The CtrlX drive expects the EtheerCAT Distributed Clock to be configured during Pre Op mode vs the other drives expecting it to be configured in Safe Op mode.

To preserve the best chance for older and newer drives to both operate, the EtherCat code was modified to support both.

The CtrlX drive is also more finicky about the synchronization of the clock. The code was modified to test the initial synchronization and use an offset to do the bulk adjustment. The code allows for up to 30 seconds for the clock to syncronize but with the initial bulk adjustment and a new test, in most cases it should only take a second or two.

The code was modified to handle a mixture of drives, those that want the DC to be configured in Pre Op and those who expect Safe Op.