Lichuan 4 axis stepper need help-

Well, I think it follows the state diagram up to the point of operation
 

But for sure it isn't perfect. I have noticed multiple homing components around even if I don't use it myself.
Can you add support for PV (Profile Velocity) while you are at it? I made a quick fix for that.
PV is suitable for spindle mode.

You should be able to transition states manually, in halshow for example, using controlword and check statusword.
Maybe that can give a clue to why it seems so grumpy.

I gave some detailed instructions to Grok last night then slept like a baby.. I always wanted to use a C union to break out status word etc into  bits starts to make it readable.
 
 

Its just a snippet of code and not the whole picture.
But I wouldn't switch state before statusword says the drive has switched state.
It would be in some pending_switch_state perhaps.

Yes, I need to check it all. I did see previously that cia402 was not waiting for confirmation of homing or something so will watch for that....