CANopen Communication HDC2472

I want to communicate HDC2472 via CANopen using PDO

The manual says

\"The transmission parameters for each TPDO (transmission trigger, frequency, node ID, ...)
are set by altering the communication objects in the CANopen Object Dictionary\"

But none object is described in the object dictionary in the manual.
And the standard object defined in CANopen DS301 for this are not in the object dictionary. If I try to access them by SDO, the device replies that They do not exist.

From where can I configure the PDO?

Also, the manual says that the RPD1 maps object 0x2000-1 (Set Motor Command, ch.1).
But it is not described in the dictionary.

Has anyone managed to communicate with the HDC24xx using PDO?

PDO\'s are not fully fictional yet.

If you must have CANopen, then we will work with you to make the PDOs function

If possible, however, consider using miniCAN which resembles CANopen but is much simpler and requires less MCU resources