The CAN module allows communications using the CANopen protocol. The CAN module comes in three types: the CAN2, CAN3N, and CAN3D. The CAN2 has two M9 screw down connectors which give you access to power, input and output 2, as well as the CAN communications. The CAN3N has three connectors, the first two being the same as the CAN2, where the third connector is a second CAN network port for connecting other devices. The CAN3D has three M9 screw down connectors, with the first two giving you power and CAN network and the third port providing access to all of the motors I/O functions.
Legacy CANopen documentation:
Overview
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