diff --git a/Infineon.sln b/Infineon.sln
index 9aefc93..d3f05e2 100644
--- a/Infineon.sln
+++ b/Infineon.sln
@@ -27,8 +27,8 @@ Global
 		Release|TwinCAT RT (x86) = Release|TwinCAT RT (x86)
 	EndGlobalSection
 	GlobalSection(ProjectConfigurationPlatforms) = postSolution
-		{CB97A0B0-7E22-470D-8550-AA318EA46E50}.Debug|TwinCAT HMI.ActiveCfg = Debug|TwinCAT RT (x86)
-		{CB97A0B0-7E22-470D-8550-AA318EA46E50}.Debug|TwinCAT HMI.Build.0 = Debug|TwinCAT RT (x86)
+		{CB97A0B0-7E22-470D-8550-AA318EA46E50}.Debug|TwinCAT HMI.ActiveCfg = Debug|TwinCAT OS (x64)
+		{CB97A0B0-7E22-470D-8550-AA318EA46E50}.Debug|TwinCAT HMI.Build.0 = Debug|TwinCAT OS (x64)
 		{CB97A0B0-7E22-470D-8550-AA318EA46E50}.Debug|TwinCAT OS (ARMV7-A).ActiveCfg = Debug|TwinCAT OS (ARMV7-A)
 		{CB97A0B0-7E22-470D-8550-AA318EA46E50}.Debug|TwinCAT OS (ARMV7-A).Build.0 = Debug|TwinCAT OS (ARMV7-A)
 		{CB97A0B0-7E22-470D-8550-AA318EA46E50}.Debug|TwinCAT OS (ARMV7-M).ActiveCfg = Debug|TwinCAT OS (ARMV7-M)
@@ -43,8 +43,8 @@ Global
 		{CB97A0B0-7E22-470D-8550-AA318EA46E50}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64)
 		{CB97A0B0-7E22-470D-8550-AA318EA46E50}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86)
 		{CB97A0B0-7E22-470D-8550-AA318EA46E50}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86)
-		{CB97A0B0-7E22-470D-8550-AA318EA46E50}.Release|TwinCAT HMI.ActiveCfg = Release|TwinCAT RT (x86)
-		{CB97A0B0-7E22-470D-8550-AA318EA46E50}.Release|TwinCAT HMI.Build.0 = Release|TwinCAT RT (x86)
+		{CB97A0B0-7E22-470D-8550-AA318EA46E50}.Release|TwinCAT HMI.ActiveCfg = Release|TwinCAT OS (x64)
+		{CB97A0B0-7E22-470D-8550-AA318EA46E50}.Release|TwinCAT HMI.Build.0 = Release|TwinCAT OS (x64)
 		{CB97A0B0-7E22-470D-8550-AA318EA46E50}.Release|TwinCAT OS (ARMV7-A).ActiveCfg = Release|TwinCAT OS (ARMV7-A)
 		{CB97A0B0-7E22-470D-8550-AA318EA46E50}.Release|TwinCAT OS (ARMV7-A).Build.0 = Release|TwinCAT OS (ARMV7-A)
 		{CB97A0B0-7E22-470D-8550-AA318EA46E50}.Release|TwinCAT OS (ARMV7-M).ActiveCfg = Release|TwinCAT OS (ARMV7-M)
@@ -91,8 +91,8 @@ Global
 		{B4B0E423-9884-4277-82A6-6D7062793303}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT HMI
 		{B4B0E423-9884-4277-82A6-6D7062793303}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT HMI
 		{B4B0E423-9884-4277-82A6-6D7062793303}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT HMI
-		{384A40E7-3107-4D80-8361-04B00829260A}.Debug|TwinCAT HMI.ActiveCfg = Debug|TwinCAT RT (x86)
-		{384A40E7-3107-4D80-8361-04B00829260A}.Debug|TwinCAT HMI.Build.0 = Debug|TwinCAT RT (x86)
+		{384A40E7-3107-4D80-8361-04B00829260A}.Debug|TwinCAT HMI.ActiveCfg = Debug|TwinCAT OS (x64)
+		{384A40E7-3107-4D80-8361-04B00829260A}.Debug|TwinCAT HMI.Build.0 = Debug|TwinCAT OS (x64)
 		{384A40E7-3107-4D80-8361-04B00829260A}.Debug|TwinCAT OS (ARMV7-A).ActiveCfg = Debug|TwinCAT OS (ARMV7-A)
 		{384A40E7-3107-4D80-8361-04B00829260A}.Debug|TwinCAT OS (ARMV7-A).Build.0 = Debug|TwinCAT OS (ARMV7-A)
 		{384A40E7-3107-4D80-8361-04B00829260A}.Debug|TwinCAT OS (ARMV7-M).ActiveCfg = Debug|TwinCAT OS (ARMV7-M)
@@ -107,8 +107,8 @@ Global
 		{384A40E7-3107-4D80-8361-04B00829260A}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64)
