PLC to MDC1230 over CANopen Problem

I got my MDC1230 controllers last week. I have been trying all weekend to get a CANopen communication going between my PLC (Unitronics Unioigic) and the controllers’ with no luck. I have disabled the rs232 watchdog, Can mode is Canopen, bitrate 125K on both ends, the plc is node 1 and the controllers 2 and 3, heartbeat I have tried both 1000ms and 0, and have tried both having Canopen auto-start enabled and disabled. I unplug the USB and restart the controller after having it in USB mode.

I am using a dedicated Canopen cable and two 120-Ohm resistors in each end. The cable has two pairs a plus, minus and Can-L, Can-H and a shield. The PLC has a spot for both pear and the GND. On the controller, I connect the Can-L to pin 6 and Can-H to pin 7. I have tried both having the shield connected to GND pin 5 and the minus. How am I supposed to connect it on the controller side?

It is as if I am not getting anything back from the controller or I could be doing something wrong on the PLC side. I am reading the NMT status but I do not see any change, it always seems to be in Initialization mode. I try sending it a NMT command to go to Preoperational mode and operational mode but nothing happens. If I have, the controller set to Canopen auto-start and send it a SDO upload i.e. to read the internal voltage at the 5v out: Node Id: 2, Index: 210D, sub index: 3, length: 2 bytes, I get nothing back.

Any suggestions?

I now know that it is something with the controller. I just hooked up a CANopen Load cell amplifier that I had with no problem, therefore, it is not the PLC.

Could it be something with the heartbeat? I have tried setting the heartbeat to 1000ms, but nothing. The controller is not sending any change on the NMT. One thing I am not so sure on either is the listen node. What is that? I have it set to 1, which is the PLC. Another thing I am not so sure of is that the plc dos not have anything whit heartbeat only node guard.

Please help!!!!

Hi,
I get back: FID=Roboteq v1.4a MDC14XX 11/21/2014

I am only connected to the controller via CAN.

I don’t quite understand. Do I need to connect to the controller via RS232 and not USB? And then configure the Can settings again in Roborun+?

??? Ok, I will try that.

Why do I then have the option to configure the CAN when I'm USB connected? Even when I save it to the controller, it does not come up with warnings regarding that it’s not setting the CAN.