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You can use the pre-made canopen cable part number the VW3M3805R010 (1m) or VW3M3805R030 (3m). The cable is terminated on the DB9 side which connects to the VW3CANA71 that connects to the ATV71. (See illustration below). The other end of the VW3M3805R010/030 is a RJ45 that can be cut and use it as a flying lead to connect to the M238. Add a terminating resistor on the M238 side.
For distance, we recommend using the VW3CANA71 with TSXCANKCDF90T and Canopen trunk cable TSX CAN CB50 (50m)