 		{384A40E7-3107-4D80-8361-04B00829260A}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86)
 		{384A40E7-3107-4D80-8361-04B00829260A}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86)
-		{384A40E7-3107-4D80-8361-04B00829260A}.Release|TwinCAT HMI.ActiveCfg = Release|TwinCAT RT (x86)
-		{384A40E7-3107-4D80-8361-04B00829260A}.Release|TwinCAT HMI.Build.0 = Release|TwinCAT RT (x86)
+		{384A40E7-3107-4D80-8361-04B00829260A}.Release|TwinCAT HMI.ActiveCfg = Release|TwinCAT OS (x64)
+		{384A40E7-3107-4D80-8361-04B00829260A}.Release|TwinCAT HMI.Build.0 = Release|TwinCAT OS (x64)
 		{384A40E7-3107-4D80-8361-04B00829260A}.Release|TwinCAT OS (ARMV7-A).ActiveCfg = Release|TwinCAT OS (ARMV7-A)
 		{384A40E7-3107-4D80-8361-04B00829260A}.Release|TwinCAT OS (ARMV7-A).Build.0 = Release|TwinCAT OS (ARMV7-A)
 		{384A40E7-3107-4D80-8361-04B00829260A}.Release|TwinCAT OS (ARMV7-M).ActiveCfg = Release|TwinCAT OS (ARMV7-M)
@@ -123,8 +123,8 @@ Global
 		{384A40E7-3107-4D80-8361-04B00829260A}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
 		{384A40E7-3107-4D80-8361-04B00829260A}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
 		{384A40E7-3107-4D80-8361-04B00829260A}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
-		{16E7B360-DCD5-431E-9380-EF0E96A38071}.Debug|TwinCAT HMI.ActiveCfg = Debug|TwinCAT RT (x86)
-		{16E7B360-DCD5-431E-9380-EF0E96A38071}.Debug|TwinCAT HMI.Build.0 = Debug|TwinCAT RT (x86)
+		{16E7B360-DCD5-431E-9380-EF0E96A38071}.Debug|TwinCAT HMI.ActiveCfg = Debug|TwinCAT OS (x64)
+		{16E7B360-DCD5-431E-9380-EF0E96A38071}.Debug|TwinCAT HMI.Build.0 = Debug|TwinCAT OS (x64)
 		{16E7B360-DCD5-431E-9380-EF0E96A38071}.Debug|TwinCAT OS (ARMV7-A).ActiveCfg = Debug|TwinCAT OS (ARMV7-A)
 		{16E7B360-DCD5-431E-9380-EF0E96A38071}.Debug|TwinCAT OS (ARMV7-A).Build.0 = Debug|TwinCAT OS (ARMV7-A)
 		{16E7B360-DCD5-431E-9380-EF0E96A38071}.Debug|TwinCAT OS (ARMV7-M).ActiveCfg = Debug|TwinCAT OS (ARMV7-M)
@@ -139,8 +139,8 @@ Global
 		{16E7B360-DCD5-431E-9380-EF0E96A38071}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64)
 		{16E7B360-DCD5-431E-9380-EF0E96A38071}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86)
 		{16E7B360-DCD5-431E-9380-EF0E96A38071}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86)
-		{16E7B360-DCD5-431E-9380-EF0E96A38071}.Release|TwinCAT HMI.ActiveCfg = Release|TwinCAT RT (x86)
-		{16E7B360-DCD5-431E-9380-EF0E96A38071}.Release|TwinCAT HMI.Build.0 = Release|TwinCAT RT (x86)
+		{16E7B360-DCD5-431E-9380-EF0E96A38071}.Release|TwinCAT HMI.ActiveCfg = Release|TwinCAT OS (x64)
+		{16E7B360-DCD5-431E-9380-EF0E96A38071}.Release|TwinCAT HMI.Build.0 = Release|TwinCAT OS (x64)
 		{16E7B360-DCD5-431E-9380-EF0E96A38071}.Release|TwinCAT OS (ARMV7-A).ActiveCfg = Release|TwinCAT OS (ARMV7-A)
 		{16E7B360-DCD5-431E-9380-EF0E96A38071}.Release|TwinCAT OS (ARMV7-A).Build.0 = Release|TwinCAT OS (ARMV7-A)
 		{16E7B360-DCD5-431E-9380-EF0E96A38071}.Release|TwinCAT OS (ARMV7-M).ActiveCfg = Release|TwinCAT OS (ARMV7-M)
diff --git a/Infineon.tsproj b/Infineon.tsproj
index 6a70a44..36f65d6 100644
--- a/Infineon.tsproj
+++ b/Infineon.tsproj
