In CANopen specification there is an object called Communication Cycle Priod [1006h]. This is the time interval between two consecutive SYNC objects. There is also another object called Synchronous Window Length [1007h]. I cannot get these two parameters real-world interpretations. This synchronous window length is for a synchronization interval between nodes? After receving a SYNC object, all nodes are used it as an trigger for update their output values and accept new input from bus? For example, if my control loop wait updated values in each 1 mS, then what should I set my 1006h and 1007h values? Is there a rule for 1006h and 1007h values?