I have an indradrive configured as a softmotion axis.
If the Drive is up and running (OP on the Ethercat master) when the PLC app starts, then everything works as intended.
If the Drive is not in OP mode when the PLC app starts, but switched to OP while it is running, then the Axis has a non-resettable comm fault, se below.
According to the Softmotion manual, this fault cannot be reset by MC_Reset, but can be handled by using the SMC3_ReInitDrive.
Unfortunately this command has not been implemented as part of the softmotion package for ctrlX.
Any suggestion how to reset a possible Ethercat comm issue without restarting the PLC app?