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <TcSmProject xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4026.19">
-	<Project ProjectGUID="{CB97A0B0-7E22-470D-8550-AA318EA46E50}" TargetNetId="5.127.104.206.1.1" Target64Bit="true" ShowHideConfigurations="#x6">
+	<Project ProjectGUID="{CB97A0B0-7E22-470D-8550-AA318EA46E50}" TargetNetId="5.167.199.178.1.1" Target64Bit="true" ShowHideConfigurations="#x6">
 		<System>
 			<Licenses>
 				<Target>
@@ -13,6 +13,9 @@
 					<Name>PlcTask</Name>
 				</Task>
 			</Tasks>
+			<TypeSystem>
+				<AdditionalTmcFile Name="Infineon" File="Infineon.tmc"/>
+			</TypeSystem>
 		</System>
 		<Motion>
 			<NC File="NC.xti"/>
@@ -36,10 +39,4 @@
 			<Device File="Device 5 (EtherCAT).xti" Id="5"/>
 		</Io>
 	</Project>
-	<Mappings>
-		<MappingInfo Identifier="{00000000-2001-0850-0020-500851000403}" Id="#x02030030"/>
-		<MappingInfo Identifier="{00000000-0010-0304-3000-040310000403}" Id="#x02030010"/>
-		<MappingInfo Identifier="{00000000-0020-0304-3000-040322000403}" Id="#x02030040"/>
-		<MappingInfo Identifier="{03040050-0050-0304-5000-040350000403}" Id="#x02030020" Watchdog="04000000040000000400000004000000"/>
-	</Mappings>
 </TcSmProject>
diff --git a/PLC/00_Main/PRG_Main.TcPOU b/PLC/00_Main/PRG_Main.TcPOU
index a35bd68..1a0ab51 100644
--- a/PLC/00_Main/PRG_Main.TcPOU
+++ b/PLC/00_Main/PRG_Main.TcPOU
@@ -9,6 +9,7 @@ VAR
 	_fbEtcher2 : FB_Etcher;
 	
 	_xFirstCycle : BOOL := TRUE;
+	
 END_VAR
 ]]></Declaration>
     <Implementation>
diff --git a/PLC/01_Stationen/Kuka_Robot/E_KukaRobot_JobNumberRobot.TcDUT b/PLC/01_Stationen/Kuka_Robot/E_KukaRobot_JobNumberRobot.TcDUT
new file mode 100644
index 0000000..c54c7c4
--- /dev/null
+++ b/PLC/01_Stationen/Kuka_Robot/E_KukaRobot_JobNumberRobot.TcDUT
@@ -0,0 +1,67 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="E_KukaRobot_JobNumberRobot" Id="{088c6121-55a8-439f-a5d4-6dc132a46dc5}">
+    <Declaration><![CDATA[{attribute 'qualified_only'}
+{attribute 'strict'}
+{attribute 'to_string'}
+TYPE E_KukaRobot_JobNumberRobot :
+(
+	// No job
+	NO_JOB := 0,
+	
+	// Tray feeder input station
+	GET_FROM_INPUT := 10,
+	
+	// Tray feeder output station
+	PUT_TO_OUTPUT := 11,
+	
+	// Aligner station
+	PUT_INTO_ALIGNER := 15,
+	GET_FROM_ALIGNER := 16,
+	
+	// Etcher 1 station
+	PUT_INTO_ETCHER1 := 20,
+	GET_FROM_ETCHER1 := 22,
+	GET_AND_PUT_ETCHER1 := 24,
+	
+	// Etcher 2 station
+	PUT_INTO_ETCHER2 := 21,
+	GET_GROM_ETCHER2 := 23,
+	GET_AND_PUT_ETCHER2 := 25,
+	
+	// HV test station (1 - Hot, 2 - Cold)
+	PUT_HV1 := 30,
+	GET_HV1 := 32,
+	GET_AND_PUT_HV1 := 34,
+	
+	PUT_HV2 := 31,
+	GET_HV2 := 33,
+	GET_AND_PUT_HV2 := 35,
+	
+	// Heating station
+	PUT_HOT_PLATE := 40,
+	GET_HOT_PLATE := 41,
+	
+	// Cooling station
+	PUT_COOL_PLATE := 42,
+	GET_COOL_PLATE := 43,
+	
+	// NIO station
+	PUT_INTO_NIO := 70,
+	GET_FROM_NIO := 71,
+	
+	// Tool change robot gripper
+	CHANGE_GRIPPER := 50,
+	
+	// Tool change etchers
+	GET_CHUCK_ETCHER1 := 60,
+	GET_CHUCK_ETCHER2 := 61,
+	PUT_CHUCK_ETCHER1 := 62,
+	PUT_CHUCK_ETCHER2 := 63,
+	PUT_CHUCK_INTO_MAGAZINE := 64,
+	GET_CHUCK_FROM_MAGAZINE := 65
+) WORD := NO_JOB;
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>
\ No newline at end of file
diff --git a/PLC/01_Stationen/Kuka_Robot/E_KukaRobot_JobNumerPLC.TcDUT b/PLC/01_Stationen/Kuka_Robot/E_KukaRobot_JobNumerPLC.TcDUT
new file mode 100644
index 0000000..25e5b65
--- /dev/null
+++ b/PLC/01_Stationen/Kuka_Robot/E_KukaRobot_JobNumerPLC.TcDUT
@@ -0,0 +1,31 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="E_KukaRobot_JobNumerPLC" Id="{42772339-3817-41dd-ac6e-f6eea439266e}">
+    <Declaration><![CDATA[{attribute 'qualified_only'}
+{attribute 'strict'}
+{attribute 'to_string'}
+TYPE E_KukaRobot_JobNumerPLC :
+(
+	// No job
+	NO_JOB := 0,
+	
+	// Aligner station
+	ENABLE_VACUUM_ALIGNER := 15,
+	DISABLE_VACUUM_ALIGNER := 16,
+	
+	// Etcher 1 station
+	ENABLE_VACUUM_ETCHER1 := 20,
+	DISABLE_VACUUM_ETHER1 := 22,
+	UNLOCK_CHUCK_ETCHER1 := 60,
+	LOCK_CHUCK_ETCHER1 := 62,
+	
+	// Ether 2 station
+	ENABLE_VACUUM_ETCHER2 := 21,
+	DISABLE_VACUUM_ETCHER2 := 23,
+	UNLOCK_CHUCK_ETHCER2 := 61,
+	LOCK_CHUCK_ETCHER2 := 63
+) WORD := NO_JOB;
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>
\ No newline at end of file
diff --git a/PLC/01_Stationen/Kuka_Robot/FB_KukaRobot.TcPOU b/PLC/01_Stationen/Kuka_Robot/FB_KukaRobot.TcPOU
index d68b662..7023e8d 100644
--- a/PLC/01_Stationen/Kuka_Robot/FB_KukaRobot.TcPOU
+++ b/PLC/01_Stationen/Kuka_Robot/FB_KukaRobot.TcPOU
@@ -1,10 +1,14 @@
 <?xml version="1.0" encoding="utf-8"?>
 <TcPlcObject Version="1.1.0.1">
   <POU Name="FB_KukaRobot" Id="{6ca3e82a-4047-4132-872d-1f49057f08d6}" SpecialFunc="None">
-    <Declaration><![CDATA[FUNCTION_BLOCK FINAL FB_KukaRobot EXTENDS FB_Isa88_SM
+    <Declaration><![CDATA[// Positionen in um <=> 0.001mm
+FUNCTION_BLOCK FINAL FB_KukaRobot EXTENDS FB_PackMLGeneric
 VAR_INPUT
+	xConfirmAlarms : BOOL;
 END_VAR
 VAR_OUTPUT
+	xReady : BOOL;
+	xError : BOOL;
 END_VAR
 VAR
 	// 0 - Nicht aus
@@ -45,46 +49,106 @@ VAR
 	_asiMotorTemps1To4 AT %I* : ARRAY[0..3] OF SINT;
 	_asiMotorTemps5To8 AT %I* : ARRAY[0..3] OF SINT;
 	
-END_VAR
-VAR CONSTANT
-	// Bit indices for robot interface
-	NOT_DISABLE_AXES : USINT := 0;
-	ENABLE_AXES : USINT := 1;
-	ENABLE_MOVE : USINT := 2;
-	CONF_MESS : USINT := 3;
+	_eRobotJob : E_KukaRobot_JobNumberRobot;
+	_ePlcJob :E_KukaRobot_JobNumerPLC;
 	
-	// Array indices for Job interface
-	ROBOT_JOB : USINT := 0;
-	PLC_JOB_FINISHED : USINT := 1;
+	_xRobotReady : BOOL;
 	
-	// Array indices for tools and plate positions
-	GRIPPER_NR : USINT := 0;
-	TURN_TABLE_NR : USINT := 1;
-	HEATING_PLATE_POS : USINT := 2;
-	COOLING_PLATE_POS : USINT := 3;
+	_xError : BOOL;
+	
+	// ======
+	// Alarms
+	// ======
+	
+	_fbAlarmNotInExtMode : FB_AlarmMessage(stEventEntry := TC_EVENTS.RobotEvents.RobotNotInExtMode, xWithConfirmation := FALSE);
+	_fbAlarmEStopActive : FB_AlarmMessage(stEventEntry := TC_EVENTS.RobotEvents.RobotEStopActive, xWithConfirmation := FALSE);
+	_fbAlarmOperatorSafetyNotOk : FB_AlarmMessage(stEventEntry := TC_EVENTS.RobotEvents.OperatorSafetyNotOk, xWithConfirmation := FALSE);
 END_VAR
 ]]></Declaration>
     <Implementation>
-      <ST><![CDATA[// Positionen in um <=> 0.001mm
+      <ST><![CDATA[// =============
+// Handle alarms
+// =============
 
