SetCANCommand using the CANOpen

I am using two Roboteq motor controllers together. The first one has a script running in it. They are connect together using a CANOpen on a PLC. I used the SDO and was able to sent the VAR 9 to then set the speed using a script in the second motor control. We would like to use the SetCANCommand(3,_G, 1, 500) inside the motor controller 1 script but it is not working. This command should set the node 3, motor control channel 1 to 50% power. The CANOpen Master is node1, the first roboteq control is node2 and the second roboteq control is node 3. Please send the entire script or setup procedure if you know how?

I would like to use the PDO because it is faster. My robot will respond quicker with PDO because it is reads and writes directly to memory locations of the PLC. What are the commands to write to the _VAR1 from the Master Roboteq (node 2) script to the PLC? Then the PLC CANOpen node 1 will write this value using the _VAR9 of the second Roboteq on node 3.