CANopen with CJ1W-CORT21 - Help me please

[Marco8037 0]

Hello, My name is Marco and I'm new on this forum... I need to communicate with omron CAN module CJ1W-CORT21, and I don't know how to use it. I'm using a CPU CJ1M CPU22 and I have already made a programme on ladder CX-programmer, but I have to put that programme communicating with a CANopen network. I will operate as a slave on that network. The programme I've already developed must obey to some specifications that are described on atached file EU27_2.pdf.EU27_2.pdf On that specifications, I have some parameters that are necessary for the CAN communication. That parameters are described on atached file like objects. They are considered the follow objects: Object 6000h, 6001h, 6002h, 6003h, 6004h, 6005h, 6006h, 6007h, 6008h, 6010h, 6020h and 6030h. That objects have a data type like an unsigned32 or integer16, for example. The programme that I have already developed on CX-programmer, I have defined a DM, CIO or HR area adress for each object. On atached file they are described another objects like Object 6009h, 600Ah and 600Bh, which ones I don't use on my programme. On my programme, I have considered the follow area adresses for each object: Object 6000h - D48 (INT -10 000 to +10 000) Object 6001h - D1435 (UDINT) Object 6002h - D55 (INT -10 000 to +10 000) Object 6003h - D65 (UDINT) Object 6004h - D92 (INT -10 000 to +10 000) Object 6005h - D1445 (UINT o to +10 000) Object 6006h - D88 (UINT 0 to +20 000) Object 6007h - D1450 (UDINT 0 to +99 999 999) Object 6008h - D746 (UDINT) Object 6010h - H400 (32 bits - H400 and H401) Object 6020h - CIO:1001 (16 bits) Object 6030h - CIO:1002 (16 bits) I have my programme already made and tested and it is running ok, but with the described memory areas. I have tried it on, but without the interface to the CAN network, simulating each object through the forcing of correspondent memory area or entrying a new value on each DM. My problem now is to make each memory area adress correspond to each specified object. On atached file is possible to find more detailed information about the TPDO and RPDO mapping, but I don't know how to do that. I have also atached the file EU27_1.pdf EU27_1.pdf that I think can also be important. Can someone help me with this application, please? I will be very greatfull if someone can help me. Thank everyone.