why igh master can not controll the servo motor?

switched on disabled

if (ds.wc_state != domain1_state.wc_state)
   printf("Domain1: State %u.\n", ds.wc_state);

domain1_state = ds;

if (ms.al_states != master_state.al_states)
   printf("AL states: 0x%02X.\n", ms.al_states);

if (ms.link_up != master_state.link_up)
   printf("Link is %s.\n", ms.link_up ? "up" : "down");

master_state = ms;

if (s.online != sc_IS620N_state.online)
   printf("IS620N: %s.\n", s.online ? "online" : "offline");

if (s.operational != sc_IS620N_state.operational)
   printf("IS620N: %soperational.\n", s.operational ? "" : "Not ");

sc_IS620N_state = s;

uint16_t    status;
int8_t      opmode;
int32_t     current_velocity;
//int32_t     command_value;

/*Receive process data*/
ecrt_master_receive(master);
ecrt_domain_process(domain1);
/*Check process data state(optional)*/
check_domain1_state();

counter = TASK_FREQUENCY;
//Check for master state
check_master_state();
//Check for slave configuration state(s)
check_slave_config_states();
/*Read inputs*/

status = EC_READ_U16(domain1_pd + offset.status_word);
opmode = EC_READ_U8(domain1_pd + offset.modes_of_operation_display);
current_velocity = EC_READ_S32(domain1_pd + offset.velocity_actual_value);

/*if((status & 0x4F) == 0x00) {
            printf("status:%d\n",status);//statusWord = SANYO_NOT_READY_TO_SWITCH_ON;
}
else if((status & 0x4F) == 0x08) {
            printf("status:%d\n",status);//statusWord =  SANYO_FAULT;
}
else if((status & 0x4F) == 0x40) {
            printf("status:%d\n",status);//statusWord =  SANYO_SWITCH_ON_DISABLED;
}
else if((status & 0x6F) == 0x27) {
            printf("status:%d\n",status);//statusWord =  SANYO_OPERATION_ENABLED;
}
else if((status & 0x6F) == 0x23) {
            printf("status:%d\n",status);//statusWord =  SANYO_SWITCH_ON_ENABLED;
}
else if((status & 0x6F) == 0x21) {
            printf("status:%d\n",status);//statusWord =  SANYO_READY_TO_SWITCH_ON;
}
else if((status & 0x6F) == 0x07) {
            printf("status:%d\n",status);//statusWord =  SANYO_QUICK_STOP_ACTIVE;
}
else if((status & 0x4F) == 0x0F) {
            printf("status:%d\n",status);//statusWord =  SANYO_FAULT_REACTION_ACTIVE;
}
else {
            printf("i status:%d\n",status);//return 0xFFFF;
}*/

/*EC_WRITE_U16(domain1_pd + offset.control_word, 0x0006);
EC_WRITE_S8(domain1_pd + offset.modes_operation, PROFILE_VELOCITY);
EC_WRITE_U16(domain1_pd + offset.control_word, 0x0007);//接通主回路电
EC_WRITE_U16(domain1_pd + offset.control_word, 0x000f);//伺服运转
EC_WRITE_S32(domain1_pd + offset.target_velocity, target_velocity);
EC_WRITE_U16(domain1_pd + offset.control_word, 0x001f);//伺服运行*/

//DS402 CANOpen over EtherCAT status machine
if((status & status_mask)==0x0040) //status must equal to SERVO_STAT_SWION_DIS
{
    EC_WRITE_U16(domain1_pd + offset.control_word, 0x0006 );
    EC_WRITE_S8(domain1_pd + offset.modes_operation, PROFILE_VELOCITY);
    status_mask=0x6f;
    printf("status:0x%x\n",status);
}
else if((status & status_mask) == 0x0021) //status must equal to SERVO_STAT_RDY_SWION
{
    EC_WRITE_U16(domain1_pd + offset.control_word, 0x0007 );
    status_mask=0x6f;
    printf("status:0x%x\n",status);
}
else if((status & status_mask) == 0x0023) //status must equal to SERVO_STAT_SWION_ENA
{
    EC_WRITE_U16(domain1_pd + offset.control_word, 0x000f );
    EC_WRITE_S32(domain1_pd + offset.target_velocity, target_velocity);
    status_mask=0x6f;
    printf("status:0x%x\n",status);
}
//operation enabled
else if((status & status_mask) ==0x0027) //status must equal to SERVO_STAT_OP_ENA
{
    EC_WRITE_U16(domain1_pd + offset.control_word, 0x001f);
    printf("status:0x%x\n",status);
}

