CN-8021 details:
It could support max 128 PDO, 64 TPDO, and 64 RPDO.
CANopen Node ID supports the value ranges from 1 ~ 99.
CANopen conforms to DS301 and DS401 standards.
The bus communication baud rate is from 10Kbps ~ 1Mbps.
It supports NMT, PDO, SDO, Heartbeat and SYNC.
It could use physical switches to control terminal resistance access, baud rate, slave address and other parameters.