Arduino CAN BUS shield sending PDO frames

Hi all. I am using an Arduino with the DF Robot CAN BUS shield (latest version). I have communication working well with another node (an industry-standard controller) via SDO, but would like to implement PDO frames for faster communication. Has anyone successfully done this? I can't seem to get the correct CAN.sendMsgBuf command to make it work. Can the CAN.sendMsgBuf command in the library be used for PDOs as well? Thanks!