Ok so it looks like you need the EtherCAT master to be in PRE OP, you need the drive to be in CM (new operating mode, similar to PM), and you need to connect to the drive via EOE for those instructions to work. I was unable to connect with EOE in the beginning so the only thing I could connect with was the “Control Unit” method. This won’t allow you to make a FW rev apparently.
As for connecting to the drive via EOE, I sort of learned this from the following link:
https://developer.community.boschrexroth.com/t5/Rexroth-Developer-Community/How-to-establish-connect...
I think my initial problem was that the default state of the CtrlX Drive Demo units (or at least the one that was given to me) is that the ethercat master is enabled, but EOE is not. Therefore you can't scan for the drive with CtrlX Drive Engineering using the IP Address Search (aka EOE, I believe), so you have to manually enable EOE using CtrlX IO Engineering on the Ethercat master and slave drives (or in this case the CtrlX Drive hosting the Ethercat master as well), before you can scan the drive in.
Also, in case you are not sure about which of the 5 ports on the drive to use, i used the engineering port (XF10) throughout the entire processes mention above.
Hope this helps.
Nate
