CANOpen heartbeat

Hello
I'm dipping my toe into CANOpen; so far I'm really liking a lot of things about it.
As it's pretty new to me, I'd like to have your opinion on something...
I'm doing some tests with a VSD which has a native CANOpen interface. The drive Produces a Heartbeat message, which means the master can recognise/react if it disappears.
It doesn't however seem to consume a Heartbeat from the master meaning it doesn't know if I've pulled out the cable - drive continues to happily run...
Is this normal for a CANOpen slave? Is it something that some slaves support and some don't? As I've had little exposure, I'm not sure what the norms are.
Thanks team
Pp

Most VSD have a parameter to fault on comms loss.

For example DE11 from Eaton uses P-40 to stop, coast or trip when it doesn't see communication for the time set in P-36.

Cheers mate. With a standard 'polled' protocol we could do just that. This drive uses Modbus too and that facility is available. The nature of CANOpen is that the drive could legitimately not receive a message for ages; that's why Heartbeat consuming by the slave seems a no-brainer. BTW Heartbeat is a CANOpen term rather than a roll-your-own 'tick'
Pp

I have played with CANOpen a little. I remember that all modern slaves send a heartbeat byte. The byte contains the state, on line, booting up etc... There is also a maximum time between bytes to know when something has failed. However, only some slaves can receive heatbeat bytes. The device I was working with did not support the heartbeat receive either. So we set up a hardwired signal to stop on communication loss.

Thanks Ken. Useful info.
I'm hoping I don't have to resort to a digital output, but don't see an option right now.

The drives I used were setup with nodeguarding rather than heartbeat, and would stop if comms was lost.

Cheers AustralIan
I think this drive does indeed support nodeguarding; I hear that this is the 'older' method for confirming a node is there, but whatever works. Thanks for getting back to me.

It would help if you could state the hardware used...plc and drive.

The question was to guage CANOpen norms rather than a specific manufacturer-related query.
Does it help if I say they are Invertek E3 inverters?

The master will be Codesys-based as it's streets ahead of anything else, so I have a few manufacturers to choose from.
Pp