Pavel Pisa CTU pisa@cmp.felk.cvut.cz Frantisek Vacek CTU vacek@rtime.felk.cvut.cz 2003 OCERA Consortium CANopen, master, slave, SDO, EDS, Object dictionary CANopen device is the software solution based on VCA (Virtual CAN Api), which can emulate CANopen master or slave. Device functionality is configured by loading CANopen specific EDS (Electronic Data Sheet) and used hardware specific HDS (Handler Definition Sheet) files.