Control Trinamic motor using ros_canopen

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I am trying to control Trinamic PD-1160 motor using ros_canopen. The motor is DS402 complient. The CANopen manual of this motor is located here. I have configured the canopen_motor_node using the following eds and yaml files.

The canopen_motor_node starts successfully using this configuration file but initialization service fails with the following error:

Transition timeout; Could not enable motor; Transition timeout

Here is a short snippet of candump output that I get when initializing the canopen_motor_node:

can0  000   [2]  82 01
can0  701   [1]  00
can0  601   [8]  2B 17 10 00 00 00 00 00
can0  581   [8]  60 17 10 00 00 00 00 00
can0  601   [8]  40 41 60 00 00 00 00 00
can0  581   [8]  4B 41 60 00 18 06 00 00
can0  601   [8]  40 61 60 00 00 00 00 00
can0  581   [8]  4F 61 60 00 00 00 00 00
can0  601   [8]  40 64 60 00 00 00 00 00
can0  581   [8]  43 64 60 00 00 00 00 00
can0  601   [8]  40 6C 60 00 00 00 00 00
can0  581   [8]  43 6C 60 00 00 00 00 00
can0  601   [8]  40 44 60 00 00 00 00 00
can0  581   [8]  4B 44 60 00 00 00 00 00
can0  601   [8]  40 40 60 00 00 00 00 00
can0  581   [8]  4B 40 60 00 00 00 00 00
can0  601   [8]  40 FF 60 00 00 00 00 00
can0  581   [8]  43 FF 60 00 00 00 00 00
can0  000   [2]  01 01
can0  181   [2]  18 06
can0  281   [3]  18 06 00
can0  601   [8]  40 01 10 00 00 00 00 00
can0  581   [8]  4F 01 10 00 00 00 00 00
can0  601   [8]  40 01 10 00 00 00 00 00
can0  581   [8]  4F 01 10 00 00 00 00 00
can0  301   [3]  00 00 00
can0  081   [8]  20 63 01 00 FF 00 00 00
can0  080   [0] 
can0  381   [6]  18 06 00 00 00 00
can0  000   [2]  02 01

From this I see that the first control word and operation mode is all 00 (message 301). The motor responds with emergency message to this. From the motors documentation this error message is:

Parameter error
The data in the received PDO is either wrong or cannot be accepted due to the
internal state of the drive.

My question is weather this is a configuration issue or a bug in ros_canopen. The motor documentation has a section describing that in order to move the motor its operation mode has to be changed first and only then the state switching should occur. Note that I have changed the switching_state parameter to 2 but this did not have any effect on init function behavior.