CANopen Project Files/CM CANopen 021620-B module and the Delta ASDA-A2 servo drive

I would like to ask whether anyone has successfully established communication between the CM CANopen 021620-B module and the Delta ASDA-A2 servo drive.

Could you please provide me with detailed instructions on how to connect and configure the CM CANopen 021620-B with the Delta ASDA-A2 via CANopen?

I would appreciate it if you could provide a wiring diagram, communication parameters, CANopen configuration settings, and an example project or application if available.