1 After RESET, but still in POSITIO MODE: 
-------------------------------------------------- 
Axis0: asw=0x00000450 
VOLTAGE_ENABLE 
SWITCH_ON_DISABLED 
TARGET_REACHED 

2. After controlmode(0) = 2 
--------------------------------------------------
Axis0: asw=0x00000450 
VOLTAGE_ENABLE 
SWITCH_ON_DISABLED 
TARGET_REACHED 

3 After driveenable(0) = 1      
--------------------------------------------------
Axis0: asw=0x00000437 
READY_TO_SWITCH_ON 
SWITCHED_ON 
OPERATION_ENABLED
VOLTAGE_ENABLE 
QUICK_STOP 
TARGET_REACHED 

4. After VelRef(0) = 0  (axis mode is Profiled_Velocit0)
--------------------------------------------------
Axis0: asw=0x00000037 
READY_TO_SWITCH_ON 
SWITCHED_ON 
OPERATION_ENABLED
VOLTAGE_ENABLE 
QUICK_STOP 


5. After cancel(0)  
--------------------------------------------------
Axis0: asw=0x00000437 
READY_TO_SWITCH_ON 
SWITCHED_ON 
OPERATION_ENABLED
VOLTAGE_ENABLE 
QUICK_STOP 
TARGET_REACHED 
axismode= 0x00000000 Idle 

6. driveenable(0) = 0
--------------------------------------------------
Axis0: asw=0x00000433 
READY_TO_SWITCH_ON 
SWITCHED_ON 
VOLTAGE_ENABLE
QUICK_STOP 
TARGET_REACHED 

===================================================================

--------------------------------1---2---3---4---5---6---7--
                              |450|450|437|037|437|433|   |
E100_aswREADY_TO_SWITCH_ON    |   |   | x | x | x | x |   |
E100_aswSWITCHED_ON           |   |   | x | x | x | x |   |
E100_aswOPERATION_ENABLED     |   |   | x | x | x |   |   |
E100_aswFAULT                 |   |   |   |   |   |   |   |
E100_aswVOLTAGE_ENABLE        | x | x | x | x | x | x |   |
E100_aswQUICK_STOP            |   |   | x | x | x | x |   |
E100_aswSWITCH_ON_DISABLED    | x | x |   |   |   |   |   |
E100_aswREMOTE                |   |   |   |   |   |   |   |
E100_aswTARGET_REACHED        | x | x | x |   | x | x |   |
E100_aswINTERPOLATION_ACTIVE  |   |   |   |   |   |   |   |


ALL 3 should have E100_aswOPERATION_ENABLED - 
Axis 1,2 should have REMOTE
DriveEanbleReady 0=SWITCH_ON_DISABLED 1=READY_TO_SWITCH_ON

1.DRIVEENABLEREADY is 0

2. DRIVEENABLE=0 - 
0x433 : READY_TO_SWITCH_ON SWITCHED_ON VOLTAGE_ENABLE QUICK_STOP        TARGET_REACHED
0x633 : READY_TO_SWITCH_ON SWITCHED_ON VOLTAGE_ENABLE QUICK_STOP REMOTE TARGET_REACHED
0x633 : READY_TO_SWITCH_ON SWITCHED_ON VOLTAGE_ENABLE QUICK_STOP REMOTE TARGET_REACHED

1. DRIVEENABLE=1 - 
0x0037 READY_TO_SWITCH_ON SWITCHED_ON OPERATION_ENABLED VOLTAGE_ENABLE QUICK_STOP 
0x1637 READY_TO_SWITCH_ON SWITCHED_ON OPERATION_ENABLED VOLTAGE_ENABLE QUICK_STOP REMOTE TARGET_REACHED INTERPOLATION_ACTIVE 
0x1637 READY_TO_SWITCH_ON SWITCHED_ON OPERATION_ENABLED VOLTAGE_ENABLE QUICK_STOP REMOTE TARGET_REACHED INTERPOLATION_ACTIVE