MAXON EPOS 4 control using embedded CAN for RIO

[parsec43]

I am trying to control a MAXON EPOS 4 BLDC drive using a single board Rio and the embedded CAN for RIO library. I think I am close, but I am not quite sure whether my formatting of the data payloads is correct.

Sending a simple PDO message like Reset (x81 followed by the node address) seems to work fine, however I am not sure whether I am successfully sending more complex messages as PDOs or whether I need to implement this using CANopen SDO objects.

The MAXON device programming document seems to outline the minimum amount of commands I need to command rotation.

https://www.maxonmotor.com/medias/sys_master/root/8830265196574/EPOS-Application-Note-Device-Program...

Do my payloads need to be formatted as follows:

COBID, special byte, Index low byte, Index high byte, Sub-index, data

So for example, to set the operation mode, the payload might be;

x06 01 23 (special byte), 60 60 00 01 (Profile position mode)

Does the identifier need to be set to anything? I have just set it to zero when sending the reset command.

If I follow this methodology for formatting the payloads and send the controller all of the commands in one of the device programming examples, will I be able to command some kind of motion?

[ARVega]

Is it necessary to use CANopen with the MAXON EPOS 4?

If it is, the recommended way of implementation CANOpen communication on sbRIO is to use NI-9881 module with the corresponding RMC daughter card see this post(https://forums.ni.com/t5/Automotive-and-Embedded-Networks/How-do-I-setup-a-sbRIO-9607-to-use-a-9881-...).

Note that DIO will be consumed.

If using RMC daughter card is not fit, implement the CANOpen protocol based on the NI-CAN driver. You can use the existing examples of CANOpen implementations based on CAN.
CANopen Reference Example for the NI-9853 C-Series CAN Module https://forums.ni.com/t5/Example-Code/CANopen-Reference-Example-for-the-NI-9853-C-Series-CAN-Module/...

Hope this helps!