I am trying to drive an AC motor with etherCAT. I am using PySoem for etherCAT. I need to drive the motor in python because later on I will use ROS2 to communicate. Here is the repo I use for etherCAT: https://github.com/bnjmnp/pysoem
ESI file for my driver is given below. I tried many times but I am always getting an error about not being able to change my state to SAFEOP state.