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Motoman is a Yaskawa-based robot company that offers CanOpen as one of their protocols. The documentation for their card is good for the wiring and installation of the CanOpen adapter card, but documentation about how the robot interacts with the card, and how CanOpen commands are processed is non-existent. Literally, it doesn't exist.
I've begun a project requiring interfacing a V570 to a Motoman robot via CanOpen, and the attachments here cover my findings. There's an example program (based on the Wago one posted to my blog), and a user guide that explains how the interfacing works, and what I learned about the Motoman CanOpen inplementation.
Hopefully, it will give the next guy some guidance I sorely missed out on.
As an added bonus (?), the Motoman card is non-retentive, and a heartbeat has to be set every time the robot is powered up. So if you were longing for a bit about SDO, it's here.
Hope it helps!