The SilverDust IGK-D servo motor controller is a great entry level controller with CANopen.  Great for end users and OEMs a like. 

Using the standard CAN bus with CANopen® protocol, multiple CAN enabled controllers can share their I/O and registers with each other creating a peer-to-peer network, or with a single “master” to create a master/slave network.

• 7 TTLLV Inputs or Outputs(use QCI-BO-B52 for 24V I/O)
• 4 Analog Inputs (Joystick)
• Analog Output Option (use QCI-BO-B1A)
• RS-232 or RS-485
• ASCII, Binary, Modbus®
• Encoder Output
• Voltage Clamp And Resister
• DB15HD (pin): SMI Port
• DB15HD (socket): motor I/F including motor power and encoder
• 3.5A Continouts/4.5A Peak
• CANopen®
• DMX

See Datasheet QCI-DS023 for more details.