CAN open on SBL 1360

Dear All,

I am using SBL 1360 to run a BLDC motor with CAN open configuration. Before proceeding to CAN open, I have check all the h/w connections and operated the motor with USB cable(Serial). The motor is running properly and Hall counts are coming nice.

After this, I have configured the roboteq driver for settings of CAN open with 500kbps baud, node id, heartbeat and autostart enabled. I have also terminated the node with a 120 ohm resistor and I am using a USB to CAN converter to driver the motor with CAN open.

When I power on the roboteq driver with CAN, I am able to see the heartbeat messages every second on my CAN utility, but when I send a packet of CAN open to read Battery voltage or move the motor with proper SDO , i am getting an error in the D0 byte as 128(0x10000000) as CCS (client command specifier).

Referring to what has been given in the below link,

dev.roboteq.com/dev1/index.php/support/s...anual-canopen-frames

In SDO example 3, I am getting 128 (0x10000000) in the Byte0 and no data in Bytes (4 to 7) Payload as a response from the controller.

As shown in the SBL 13xx manual , it states the response from the controller with 8 in CCS is a Packet Error.

I am unable to identify the ERROR, PLEASE shed some light on this where I am going wrong.

Thanks