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There is not a "cob_canopen_motor_node" to run

That is correct. If you look at the CMakeLists.txt, you can see that it only compiles a shared library. Which means that this library will be used somewhere.

and there isn't any documentation

Actually, there is some documentation about cob_canopen_motor on its ros wiki page. If you click on "Used By", you can see that e.g. cob_base_drive_chain uses this package, so I would suggest to look there on how to use it.