How can I detect that an slave node is connected to the CAN bus before the HeartBeat message

[urrudelu30]

Hi, I am new in the communication with CANOpen stack and I am thinking how I can detect that some node is connected to the CAN BUS and in the case that I detect the node, send a message over NMT master to put this node in operational mode.

I could see that there is a function called CO_NMT_sendCommand for the communication of the state of the NTM to the slave, but firts I would like to know how to know if there is a new node connected to the CAN bus.

Any idea?