un, FBL2360T CANopen with closed loop position relative

Hi Lelongg,
the objects you are using are for DS402. Which mode are you using in DS402? 
if you do not want to use the DS402 then you should use the objects 0x2000-0x214A

try sending the command in object 0x2002

Can you please explain in more detail what you mean that you are incompatible with other controllers? 
The mode you are using is manufactured specific. So it is incompatible with other controllers ether way.
Also why don't you use a DS402 mode if you need compatibility with other controllers?

Well it is not exactly like this.
The DS402 defines the modes from 0 to 11 how to operate, and defines the modes from 0 to -128 are manufacturer-specific operation modes.
This means that each manufacturer uses something else in -4. And by changing the drive with another manufacturer you can't expect the same behavior.
For example an other manufacturer might have a torque mode in -4 or he may not have an extra mode as in the case of roboteq controllers.
So -4 with this behavior is only in Roboteq controllers.

Sorry but I cannot understandwhat you mean and what you want to do.
The default value for object0x6060 which is the mode of operation, is manufacturer specific according to
the DS402 standard. So, every manufacturer uses whatever he likes.
If other manufacturers areusing the profile position mode, then you should use the count position mode as
it is the mode used for profile position mode of DS402. Even if you set from
roborun+ use the count position mode.