Reading TPDO info help required

[vikingsraven]

HI,
im pretty new to canopen,
I have a controller unit that i cant get the EDS file for, asked the supplier but no luck after 3 months.
So i have a Raspberry Pi Zero with MCP5212 board that reads the can data and can monitor it using CANDUMP cano.
The TPDO address is 0x1B0, and once the NMT is set to Operational i get data fine.
(000.000941) can0 1B0 [8] 00 00 F8 F8 5A 02 D2 00 '....Z...'
(000.049593) can0 1B0 [8] 00 00 F8 F8 5A 02 D2 00 '....Z...'
(000.050022) can0 1B0 [8] 00 00 F8 F8 5A 02 D2 00 '....Z...'
(000.050054) can0 1B0 [8] 00 00 F8 F8 5A 02 D2 00 '....Z...'
(000.050042) can0 1B0 [8] 00 00 F8 F8 5A 02 D2 00 '....Z...'
(000.050027) can0 1B0 [8] 00 00 F8 F8 5A 02 D2 00 '....Z...'
(000.050022) can0 1B0 [8] 00 00 F8 F8 5A 02 D2 00 '....Z...'
(000.050048) can0 1B0 [8] 00 00 F8 F8 5A 02 D2 00 '....Z...'
(000.050031) can0 1B0 [8] 00 00 F8 F8 5A 02 D2 00 '....Z...'
(000.050022) can0 1B0 [8] 00 00 F8 F8 5A 02 D2 00 '....Z...'

so i am using Canopen to enable the nmt with
node.nmt.state ="OPERATIONAL"
but i am struggling to get the pdo data into the python script, im not sure i follow what is to be done.
i would like to read the pdo data into either an array or dictionary
then i would like to send a command to the unit, and the receive RPDO is 0x230
which has
unsigned 8
unsigned 8
and 10 Boolean bits
i would like to change Bit 5 and bit 9
how would i do this in the code?

can anyone help please?
thanks