Taking time to go into operational mode

[Rohithossain007]

Hi first of all I am new to this. I am using 2 motors Qrob70. Currently trying to get the motors into operational mode. However it is taking some time initially. Like lets say 5 or 10 secs to get the motor from safe op to operational (I am also using EtherCAT not CAN). Is there any solve to that meaning I want it directly to go to operational mode every time I start the code. Currently I am using this code:

void transition_to_operational() {
char IOmap[4096];

if (ec_init("enp2s0")) { 
    printf("EtherCAT initialized on interface 'eth0'.\n");

    if (ec_config_init(FALSE) > 0) {
        printf("%d slaves found and configured.\n", ec_slavecount);

        if (ec_config_map(IOmap) > 0) {
            printf("Process data mapped successfully.\n");
        } else {
            printf("Failed to map process data.\n");
            ec_close();
            return;
        }

        ec_configdc();

        ec_slave[0].state = EC_STATE_PRE_OP;
        ec_writestate(0);
        ec_statecheck(0, EC_STATE_PRE_OP, EC_TIMEOUTSTATE);
        printf("Slave moved to PRE-OPERATIONAL state.\n");

        //ec_slave[0].state = EC_STATE_SAFE_OP;
        //ec_writestate(0);
        //ec_statecheck(0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE);
        //printf("Slave moved to SAFE-OPERATIONAL state.\n");

        printf("Switching on the motor...\n");
        set_control_word(0x0006, 0);
        ec_send_processdata();
        ec_receive_processdata(EC_TIMEOUTRET);
        usleep(10000);

        set_control_word(0x0007, 0);
        ec_send_processdata();
        ec_receive_processdata(EC_TIMEOUTRET);
        usleep(10000);

        ec_slave[0].state = EC_STATE_OPERATIONAL;
        ec_writestate(0);
        ec_statecheck(0, EC_STATE_OPERATIONAL, EC_TIMEOUTSTATE);

        if (ec_slave[0].state == EC_STATE_OPERATIONAL) {
            printf("Slave is now in OPERATIONAL state.\n");
        } else {
            printf("Failed to move slave to OPERATIONAL state.\n");
        }
    } else {
        printf("No slaves found!\n");
    }
    ec_close();
} else {
    printf("Failed to initialize EtherCAT.\n");
}

}

Any advises would be appreciated.