CANopen communication with EL6751 module (Looking for example)

[maj9bj]

I am looking for some project with CANopen communication. In our machine we need to communicate with product (supply module). I create some CAN peripheral objects but I am still struggling with some issues:

1. It throws an event "CAN master reports 2 nodes are configured in OES, but 0 nodes in TwinCAT".
   
2. In my OOD the interface i set to "CANopen" but the created peripherals in TwinCAT are inicialized in PeripheralRoot > OnInitHierarchy instead of CANMaster > OnInitHierarchy.
3. I do not know, how to set the Master in TwinCAT correctly.
   

Is there someone with a CAN project at your plant? Could you provide me your project or help me?

I already wrote to Nexeed Helpdesk, but I am also trying this way.

[Düscha]

As an example, you can use the peripherals from the reposetory NexeedCanHde6 or NexeedCanHupe.

[maj9bj]

I already solved point 2 with help of BCI colleague. The solution was to add base type OpconCoSlave to CodeEntities.osd.

<?xml version="1.0" encoding="utf-8"?>
<OpconStdDefinition def="1.0">
  <TypesDef def="1.0">
    <CodeEntity name="CanRbDnox8SupplyModuleTx" baseType="OpconCoSlave">
    </CodeEntity>
  </TypesDef>
</OpconStdDefinition>