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What is meaning of error E 8130 in a Lexim32 servo drive?

Error E 8130 in a Lexim32 servo drive

Description: CANopen: Heartbeat or Life Guard error, Parameter _SigLatched Bit 21
Cause: The bus cycle time of the CANopen master is higher than the programmed heartbeat or node guard time.
Correctives: Check the CANopen configuration, increase the heartbeat or node guard time.
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