diff --git a/devicehandlers/FixedSlotSequence.cpp b/devicehandlers/FixedSlotSequence.cpp
index a65dd929..dae62bdd 100644
--- a/devicehandlers/FixedSlotSequence.cpp
+++ b/devicehandlers/FixedSlotSequence.cpp
@@ -89,7 +89,10 @@ uint32_t FixedSlotSequence::getLengthMs() const {
 }
 
 ReturnValue_t FixedSlotSequence::checkSequence() const {
-	//Iterate through slotList and check successful creation. Checks if timing is ok (must be ascending) and if all handlers were found.
+	if(slotList.empty()) {
+		error << "Fixed Slot Sequence: Slot list is empty!" << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
 	auto slotIt = slotList.begin();
 	uint32_t count = 0;
 	uint32_t time = 0;
diff --git a/devicehandlers/FixedSlotSequence.h b/devicehandlers/FixedSlotSequence.h
index f8fd9a36..64c68aea 100644
--- a/devicehandlers/FixedSlotSequence.h
+++ b/devicehandlers/FixedSlotSequence.h
@@ -6,15 +6,21 @@
 #include <list>
 
 /**
- * \brief	This class is the representation of a Polling Sequence Table in software.
+ * @brief	This class is the representation of a Polling Sequence Table in software.
  *
- * \details	The FixedSlotSequence object maintains the dynamic execution of device handler objects.
- * 			The main idea is to create a list of device handlers, to announce all handlers to the
- * 			polling sequence and to maintain a list of polling slot objects. This slot list represents the
- * 			Polling Sequence Table in software. Each polling slot contains information to indicate when and
- * 			which device handler shall be executed within a given polling period.
- * 			The sequence is then executed by iterating through this slot list.
- * 			Handlers are invoking by calling a certain function stored in the handler list.
+ * @details
+ * The FixedSlotSequence object maintains the dynamic execution of
+ * device handler objects.
+ *
+ * The main idea is to create a list of device handlers, to announce all
+ * handlers to thepolling sequence and to maintain a list of
+ * polling slot objects. This slot list represents the Polling Sequence Table
+ * in software.
+ *
+ * Each polling slot contains information to indicate when and
+ * which device handler shall be executed within a given polling period.
+ * The sequence is then executed by iterating through this slot list.
+ * Handlers are invoking by calling a certain function stored in the handler list.
  */
 class FixedSlotSequence {
 public:
@@ -97,6 +103,11 @@ public:
 	 */
 	std::list<FixedSequenceSlot*>::iterator current;
 
+	/**
+	 * Iterate through slotList and check successful creation.
+	 * Checks if timing is ok (must be ascending) and if all handlers were found.
+	 * @return
+	 */
 	ReturnValue_t checkSequence() const;
 protected:
 
diff --git a/osal/FreeRTOS/FixedTimeslotTask.cpp b/osal/FreeRTOS/FixedTimeslotTask.cpp
index 00fd73d3..74ce9b78 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.cpp
+++ b/osal/FreeRTOS/FixedTimeslotTask.cpp
@@ -19,8 +19,7 @@ FixedTimeslotTask::~FixedTimeslotTask() {
 void FixedTimeslotTask::taskEntryPoint(void* argument) {
 
 	//The argument is re-interpreted as FixedTimeslotTask. The Task object is global, so it is found from any place.
-	FixedTimeslotTask *originalTask(
-			reinterpret_cast<FixedTimeslotTask*>(argument));
+	FixedTimeslotTask *originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
 	// Task should not start until explicitly requested
 	// in FreeRTOS, tasks start as soon as they are created if the scheduler is running
 	// but not if the scheduler is not running.
@@ -58,8 +57,19 @@ ReturnValue_t FixedTimeslotTask::startTask() {
 
 ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
 		uint32_t slotTimeMs, int8_t executionStep) {
-	pst.addSlot(componentId, slotTimeMs, executionStep, this);
-	return HasReturnvaluesIF::RETURN_OK;
+	if (objectManager->get<ExecutableObjectIF>(componentId) != nullptr) {
+		if(slotTimeMs == 0) {
+			// FreeRTOS throws a sanity error for zero values, so we set
+			// the time to one millisecond.
+			slotTimeMs = 1;
+		}
+		pst.addSlot(componentId, slotTimeMs, executionStep, this);
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	error << "Component " << std::hex << componentId <<
+			" not found, not adding it to pst" << std::endl;
+	return HasReturnvaluesIF::RETURN_FAILED;
 }
 
 uint32_t FixedTimeslotTask::getPeriodMs() const {
diff --git a/osal/linux/FixedTimeslotTask.cpp b/osal/linux/FixedTimeslotTask.cpp
index 99cbf818..29eb37e7 100644
--- a/osal/linux/FixedTimeslotTask.cpp
+++ b/osal/linux/FixedTimeslotTask.cpp
@@ -40,8 +40,14 @@ uint32_t FixedTimeslotTask::getPeriodMs() const {
 
 ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
 		uint32_t slotTimeMs, int8_t executionStep) {
-	pst.addSlot(componentId, slotTimeMs, executionStep, this);
-	return HasReturnvaluesIF::RETURN_OK;
+	if (objectManager->get<ExecutableObjectIF>(componentId) != nullptr) {
+		pst.addSlot(componentId, slotTimeMs, executionStep, this);
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	error << "Component " << std::hex << componentId <<
+			" not found, not adding it to pst" << std::endl;
+	return HasReturnvaluesIF::RETURN_FAILED;
 }
 
 ReturnValue_t FixedTimeslotTask::checkSequence() const {
diff --git a/osal/rtems/PollingTask.cpp b/osal/rtems/PollingTask.cpp
index c2dc629b..03ba0951 100644
--- a/osal/rtems/PollingTask.cpp
+++ b/osal/rtems/PollingTask.cpp
@@ -66,10 +66,16 @@ ReturnValue_t PollingTask::startTask() {
 	}
 }
 
-ReturnValue_t PollingTask::addSlot(object_id_t componentId, uint32_t slotTimeMs,
-		int8_t executionStep) {
-	pst.addSlot(componentId, slotTimeMs, executionStep, this);
-	return HasReturnvaluesIF::RETURN_OK;
+ReturnValue_t PollingTask::addSlot(object_id_t componentId,
+		uint32_t slotTimeMs, int8_t executionStep) {
+	if (objectManager->get<ExecutableObjectIF>(componentId) != nullptr) {
+		pst.addSlot(componentId, slotTimeMs, executionStep, this);
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	error << "Component " << std::hex << componentId <<
+			" not found, not adding it to pst" << std::endl;
+	return HasReturnvaluesIF::RETURN_FAILED;
 }
 
 uint32_t PollingTask::getPeriodMs() const {