CANOpen PLC

I would like to read and write values to the Roboteq through the CANOpen. I am new to using CANOpen. I am using a Delta Automation PLC with the DVPCOPM-LS to communicate. The CANopen builder shows the Roboteq on Node 2. I installed the Roboteq SDO table. I was able to monitor the values with the CANopen builder from Delta. What is the proper setup to send a request to the Roboteq to receive the joystick integer value at the Index 2101 sub 1 and the index 2101 sub 2 for the Y joystick? I also want to receive the Index 210e sub 1 to monitor the DIGITAL INPUTs. I need to know the ladder logic for the PLC program. I attached an image of what does not work!

The problem is above example is that CANOPen must request the proper number of data bytes or it will have a time-out error. The Roboteq joystick is saved to a 4 bytes. It you try to read it with 2 bytes or 8 bytes it will not work. The joystick value will be received into the D6005 address after posting a zero reset all and then send the CANOpen request using the setup from D6250 to D6254. That attached PLC ladder logic for the Delta Automation PLC works. It checks the Index 2101 sub 1 every second using M1013.

Dear Dman, where can I contact you for a Delta CanOpen issue?

Thanks

Can any body please tell me there us any solution to upload DVP10MC PLC program from Delta Can ope  bus builder software ???