Need help with CANOpen interface with HBL2360 controller

Hello,

I have an HBL 2360 controller to drive a motor in open loop mode via CAN Open.

As I understand it, I have to use a RPDO/TPDO to dynamically read/write parameters from the controller. From the controller user manual, it seems like you can write up to 8 user variables and read up to 8 user variables. My question is how do you map the user variable to a TPDO/RPDO?

Parameters of interest include:
a. Open Loop setpoint (equivalent to duty cycle) --> need to send to controller
b. Instantaneous Motor speed --> read from controller
c. Current draw of the motor --> read from controller
d. Thermistor reading in the motor --> read from controller

I am using National Instruments Compact RIO CANOpen module to interface with the controller (sine.ni.com/nips/cds/view/p/lang/en/nid/209998) and thus will be using LabVIEW to interact during runtime.

Any help is appreciated.

Many thanks,
Renato