7.3.3.
SYNC communication .................................................................................................... 38
7.3.4.
Emergency object ........................................................................................................... 38
7.4.1.
Heartbeat Consumer ...................................................................................................... 39
7.4.2.
Heartbeat producer ......................................................................................................... 39
7.4.3.
Node Guarding ............................................................................................................... 40
7.4.4.
NMT Boot-up .................................................................................................................. 40
8. Example communication .................................................................................................................. 41
8.1. ASYNC communication ........................................................................................................... 41
8.2. SYNC communication ............................................................................................................. 43
9. Specifications ................................................................................................................................... 46
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