Programming Canopen on CX9020 Through TwinCat

Dear Members:

I am new at Twincat PLC System. I am working on a project.
I have connected CX9020 with a PSI-9750 high voltage power supply via CanOpen. I want to control voltage and current through TwinCat on my power supply. Actually I want to change the values from 0-100%.

I have also load PDO’s from corresponding eds file. I can see a lot of TPDO’s and RPDO’s in system manager. Now I don’t know what to do next.

The only thing I am able to do right now is when I clicked on ‘Box 2(Anybus –CC CanOpen’ and clicked on online tab I was able to change my power supply to remote mode by changing the address there. But I am unable to change values of Voltage and Current there i.e Set Voltage value. Set Current Value.

I don’t know which TPDO correspond to which parameter of my power supply and what type of program I have to create in my PLC Control in which I can change the values of Voltage and Current of my Power Supply. I have also attached some images of System Manager.

Please help

Regards

I shall be thankful to you.

Is there anyone here who can help me. I want to know how to find the TPDO's which corresponds to the value of Voltage and Current. Bcz in my list of TPDOS and RPDOS I cannot see the value of voltage and current. But I can see the value when I click on 'Box 2(Anybus –CC CanOpen’ and then on the online tab.

First of all, you need set PSI to allow remote control from it's settings.
After that you can change those voltage and current settings.

Then download programming manual from http://www.elektroautomatik.de/files/eautomatik/treiber/canopen_modbus_scpi/35400100_EN.zip