this is from memory.
you must set up a heartbeat signal.
send a message to the plc a.
in that packet, set a bit.
when plc a gets the message, reset that bit.
when the ml1400 sees that the bit is clear, start a timer of x seconds.
send next message.
if plca does not get message, the ml1400 can set a fault bit.
the same logic is true for plca.
there is more to it than this, but its close.
hope this helps,
james