Yes you can do this with two ADAM-6000 and GCL
In this example the ADAM-6052 sends "AuxFlag0"
to ADAM-6066 every 5 seconds.
It is set up to two timers in the ADAM-6066 "Time0" which reset "AuxFlag0", "Time0" and "Time1"
every 10 sec.
"Time1" controls Rele2 on ADAM-6066, if it not been reset within 20 secunds it sets the Relay 2 Out High.
Download and test this: