This is a basic C# example to show how the CANv2 or CANv3 protocol can be used to control motors using CPR axis modules, e.g. igus Rebel joints. The example provides a Visual Studio project, but it should easily be translated to other frameworks or programming languages.
A Peak System PCAN-USB adapter is necessary for the CAN connection.
See (this page) for a documentation of the CANv2/3 protocol.