is ros_canopen able to work with dual motor controllers?

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Hi fellas,

Currently, I am working in a project using the Roboteq SBLM2360T with canopen, controlling two BLDC motors. I successfully install and run the ros_canopen package, controlling only the first channel of the MC, following the tutorial about the EPOS4. I don't know how I would configure the config files to make that package work with dual channel motor controllers. In the node.yaml it is needed to add each new joint under a new Node-ID. For dual motor controllers, there is only one Node-ID. Should I make a new hardware interface? Is the canopen_402 package able to update objects from 0x6840 to 0x6FFE, in which area Roboteq set the OD for the 2nd channel?