While searching for a solution to control the Danaher Motion ServoStar 600 drive with a PC via a CANopen bus, a viable C++ library has been implemented. You can use either a PEAK System PCAN-PCI card to connect your PC with the CAN bus, or a LAWICEL CANUSB (though this controller hasn't been thoroughly tested with this library, mainly due to the slowness of the CANUSB controller.)
You can also browse the doxygen documentation of the library online: