start
5, five commands(00-04), max=300, format=Dec
01 01 00 00 00 08, 02, 00, 00, InTxPdo[02]=D/O read back, update cyclically, (00)
01 02 00 00 00 08, 03, 00, 00, InTxPdo[03]=D/I, update cyclically, (01)
01 01 00 40 00 07, 04, 00, 00, InTxPdo[04]=D/I_Latch_High, update cyclically, (02)
01 0F 00 00 00 08 01 00, 02, 00, 00, D/O=OutTxPdo[2], update cyclically, (03)
01 01 00 00 00 08, 05, 00, 00, InTxPdo[05]=D/O read back, update cyclically, (04)
STOP
==========================================================================
OutRxPdo[00]=2610CTL0, OutRxPdo[01]=2610SYS1, OutRxPdo[02..FF]=Out[02..FF] 
InTxPdo[00]=2610SYS0,  InTxPdo[01]=2610SYS1,  InTxPdo[02..FF]=In[02..FF] 
==========================================================================

OutRxPdo[00]=2610CTL0
Host set 2610CTL0.bit4=High to Enable the Ext_Sync mechanism
Host set 2601CTL0.bit5=High to Start one Ext_Sync operation
Host set 2601CTL0.bit5=Low to Stop this Ext_Sync operation

InTxPdo[00]=2610SYS0
2610 set 2610SYS0.bit5=High to indicate Ext_Sync_commands are executed
2610 set 2610SYS0.bit5=Low  to indicate Ext_Sync_commands are end



======== assume CtrlX[0]=Sync_Start=03 ==========
CtrlX[0]=Sync_Start=3 	--> normal scan = 00,01,02,00,01,02,....,00,01,02,...
CtrlX[0]=Sync_Start=3 	--> Ext_Sync scan = 00,01,02,03,04,00,01,02,03,04....,00,01,02,03,04...
[00,01,02] = normal_commands = always scan
[03,04] = Ext_Sync_commands = scan when 2610CTRL0.bit5 is High
when [03,04] are executed, 2610 will set 2610SYS0.bit5 to High
when [03,04] are end, 2610 will set 2610SYS0.bit5 to Low



======== assume CtrlX[0]=Sync_Start=04 ==========

CtrlX[0]=Sync_Start=4--> normal scan = 00,01,02,03,00,01,02,03,....,00,01,02,03,...
CtrlX[0]=Sync_Start=4--> Ext_Sync scan = 00,01,02,03,04,00,01,02,03,04....,00,01,02,03,04...
[00,01,02,03] = normal_commands = always scan
[04] = Ext_Sync_command = scan when 2610CTRL0.bit5 is High
when [04] are executed, 2610 will set 2610SYS0.bit5 to High
when [04] are end, 2610 will set 2610SYS0.bit5 to Low