QCI-D2-MG-C and QCI-D2-IG-J controllers support CANopen. These controllers provide 3.5 A continuous and 4.5 A peak output at 12-48 V. CiA 402 refers to CAN in Automation (CiA) CANopen Drives and Motion Control Profile 402, which defines such functions as startup and homing techniques, as well as motion profiles.