 // SYNC
 //******
 void sync(void) {
-  CAN.sendMsgBuf(0x80, 1, pdo_sync);
+  CAN.sendMsgBuf(0x80, 0, 1, pdo_sync);
 }
 
 //*******************

unsigned char disable_epos[8] = {0x2B, 0x40, 0x60, 0, 0x06, 0, 0, 0};

// PDO Configuration
unsigned char pdo_sync[1] = {0};

unsigned char pdo_actual_position_1[8] = {0x22, 0x02, 0x18, 0x01, 0x81, 0x03, 0, 0};
unsigned char pdo_actual_position_2[8] = {0x22, 0x02, 0x18, 0x02, 0x01, 0, 0, 0};


float currentDataRead()
{
  current_data = 0;
  unsigned char len = 0;
  unsigned char buf[8];

// clear the string:
  sync();

  if (CAN_MSGAVAIL == CAN.checkReceive())           // check if data coming
  {