/*Send process data*/
ecrt_domain_queue(domain1);
ecrt_master_send(master);

domain1 = ecrt_master_create_domain(master);
if (!domain1)
   exit(EXIT_FAILURE);

if (!(sc_IS620N = ecrt_master_slave_config(master, IS620NSlavePos, INOVANCE_IS620N)))
{
    fprintf(stderr, "Failed to get slave configuration for IS620N!\n");
    exit(EXIT_FAILURE);
}

/*设置0x1702为RPDO*/
/*if(ecrt_slave_config_sdo8(sc_IS620N,0x1c12,0,0)) printf("failed to configure slave sdo 0x1c12-00:0x00!\n");
if(ecrt_slave_config_sdo16(sc_IS620N,0x1c12,1,0x1702)) printf("failed to configure slave sdo 0x1c12-01:0x1702!\n");
if(ecrt_slave_config_sdo8(sc_IS620N,0x1c12,0,0x01)) printf("failed to configure slave sdo 0x1c12-00:0x01!\n");*/

/*设置0x1B02为TPDO*/
/*if(ecrt_slave_config_sdo8(sc_IS620N,0x1c13,0,0)) printf("failed to configure slave sdo 0x1c13-00:0x00!\n");
if(ecrt_slave_config_sdo16(sc_IS620N,0x1c13,1,0x1B02)) printf("failed to configure slave sdo 0x1c13-01:0x1B02!\n");
if(ecrt_slave_config_sdo8(sc_IS620N,0x1c13,0,0x01)) printf("failed to configure slave sdo 0x1c13-00:0x01!\n");*/

printf("Configuring PDOs...\n");
/*重新映射PDO才需要运行ecrt_slave_config_pdos(),如果使用servo的固定映射则不需要*/
if (ecrt_slave_config_pdos(sc_IS620N, EC_END, IS620N_syncs)) 
{
    fprintf(stderr, "Failed to configure IS620N PDOs!\n");
    exit(EXIT_FAILURE);
}
    
if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) 
{
    fprintf(stderr, "PDO entry registration failed!\n");
    exit(EXIT_FAILURE);
}
  
printf("Activating master...\n");
if (ecrt_master_activate(master))
    exit(EXIT_FAILURE);
else
   printf("Master activated\n");

if (!(domain1_pd = ecrt_domain_data(domain1)))
    exit(EXIT_FAILURE);

printf("It's working now...\n");

/*if(ecrt_slave_config_sdo8(sc_IS620N,0x6060,0,8)) 
    printf("fail to configure slave sdo velocity mode!\n");*/

/*EC_WRITE_U16(domain1_pd + offset.control_word, 0x0006);
EC_WRITE_S8(domain1_pd + offset.modes_operation, PROFILE_VELOCITY);
EC_WRITE_U16(domain1_pd + offset.control_word, 0x0007);//接通主回路电
EC_WRITE_U16(domain1_pd + offset.control_word, 0x000f);//伺服运转
EC_WRITE_S32(domain1_pd + offset.target_velocity, TARGET_VELOCITY);
EC_WRITE_U16(domain1_pd + offset.control_word, 0x001f);//伺服运行*/

while (1) 
{
    usleep(100000/TASK_FREQUENCY);
    cyclic_task();
}
ecrt_master_deactivate(master);
return EXIT_SUCCESS;