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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;
        
				Client.ActualStep := 111;
			ELSIF FHPP_CTRL_Door.DriveEnabled AND NOT FHPP_CTRL_Door.HomingValid AND delay.Q  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.';		
			IF delay.Q THEN
			END_IF				
		    startPulse := TRUE;
			IF FHPP_CTRL_Door.AckStart THEN
				startPulse := FALSE;
		114:
   			END_IF;	
PACK_ML.State.Starting :
	Client.ActualStep := 0;	
PACK_ML.State.Completing :
		Client.ActualStep := 200;
			Client.ActualStep := 201;
	201:
	202:
	203:
	//Client.ActualStep := 0;	
PACK_ML.State.Clearing :
IF NOT (DI_EmergencyGF AND NOT DI_EmergencyFF) THEN
	Abort();	
Client.ActualState := UM.CurrentState;
IF FHPP_CTRL_Door.Fault AND NOT (Client.ActualState = 6 OR Client.ActualState = 0  OR Client.ActualState = 1 ) THEN
END_IF;
bl (Enable := startPulse, TIMEHIGH := T#500MS, TIMELOW := T#500MS ,OUT => FHPP_CTRL_Door.StartTask);
IF Client.ActualStep = 100 THEN
ELSE
(* Enable drive *)
    FHPP_CTRL_Door.EnableDrive := TRUE;