Lichuan 4 axis stepper need help-

// CiA 402 states typedef enum {     STATE_NOT_READY_TO_SWITCH_ON,     STATE_SWITCH_ON_INHIBITED,     STATE_READY_TO_SWITCH_ON,     STATE_SWITCHED_ON,     STATE_OPERATION_ENABLED,     STATE_QUICK_STOP_ACTIVE,     STATE_FAULT_REACTION_ACTIVE,     STATE_FAULT,     STATE_HOMING } DriveState;

// CiA 402 Statusword union typedef union { hal_u32_t raw; struct { unsigned char ready_to_switch_on :1; // 0 unsigned char switched_on :1; // 1 unsigned char operation_enabled :1; // 2 unsigned char faulted :1; // 3 unsigned char voltage_enabled :1; // 4 unsigned char quick_stop :1; // 5 unsigned char switch_on_inhibited :1; // 6 unsigned char warning :1; // 7 unsigned char manufacturer_specific1 :1; // 8 unsigned char remote_cmd :1; // 9 unsigned char target_reached :1; // 10 unsigned char internal_limit_active :1; // 11 unsigned char opmode_specific1 :1; // 12 (homing attained / target reached) unsigned char opmode_specific2 :1; // 13 (homing error) unsigned char manufacturer_specific2 :2; // 14-15 } bits; } StatusWord;