"Node Guarding" is the oldest protocol which monitor the presence of the Can-Open slaves in the Can-Open fieldbus.
This Protocol is supported by all all our Can-Open  masters. (Quantum/Premium/M340/M580).
The network manager polls  each device (slave)  to check its heath.

The "Heartbeat" is the more recent protocol which monitor the presence of the Can-Open slaves in the Can-Open fieldbus.
This Protocol is supported only by our recent Can-Open  masters. (M340/M580).
This protocol is similar to a client server protocol:
Each device provides a life sign periodically.
The benefits is that it required less bus load than node guarding

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