Hi Cong,
I see that you are observing delays in the received signal from the CAN receive block.
The output that you are observing is expected and the reason the received signal is delayed is related to the sample times of the “zero-order hold” block and the “CAN Receive” block.
A “zero-order hold” will discretize the input signal as per the sample time set. You must set it to appropriate values as per the requirements. On the other hand, the sample time of the "CAN Receive" block dictates the frequency at which the subsystem responsible for processing the received messages is activated.
If the sample time of the “CAN Receive” block is not small enough, then all of the transmitted messages will not be processed for us to get a smooth curve. To capture the messages as close as possible to the original one, you could try increasing the sample of the “zero-order hold” block or try decreasing the sample time of the “CAN Receive” block.
To know more about the above blocks, please refer to below documentation:
