Could not switch motor to enable state

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Hello, even though I could successfully initialize the motor by /driver/init service call in Profile Posiition and Profile Velocity modes, the motor does not reach the Enable state. ROS controllers are properly spawned, so there is a /command ready to accept commands, but since the motor's power stage is not enabled, the motor does not react. I tried to set switching state to various values, for values 2 to 4, the result was the same. with state 1, the following warn and error appeared:

[WARN]: illegal transition 5 -> 1

[ERROR]: Could not switch to mode 1, reason: Could not set transition

Do you know what might cause the issue and shed some light on how the switching state works? Big thanks!

driver.yaml

defaults:
  eds_pkg: canopen_motor_interface 
  motor_allocator: canopen::Motor402::Allocator # select allocator for motor layer
  motor_layer:
    switching_state: 5 # (Operation_Enable), state for mode switching
  #pos_to_device: "rint(rad2deg(pos)*1000)" # rad -> mdeg
  #pos_from_device: "deg2rad(obj6064)/1000" # actual position [mdeg] -> rad
  #vel_to_device: "rint(rad2deg(vel)*1000)" # rad/s -> mdeg/s
  #vel_from_device: "deg2rad(obj606C)/1000" # actual velocity [mdeg/s] -> rad/s


nodes:   

  front_left_joint_2_skelet_segment_upper:  
     id: 1
     eds_file: "config/f_A_5015_81.dcf"          
     publish: [6064!, 606C!, 607A!, 60FF!, 6040!, 6041!, 6061!]

can0.yaml

bus:
  device: can0
  baudrate: 500K  
  diagnostic_period: 10
sync:
  interval_ms: 10
  overflow: 0
heartbeat: # simple heartbeat producer, optional!
  rate: 20 # heartbeat rate
  msg: "1#05" # message to send, cansend format: heartbeat of node 127 with status 5=Started