-// Zur Sicherheit im T2 Zustand die Fahrfreigabe wegnehmen (da standardpasswort bleibt)
+_fbAlarmNotInExtMode(
+	xActive:= (NOT _uState.stState.bExt), 
+	xRelease:= TRUE, 
+	xAcknowledge:= xConfirmAlarms, 
+	timOnDelay:= T#0S, 
+	timOffDelay:= T#0S);
 
+_fbAlarmEStopActive(
+	xActive:= (NOT _uState.stState.bAlarmStop), 
+	xRelease:= TRUE, 
+	xAcknowledge:= xConfirmAlarms, 
+	timOnDelay:= T#0S, 
+	timOffDelay:= T#0S);
+	
+_fbAlarmOperatorSafetyNotOk(
+	xActive:= (NOT _uState.stState.bUserSAF), 
+	xRelease:= TRUE, 
+	xAcknowledge:= xConfirmAlarms, 
+	timOnDelay:= T#0S, 
+	timOffDelay:= T#0S);
+	
+	
+// =======================
+// Check if robot is ready
+// =======================
+
+_xRobotReady := _uState.stState.bExt 
+	AND _uState.stState.bAlarmStop
+	AND _uState.stState.bUserSAF
+	AND _uState.stState.bPeriRdy
+	AND _uState.stState.bIOActConf
+	AND (NOT _uState.stState.bStopMess);
+
+
+// =============================
 // Call isa88 base state machine
-SUPER^();]]></ST>
+// =============================
+SUPER^();
+
+
+// ==============================
+// Handle general control outputs
+// ==============================
+
+// Allow robot to be moved with programming pendant
+_uCtrl.stCtrl.bNotDisableAxes := 1;
+
+// Disable move if in T2 for safety reasons
+IF (NOT _uState.stState.bT2) THEN
+	_uCtrl.stCtrl.bEnableMove := 1;
+ELSE
+	_uCtrl.stCtrl.bEnableMove := 0;
+END_IF
+
+
+// ==================
+// Write job outputs
+// ==================
+
+_uJobs.stJobs.wJobNrForRobot := _eRobotJob;
+_uJobs.stJobs.wFinishedJobNrFromPlc := _ePlcJob;
+
+
+// =================
+// Write fb outputs
+// =================
+
+xReady := _xRobotReady;
+xError := _xError;]]></ST>
     </Implementation>
-    <Method Name="M_StateIdle" Id="{025437ab-beb0-4ad6-bdc3-468dec599ff4}">
-      <Declaration><![CDATA[METHOD M_StateIdle
+    <Method Name="M_Idle" Id="{025437ab-beb0-4ad6-bdc3-468dec599ff4}">
+      <Declaration><![CDATA[METHOD M_Idle
 ]]></Declaration>
       <Implementation>
-        <ST><![CDATA[// Allow robot to be moved with programming pendant
-_uCtrl.stCtrl.bNotDisableAxes := 1;
-_uCtrl.stCtrl.bEnableAxes := 1;
-_uCtrl.stCtrl.bEnableMove := 1;
-_uCtrl.stCtrl.bConfMess := 0;
+        <ST><![CDATA[_uCtrl.stCtrl.bConfMess := 0;
 
-// Deselect all jobs and set plc finished job to none
-//_awJobs[ROBOT_JOB] := 0;
-//_awJobs[PLC_JOB_FINISHED] := 0;]]></ST>
+_eRobotJob := E_KukaRobot_JobNumberRobot.NO_JOB;
+_ePlcJob := E_KukaRobot_JobNumerPLC.NO_JOB;
+]]></ST>
       </Implementation>
     </Method>
   </POU>
diff --git a/PLC/01_Stationen/Kuka_Robot/InterfaceStructs/ST_KukaRobot_Ctrl.TcDUT b/PLC/01_Stationen/Kuka_Robot/InterfaceStructs/ST_KukaRobot_Ctrl.TcDUT
index be843ce..5a0bf11 100644
--- a/PLC/01_Stationen/Kuka_Robot/InterfaceStructs/ST_KukaRobot_Ctrl.TcDUT
+++ b/PLC/01_Stationen/Kuka_Robot/InterfaceStructs/ST_KukaRobot_Ctrl.TcDUT
@@ -4,9 +4,16 @@
     <Declaration><![CDATA[{attribute 'pack_mode' := '0'}
 TYPE ST_KukaRobot_Ctrl :
 STRUCT
+	// DRIVES_OFF
 	bNotDisableAxes : BIT;
+	
+	// DRIVES_ON
 	bEnableAxes : BIT;
+	
+	// MOVE_ENABLE
 	bEnableMove : BIT;
+	
+	// CONF_MESS
 	bConfMess : BIT;
 END_STRUCT
 END_TYPE
diff --git a/PLC/LibraryCandidates/ISA88/E_Isa88_Cmd.TcDUT b/PLC/LibraryCandidates/ISA88/E_Isa88_Cmd.TcDUT
deleted file mode 100644
index 07fc6aa..0000000
--- a/PLC/LibraryCandidates/ISA88/E_Isa88_Cmd.TcDUT
+++ /dev/null
@@ -1,21 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<TcPlcObject Version="1.1.0.1">
-  <DUT Name="E_Isa88_Cmd" Id="{697f242d-4f68-49dd-b08e-e24e192406b6}">
-    <Declaration><![CDATA[{attribute 'qualified_only'}
-{attribute 'strict'}
-{attribute 'to_string'}
-TYPE E_Isa88_Cmd :
-(
-	RESET := 0,
-	START,
-	PAUSE,
-	RESUME,
-	STOP,
-	HOLD,
-	RESTART,
-	ABORT
-);
-END_TYPE
-]]></Declaration>
-  </DUT>
-</TcPlcObject>
\ No newline at end of file
diff --git a/PLC/LibraryCandidates/ISA88/E_Isa88_State.TcDUT b/PLC/LibraryCandidates/ISA88/E_Isa88_State.TcDUT
deleted file mode 100644
index 1a95b00..0000000
--- a/PLC/LibraryCandidates/ISA88/E_Isa88_State.TcDUT
+++ /dev/null
@@ -1,29 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<TcPlcObject Version="1.1.0.1">
-  <DUT Name="E_Isa88_State" Id="{67b9298d-6884-4e53-b893-d852614b96d4}">
-    <Declaration><![CDATA[{attribute 'qualified_only'}
-{attribute 'strict'}
-{attribute 'to_string'}
-TYPE E_Isa88_State :
-(
-	IDLE := 0,
-	RUNNING,
-	COMPLETE,
-	
-	PAUSING,
-	PAUSED,
-	
-	HOLDING,
-	HELD,
-	RESTARTING,
-	
-	STOPPING,
-	STOPPED,
-	
-	ABORTING,
-	ABORTED
-);
-END_TYPE
-]]></Declaration>
-  </DUT>
-</TcPlcObject>
\ No newline at end of file
diff --git a/PLC/LibraryCandidates/ISA88/FB_Isa88_SM.TcPOU b/PLC/LibraryCandidates/ISA88/FB_Isa88_SM.TcPOU
deleted file mode 100644
index 357b53e..0000000
--- a/PLC/LibraryCandidates/ISA88/FB_Isa88_SM.TcPOU
+++ /dev/null
@@ -1,177 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<TcPlcObject Version="1.1.0.1">
-  <POU Name="FB_Isa88_SM" Id="{29def7dc-7eb7-4788-94bf-20badd909417}" SpecialFunc="None">
-    <Declaration><![CDATA[FUNCTION_BLOCK FB_Isa88_SM IMPLEMENTS I_Isa88_SM
-VAR_INPUT
-	xExecute : BOOL;
-	eCMD : E_Isa88_Cmd;
-END_VAR
-VAR_OUTPUT
-	eCurrentState : E_Isa88_State;
-	eCurrentCMD : E_Isa88_Cmd;
-END_VAR
-VAR
-	_eState : E_Isa88_State;
-END_VAR
-]]></Declaration>
-    <Implementation>
-      <ST><![CDATA[CASE _eState OF
-	E_Isa88_State.IDLE:
-		M_StateIdle();
-	
-	E_Isa88_State.RUNNING:
-		M_StateRunning();
-	
-	E_Isa88_State.COMPLETE:
-		M_StateComplete();
-	
-	E_Isa88_State.PAUSING:
-		IF M_StatePausing() THEN
-			_eState := E_Isa88_State.PAUSED;
-		END_IF
-	
-	E_Isa88_State.PAUSED:
-		M_StatePaused();
-	
-	E_Isa88_State.HOLDING:
-		IF M_StateHolding() THEN
-			_eState := E_Isa88_State.HELD;
-		END_IF
-	
-	E_Isa88_State.HELD:
-		M_StateHeld();
-	
-	E_Isa88_State.RESTARTING:
-		IF M_StateRestarting() THEN
-			_eState := E_Isa88_State.RUNNING;
-		END_IF
-	
-	E_Isa88_State.STOPPING:
-		IF M_StateStopping() THEN
-			_eState := E_Isa88_State.STOPPED;
-		END_IF
-	
-	E_Isa88_State.STOPPED:
-		M_StateStopped();
-	
-	E_Isa88_State.ABORTING:
-		IF M_StateAborting() THEN
-			_eState := E_Isa88_State.ABORTED;
-		END_IF
-	
-	E_Isa88_State.ABORTED:
-		M_StateAborted();
-		
-	ELSE
-		;
-END_CASE]]></ST>
-    </Implementation>
-    <Method Name="M_StateAborted" Id="{7d3ae447-cd1c-41c4-ac16-4adbba3ca9d2}">
