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