Here's a link to our latest manual. What you want to do is possible. I'll ask around about the error code your getting.
www.animatics.com/index.php?option=com_c...ldbus+Option/CANOpen
Here's some notes I kept... not sure if this example is in the manual.
PDO mapping
Basic procedure to map a PDO. In this example transmit PDO 1 is mapped.
1.) Enter NMT pre-op state
2.) Set bit 31 of the cob ID in object 1800:sub 1 to a 1.
3.) Set the number of entries in the mapping parameter object to 0. (object 1A00:sub 0)
4.) Set the mapping object: the value is a 32 bit value in the following order: highest 2 bytes: object, next byte is subindex, and the last is the length in bits.
5.) Create multiple items in this PDO if desired by using additional entries in the mapping object (object 1A00:sub 1,2,3.)
6.) Set the number of entries in the mapping parameter object back to the number of items created in step 4 and 5. (object 1A00:sub 0)
7.) Clear bit 31 of the cob ID in object 1800:sub 1 back to a 0.
7.5) Set the Transmit type to 'sync' (1-240) or 'event timer' (254-255) if desired.
8.) Go back to the NMT running state.