Since DS301 version 4.0 the preferred Error control protocol. It should substitute the former Node guarding protocol.
It differentiates between HeartBeat Producer and HeartBeat Consumer. The HeartBeat message of a CANopen device contains the device status of the NMT state machine, and if enabled, is sent cyclically by a CANopen device.
All other devices can consume this message. The producer time of the HeartBeat message of supervised CANopen nodes is stored in the consumers HeartBeat consumer table. The consumer can check if the producing device is still alive by monitoring the HeartBeats? and compare the NMT state information and the timeline.
see also http://www.can-cia.de/canopen/protocol/error-control.html
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