CANOPEN 1.1 software
This program is made to investigate the CAN communication devices.
In addition to the program require an RS232 / CAN adapter. Eg. SER-CAN, but many others (eg. Ethnernet-CAN) can be used.
The program can command and receive CAN messages.
The program is made CANOPEN protocol, but it can be used with all CAN devices.
Software Applications CAN devices is easier to do when we know the characteristics of the device.
The program can be used for ABB servo controllers axes of control.
Here is CAN RS232 adapter