I recently started working on running a Control Techniques Unidrive M700 over EtherCAT, using the CiA402 CAN-over-EtherCAT protocol.
Let me start by saying I'm using a non-standard EtherCAT master, which is open source, called SOEM (Simple Open EtherCAT Master).
My issue is that the drive will not step through the CiA402 state machine. It stays stuck in "Not Ready To Switch On" and the CiA402 statusword is always decimal 48.
I see that there is a bit in the statusword called "remote", which is not active.
I can successfully read and write SDOs and PDOs.
Does anyone have any ideas on this? I can elaborate quite a bit more. It seems like the drive is either stuck waiting for me to say something to it, or perhaps there's a parameter somewhere that is set incorrectly, causing it to be in a "local" mode instead of "remote"?