This document specifies the CANopen interface of a service robot controller device, which is compliant to the Robotic Technology Component (RTC) specification. In order to design the robot communication system independent of CANopen, CiA has mapped the RTC specification by OMG to CANopen. The CiA 460 profile describes the service robot controller or any of the sub-system controllers, using a deeply embedded CANopen network. In addition, CiA 318 specifies the integration of CANopen networks into the RTC environment. This allows implementing heterogeneous network technologies. CiA 460 specifies the NMT manager application and its object dictionary with NMT manager parameters as well as CANopen device proxies representing the connected CANopen devices in the service robot controller device.