Janez

I didn't came across with MPDOs, so I have no experience. I think, that functionality could be added to CO_PDO files, not so hard, but also not so trivial job....

You must exclude main_blank.c from build. It is only for example and it is not written for any hardware. That is why there is NULL.

I guess, you asking about adding SDO client to your "master" microcontroller. It is possible. Simple example is described in CO_SDOclient.h file. More advanced SDO client is used in CANopenLinux.

The page you mention was somehow still there, although it was obsolete. However, I removed it recently and it will disappear shortly. It was based on https://github.com/CANopenNode/CANopenSocket, which is obsolete,...