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IF NOT xInit THEN	
	UM				(		sName := 'Normal Operation', 
							dwAllowsLeavingFromStates := PACK_ML.State.Stopped OR PACK_ML.State.Aborted OR PACK_ML.State.Idle, 
		IF SysStrCmp(Client.sCommandToPLC, Client.LockCommands[0]) =  0 THEN		
			_open := TRUE;
		ELSIF SysStrCmp(Client.sCommandToPLC, 'UnSuspend') =  0 THEN		
			UnSuspend();
		
	END_CASE
	Client.iCommandToPLC := 0;
	Client.sCommandToPLC := '';
	Client.bReadyToPLC := FALSE;
CASE UM.CurrentState OF
PACK_ML.State.Stopped:
	;
PACK_ML.State.Aborted:
PACK_ML.State.Idle:
PACK_ML.State.Complete :	
PACK_ML.State.Execute :
	CASE Client.ActualStep OF
	0:
		Client.ActualStep := 300;
	300:  
		IF _open THEN
			Client.Message:='Opening the door.';	
			//Open Door
			Client.ActualStep := 301;
			_open := FALSE;
	   	IF _close THEN
			Client.Message:='Closing the door.';	
			//Close Door
			Client.ActualStep := 311;
			_close := FALSE;
	   	END_IF
	301:
		IF FHPP_CTRL_Door.Ready AND FHPP_CTRL_Door.ActualPosition < iTest_Door_Close_Pos  THEN
			Client.ActualStep := 312;
		ELSIF FHPP_CTRL_Door.Ready THEN
	312:
		FHPP_CTRL_Door.SetValuePosition := iTest_Door_Close_Pos;
		Client.ActualStep := 313;
	313:
			Client.ActualStep := 314;
	314:
			Client.Message:='Closed the door.';	
		END_IF;     
 END_CASE  
PACK_ML.State.Resetting :
		0:
			Client.ActualStep := 100;	
		100: 
			IF NOT FHPP_CTRL_Door.Fault AND FHPP_CTRL_Door.SupplyVoltagePresent THEN
           		Client.ActualStep := 101;
       		END_IF;
        
				Client.ActualStep := 111;
			ELSIF FHPP_CTRL_Door.DriveEnabled AND NOT FHPP_CTRL_Door.HomingValid THEN
			END_IF;
			IF FHPP_CTRL_Door.Fault THEN
		102: (*Homing*)
			IF FHPP_CTRL_Door.HomingValid THEN
    		END_IF;
			Client.Message:='Closing the door.';
			IF FHPP_CTRL_Door.Ready AND FHPP_CTRL_Door.ActualPosition >= iTest_Door_Close_Pos  THEN
				Client.ActualStep := 0;	
			ELSIF FHPP_CTRL_Door.Ready THEN
  			END_IF;
			Client.Message:='Closing the door.';		
			Client.ActualStep := 113;
		113:
			Client.Message:='Waiting for AckStart.';
           		Client.ActualStep := 114;
   			END_IF;
			IF FHPP_CTRL_Door.MC THEN
	END_CASE	
	Client.Message:='';		
	StateComplete();
PACK_ML.State.Aborting :	
PACK_ML.State.Stopping:
END_CASE
	// Emergency Abort.
END_IF 
bl(Enable := TRUE, TIMEHIGH := T#500MS, TIMELOW := T#500MS );
	FHPP_CTRL_Door.ResetFault := b2.OUT;
    FHPP_CTRL_Door.ResetFault := FALSE;
(* Enable drive *)
IF Client.ActualStep >= 101 AND (Client.ActualState = PACK_ML.Resetting OR Client.ActualState = PACK_ML.Execute )THEN
    FHPP_CTRL_Door.EnableDrive := FALSE;
(* Start homing *)
FHPP_CTRL_Door.StartHoming := Client.ActualStep = 102 AND Client.ActualState = PACK_ML.Resetting AND bl.OUT  ;
FHPP_CTRL_Door.StartTask:= startPulse AND bl.OUT ;
{a9ed5b7e-75c5-4651-af16-d2c27e98cb94}
VAR_IN_OUT
END_VAR
	UM	: PACK_ML.UnitMode;