-      <Declaration><![CDATA[METHOD M_StateAborted
-VAR_INPUT
-END_VAR
-]]></Declaration>
-      <Implementation>
-        <ST><![CDATA[]]></ST>
-      </Implementation>
-    </Method>
-    <Method Name="M_StateAborting" Id="{65c188ca-e49a-469e-8acf-15108e45afc4}">
-      <Declaration><![CDATA[METHOD M_StateAborting : BOOL
-VAR_INPUT
-END_VAR
-]]></Declaration>
-      <Implementation>
-        <ST><![CDATA[]]></ST>
-      </Implementation>
-    </Method>
-    <Method Name="M_StateComplete" Id="{c6f588b5-faa7-4cdb-8ef7-15b60b1b3437}">
-      <Declaration><![CDATA[METHOD M_StateComplete
-VAR_INPUT
-END_VAR]]></Declaration>
-      <Implementation>
-        <ST><![CDATA[]]></ST>
-      </Implementation>
-    </Method>
-    <Method Name="M_StateHeld" Id="{d3017117-19ee-4be8-a004-3bf1cb3e986c}">
-      <Declaration><![CDATA[METHOD M_StateHeld
-VAR_INPUT
-END_VAR
-]]></Declaration>
-      <Implementation>
-        <ST><![CDATA[]]></ST>
-      </Implementation>
-    </Method>
-    <Method Name="M_StateHolding" Id="{aa747568-2f98-4853-8a09-082a8e71cb49}">
-      <Declaration><![CDATA[METHOD M_StateHolding : BOOL
-VAR_INPUT
-END_VAR
-]]></Declaration>
-      <Implementation>
-        <ST><![CDATA[]]></ST>
-      </Implementation>
-    </Method>
-    <Method Name="M_StateIdle" Id="{a1e6fb67-08b4-4452-a103-1e87b93b70df}">
-      <Declaration><![CDATA[METHOD M_StateIdle
-VAR_INPUT
-END_VAR
-]]></Declaration>
-      <Implementation>
-        <ST><![CDATA[]]></ST>
-      </Implementation>
-    </Method>
-    <Method Name="M_StatePaused" Id="{e2e36464-c119-471f-8bba-3290f653d282}">
-      <Declaration><![CDATA[METHOD M_StatePaused
-VAR_INPUT
-END_VAR
-]]></Declaration>
-      <Implementation>
-        <ST><![CDATA[]]></ST>
-      </Implementation>
-    </Method>
-    <Method Name="M_StatePausing" Id="{02b59ba7-54b7-4ccd-88ad-9fc49284626e}">
-      <Declaration><![CDATA[METHOD M_StatePausing : BOOL
-VAR_INPUT
-END_VAR
-]]></Declaration>
-      <Implementation>
-        <ST><![CDATA[]]></ST>
-      </Implementation>
-    </Method>
-    <Method Name="M_StateRestarting" Id="{b6ffa7ab-5439-47ef-8993-798aa3ec7e01}">
-      <Declaration><![CDATA[METHOD M_StateRestarting : BOOL
-VAR_INPUT
-END_VAR
-]]></Declaration>
-      <Implementation>
-        <ST><![CDATA[]]></ST>
-      </Implementation>
-    </Method>
-    <Method Name="M_StateRunning" Id="{e61c2773-08f6-421e-88fd-c87d0d7d7581}">
-      <Declaration><![CDATA[METHOD M_StateRunning
-VAR_INPUT
-END_VAR
-]]></Declaration>
-      <Implementation>
-        <ST><![CDATA[]]></ST>
-      </Implementation>
-    </Method>
-    <Method Name="M_StateStopped" Id="{0455a3a5-4745-4cf5-8c40-69d001c1d9aa}">
-      <Declaration><![CDATA[METHOD M_StateStopped
-VAR_INPUT
-END_VAR
-]]></Declaration>
-      <Implementation>
-        <ST><![CDATA[]]></ST>
-      </Implementation>
-    </Method>
-    <Method Name="M_StateStopping" Id="{e88bc558-0424-4a5f-99cd-f9d787839b47}">
-      <Declaration><![CDATA[METHOD M_StateStopping : BOOL
-VAR_INPUT
-END_VAR
-]]></Declaration>
-      <Implementation>
-        <ST><![CDATA[]]></ST>
-      </Implementation>
-    </Method>
-  </POU>
-</TcPlcObject>
