Bitcloud slows join after reset

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I have set up WSNDemo network a coordinator and a end device. I used security with link key. I start the coordinator first then start the end device. The end device joins and reports fine. When I reset the end device after some time, it joins again and starts sending data. However the coordinator does not send APS_ACK this time. After a number of failure the end device leaves the network and tries to rejoin. The rejoin request is also ignored until it reaches the number of packets sent before the reset. Finally it joins and reports again. Is this happening because of the security counter? Does the coordinator expect to see higher counter value than what it has seen before? This can potentially make a end device very slow to join after reset. Is there anyway prevent this?

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Do you have PDS enabled? If this hasn't been enabled and you restart the node, the network configuration is lost and it has to go through a full join process again.