You need to do following steps:
- Configure RevPi Connect and place ConCAN module to the right side over piBridgeRight interface.
Configuring the CANopen Master in CODESYS
- Create a new standard project with CODESYS Control for Raspberry Pi MC SLAttach RevPi Connect base Module and submodule Connect_Can on piBridgeRight interface. You can refer to the RevPi Connect guide to get to the step shown in the image below.
- Click with the right mouse button on the added device (CODESYS Control for Raspberry Pi MC SL ).
- Click on “Add Device”.
- Select “CANbus”.
- Click on “Add”.
- Click with the right mouse button on the added device (CANbus).
- Click on “Add Device”.
- Select “CANopen_Manager”.
- Click on “Add”.
- Click on your application.
- Click on “Add object”.
- Insert the following objects this way: -Task Configuration
-POU 
- Add the call “POU” to the task configuration.