Mode of operation: https://www.nilab.at/dokuwiki/doku.php?id=integrated_drive_motors:canopen_modes
Standard PDOs: https://www.nilab.at/dokuwiki/doku.php?id=integrated_drive_motors:can_open_pdo
Standard SDOs: https://www.nilab.at/dokuwiki/doku.php?id=integrated_drive_motors:canopen_sdo
Errors Codes: https://www.nilab.at/dokuwiki/doku.php?id=integrated_drive_motors:canopen_error