diff --git a/CANopen.c b/CANopen.c
index a484489..5230ac4 100644
--- a/CANopen.c
+++ b/CANopen.c
@@ -972,6 +972,7 @@ CO_NMT_reset_cmd_t CO_process(
 #if CO_NODE_GUARDING_SLAVE > 0
     CO_nodeGuardingSlave_process(CO->NGslave,
                                  CO_NMT_getInternalState(CO->NMT),
+                                 (OD_producerHeartbeatTime > 0),
                                  timeDifference_ms,
                                  OD_guardTime,
                                  OD_lifeTimeFactor);
diff --git a/stack/CO_Node_Guarding.c b/stack/CO_Node_Guarding.c
index c1cf24f..8efac92 100644
--- a/stack/CO_Node_Guarding.c
+++ b/stack/CO_Node_Guarding.c
@@ -99,11 +99,19 @@ CO_ReturnError_t CO_nodeGuardingSlave_init(CO_nodeGuardingSlave_t *ngs,
 /******************************************************************************/
 void CO_nodeGuardingSlave_process(CO_nodeGuardingSlave_t *ngs,
                                   CO_NMT_internalState_t NMTstate,
+                                  uint8_t slaveDisable,
                                   uint16_t timeDifference_ms,
                                   uint16_t guardTime,
                                   uint8_t lifeTimeFactor)
 {
 
+    if (slaveDisable) {
+        ngs->toggle = 0;
+        ngs->lifeTimer = 0;
+        CLEAR_CANrxNew(ngs->CANrxNew);
+        return;
+    }
+
     /* was RTR just received */
     if (IS_CANrxNew(ngs->CANrxNew)) {
         ngs->lifeTimer = (uint32_t)guardTime * lifeTimeFactor;
diff --git a/stack/CO_Node_Guarding.h b/stack/CO_Node_Guarding.h
index 9add3b2..b461ff9 100644
--- a/stack/CO_Node_Guarding.h
+++ b/stack/CO_Node_Guarding.h
@@ -119,6 +119,7 @@ CO_ReturnError_t CO_nodeGuardingSlave_init(CO_nodeGuardingSlave_t *ngs,
  *
  * @param ngs This object.
  * @param NMTstate NMT operating state.
+ * @param slaveDisable If true, then Node guarding slave is disabled.
  * @param timeDifference_ms Time difference from previous function call in
  * milliseconds.
  * @param guardTime OD entry from 0x100C -"Guard time"
@@ -126,6 +127,7 @@ CO_ReturnError_t CO_nodeGuardingSlave_init(CO_nodeGuardingSlave_t *ngs,
  */
 void CO_nodeGuardingSlave_process(CO_nodeGuardingSlave_t *ngs,
                                   CO_NMT_internalState_t NMTstate,
+                                  uint8_t slaveDisable,
                                   uint16_t timeDifference_ms,
                                   uint16_t guardTime,
                                   uint8_t lifeTimeFactor);
@@ -244,7 +246,6 @@ CO_ReturnError_t CO_nodeGuardingMaster_init(CO_nodeGuardingMaster_t *ngm,
  * configures monitoring of the remote node.
  *
  * @param ngm Node Guarding master object.
- * @param em Emergency object.
  * @param index Index of the slot, which will be configured.
  * 0 <= index < CO_NODE_GUARDING_MASTER.
  * @param nodeId Node Id of the monitored node.