Motor Controller communication via PDO CANopen

Question

I am using a Mattkeg Servo position Controller (MDR2300) to control a PMSM via Speed and Position control. The motor controller uses the CANopen protocol to receive commands from the NI Realtime Controller. In order to send the speed, position, velocity, etc commands, I am currently using the SDO method of communication. But I want to use the PDO method in order to do the same.
I am using the 'NI-Industrial Communications for CANopen 1.0.3' library. The examples given by NI regarding PDO, transmit/receive 64bit word. But the way I understand it, the Objects can be mapped to the 4 transmit and 4 receive PDO's so that I can send, for example object values for target_position, profile_velocity, profile_acceleration, and polarity in one PDO msg. I managed to do the PDO mapping using the LabVIEW Batch SDO process. But I don't know how to use it further in my Program. I have attached the current program I have that uses SDO. I wish to accomplish the same using PDO. Has anyone managed to do this?
Thanks a lot for your help..
Attachments:
Position_Control.png ‏115 KB
Speed_Control.png ‏103 KB

Answer 1

the more appropriate NI forum http://forums.ni.com/t5/Automotive-and-Embedded-Networks/bd-p/30