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AKD-P CANopen Implementation

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Hi!
We are a couple of students with the task of building a motion platform with the AKD-P and AKM. We want to use CANopen but cant seem to find a "simple" enough guide on how to implement it. We are currently using a CAN-USB adapter and CAN software called MiniMon V3. We are trying to configre the akd to position mode, but reading the datasheet is kind of overwhelming unless you are superfemiliar with the can protocol. Im starting to hear how this sounds but is there lika a AKD canopen implementation guide for dummies?? or do someone know where to look?? 

Jake
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Hi.

Attached a text file for showing PDOs mapping for Profile Position mode.

Simple description at the beginning.

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