diff --git a/src/co_emcy.c b/src/co_emcy.c
index 238a762..ebce3ec 100644
--- a/src/co_emcy.c
+++ b/src/co_emcy.c
@@ -384,7 +384,7 @@ void co_emcy_handle_can_state (co_net_t * net)
    if (
       !net->emcy.state.overrun && !net->emcy.state.error_passive &&
       !net->emcy.state.bus_off && !net->emcy.node_guard_error &&
-      !net->emcy.heartbeat_error)
+      !net->emcy.heartbeat_error && !net->emcy.rpdo_timeout)
    {
       co_emcy_error_register_clear (net, CO_ERR_COMMUNICATION);
    }
diff --git a/src/co_main.h b/src/co_main.h
index c1d29d4..e5b0ed7 100644
--- a/src/co_main.h
+++ b/src/co_main.h
@@ -82,6 +82,8 @@ typedef struct co_pdo
    {
       bool queued : 1;
       bool sync_wait : 1;
+      bool rpdo_monitoring : 1;
+      bool rpdo_timeout : 1;
    };
    uint32_t mappings[MAX_PDO_ENTRIES];
    const co_obj_t * objs[MAX_PDO_ENTRIES];
@@ -220,6 +222,7 @@ typedef struct co_emcy
    os_channel_state_t state;         /**< CAN state */
    bool node_guard_error;            /**< Node guard error */
    bool heartbeat_error;             /**< Heartbeat error */
+   bool rpdo_timeout;                /**< RPDO timeout */
    uint32_t cobids[MAX_EMCY_COBIDS]; /**< EMCY consumer object */
 } co_emcy_t;
 
diff --git a/src/co_pdo.c b/src/co_pdo.c
index 6eb18a2..3c82ab6 100644
--- a/src/co_pdo.c
+++ b/src/co_pdo.c
@@ -140,6 +140,8 @@ static uint32_t co_pdo_mapping_validate (co_pdo_t * pdo, uint8_t number_of_mappi
    if (IS_CYCLIC (pdo->sync_start))
       pdo->sync_wait = true;
 
+   pdo->rpdo_monitoring = false;
+
    return 0;
 }
 
@@ -553,6 +555,7 @@ static void co_pdo_transmit (co_net_t * net, co_pdo_t * pdo)
 int co_pdo_timer (co_net_t * net, os_tick_t now)
 {
    unsigned int ix;
+   bool rpdo_timeout = false;
 
    if (net->state != STATE_OP)
       return -1;
@@ -575,6 +578,37 @@ int co_pdo_timer (co_net_t * net, os_tick_t now)
       }
    }
 
+   /* Check for RPDOs with event timer (deadline monitoring) */
+   for (ix = 0; ix < MAX_TX_PDO; ix++)
+   {
+      co_pdo_t * pdo = &net->pdo_tx[ix];
+
+      if (pdo->cobid & CO_COBID_INVALID)
+         continue;
+
+      if (pdo->rpdo_timeout)
+      {
+         /* Already signaled, just track the combined state. */
+         rpdo_timeout = true;
+         continue;
+      }
+
+      if (!pdo->rpdo_monitoring || pdo->event_timer == 0)
+         continue;
+
+      if (co_is_expired (now, pdo->timestamp, 1000 * pdo->event_timer))
+      {
+         /* Deadline timeout elapsed, transmit EMCY */
+         pdo->rpdo_monitoring = false;
+         pdo->rpdo_timeout = rpdo_timeout = true;
+         co_emcy_error_register_set (net, CO_ERR_COMMUNICATION);
+         co_emcy_tx (net, 0x8250, 0, NULL);
+      }
+   }
+
+   /* Update RPDO timeout state */
+   net->emcy.rpdo_timeout = rpdo_timeout;
+
    return 0;
 }
 
@@ -797,6 +831,13 @@ void co_pdo_rx (co_net_t * net, uint32_t id, void * msg, size_t dlc)
                memcpy (&pdo->frame, msg, dlc);
                pdo->timestamp = os_tick_current();
 
+               if (pdo->event_timer > 0)
+               {
+                  /* Arm RPDO deadline monitoring */
+                  pdo->rpdo_monitoring = true;
+                  pdo->rpdo_timeout = false;
+               }
+
                if (IS_EVENT (pdo->transmission_type))
                {
                   /* Deliver event-driven RPDOs asynchronously */