There are 2 repositories under cia402 topic.
Open EtherCAT CiA402 servo drive implementation
An implementation of a CANopen device profile for drives and motion control according to CiA 402®
Decode cia-402 statusword value to individual named bits
A library for positioning systems from the SIKO GmbH connected through CANopen, written in and for B&R Automation Studio in C.