EtherCAT network goes in operational state only with SERVO_PERIOD=250 µsec setting when Kollmorgen drives are in use. The network stays in safe-operational state with any other servo period setting.
The following needs to be done;
* MC_CONFIG to be modified for each axis.
SERVO_PERIOD = 1000
NODE_SYNC_OFFSET(0,0)=560000
* The EC_EXTEND file -> ESC configurations page -> Size to be 128