For a general information how to set up a CoE 3rd party drive see this post. Your case sounds like a known topic that foreign drives need to long to react on a power up command. Like I also mention in this post we are improving our motion for that also in a patch 1.20.1 (not only 2.02). But also this patch will release end of July.
Please send me a private message with your contact data, so we could try to arrange an earlier test of this patch version.
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