 
 float currentDataRead()
 {
+  current_data = 0;
   unsigned char len = 0;
   unsigned char buf[8];
 
 // clear the string:
-  CAN.sendMsgBuf(0x601, 0, 8, get_actual_current);
-  delay(10);
+  sync();
 
   if (CAN_MSGAVAIL == CAN.checkReceive())           // check if data coming
   {

      doStartup();
      break;
    case Operational:
      amplificationBoardDataRead();
//      currentDataRead();
      positionSetpoint(encoder_data);
      break;
  }
  delay(100);

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

//*******************
