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; }