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;

FUNCTION(writeall) {
    // Restart sequence on rising edge of enable
    if (enable && !data.prev_enable) data.control.raw = 0x0000;
    data.prev_enable = enable;

    if (enable) {
        int drive_ready = runCiA402StateMachine(&__comp_inst);

        if (drive_ready) {
            if (homing) {
                opmode_out = 6; // Homing Mode
                // Bit 4 starts homing; check for errors before commanding
                if (!data.status.bits.op_error) data.control.bits.op_specific = 1;
            } else {
                opmode_out = (s8)default_opmode;
                data.control.bits.op_specific = 0; // Clear Bit 4
                
                // Normal Motion
                drive_target_position = (s32)(target_position * pos_scale);
                drive_target_velocity = (s32)(target_velocity * vel_scale);
            }
        }
    } else {
        data.control.raw = 0x0006; // Shutdown / Disable Voltage
    }

    controlword_out = data.control.raw;
}