\ No newline at end of file
diff --git a/PLC/LibraryCandidates/ISA88/I_Isa88_SM.TcIO b/PLC/LibraryCandidates/ISA88/I_Isa88_SM.TcIO
deleted file mode 100644
index 80fb4a5..0000000
--- a/PLC/LibraryCandidates/ISA88/I_Isa88_SM.TcIO
+++ /dev/null
@@ -1,78 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<TcPlcObject Version="1.1.0.1">
-  <Itf Name="I_Isa88_SM" Id="{40882424-4ec1-4664-8b86-b7a6af5bbb74}">
-    <Declaration><![CDATA[INTERFACE I_Isa88_SM
-]]></Declaration>
-    <Method Name="M_StateAborted" Id="{e67083c3-128e-45d9-b1cc-0a35d94ac3bc}">
-      <Declaration><![CDATA[METHOD M_StateAborted
-VAR_INPUT
-END_VAR
-]]></Declaration>
-    </Method>
-    <Method Name="M_StateAborting" Id="{d3e0a947-0574-444f-878b-6e216d4fca0c}">
-      <Declaration><![CDATA[METHOD M_StateAborting : BOOL
-VAR_INPUT
-END_VAR
-]]></Declaration>
-    </Method>
-    <Method Name="M_StateComplete" Id="{bef858dc-1667-4bca-9f0f-99332f97e6e2}">
-      <Declaration><![CDATA[METHOD M_StateComplete
-VAR_INPUT
-END_VAR]]></Declaration>
-    </Method>
-    <Method Name="M_StateHeld" Id="{44494e88-dd2e-4465-9ead-95d76f1444b6}">
-      <Declaration><![CDATA[METHOD M_StateHeld
-VAR_INPUT
-END_VAR
-]]></Declaration>
-    </Method>
-    <Method Name="M_StateHolding" Id="{2b2a3d8f-01ad-4938-b464-ceb50de62ddf}">
-      <Declaration><![CDATA[METHOD M_StateHolding : BOOL
-VAR_INPUT
-END_VAR
-]]></Declaration>
-    </Method>
-    <Method Name="M_StateIdle" Id="{4ceced48-4f87-482f-a69a-e97b69ac8963}">
-      <Declaration><![CDATA[METHOD M_StateIdle
-VAR_INPUT
-END_VAR
-]]></Declaration>
-    </Method>
-    <Method Name="M_StatePaused" Id="{fc81aaa6-18b7-4113-914d-8d5cd632e976}">
-      <Declaration><![CDATA[METHOD M_StatePaused
-VAR_INPUT
-END_VAR
-]]></Declaration>
-    </Method>
-    <Method Name="M_StatePausing" Id="{48a7510c-d8b6-42c2-a5e4-f4ebcb66eb3b}">
-      <Declaration><![CDATA[METHOD M_StatePausing : BOOL
-VAR_INPUT
-END_VAR
-]]></Declaration>
-    </Method>
-    <Method Name="M_StateRestarting" Id="{12cefe9f-48b4-4752-b95c-8ffb5612b7c4}">
-      <Declaration><![CDATA[METHOD M_StateRestarting : BOOL
-VAR_INPUT
-END_VAR
-]]></Declaration>
-    </Method>
-    <Method Name="M_StateRunning" Id="{90fa6b25-1c31-4d7c-a91d-56a908196ed4}">
-      <Declaration><![CDATA[METHOD M_StateRunning
-VAR_INPUT
-END_VAR
-]]></Declaration>
-    </Method>
-    <Method Name="M_StateStopped" Id="{62d558ef-79a2-484a-a156-d8057fe6d97a}">
-      <Declaration><![CDATA[METHOD M_StateStopped
-VAR_INPUT
-END_VAR
-]]></Declaration>
-    </Method>
-    <Method Name="M_StateStopping" Id="{7ecd335a-ebd9-4170-b5b7-2f9add02b49d}">
-      <Declaration><![CDATA[METHOD M_StateStopping : BOOL
-VAR_INPUT
-END_VAR
-]]></Declaration>
-    </Method>
-  </Itf>
-</TcPlcObject>
\ No newline at end of file
diff --git a/PLC/LibraryCandidates/PackML/E_PackMLCmd.TcDUT b/PLC/LibraryCandidates/PackML/E_PackMLCmd.TcDUT
new file mode 100644
index 0000000..f7965f9
--- /dev/null
+++ b/PLC/LibraryCandidates/PackML/E_PackMLCmd.TcDUT
@@ -0,0 +1,24 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="E_PackMLCmd" Id="{3ba7a228-f199-4355-be17-fd46fc967487}">
+    <Declaration><![CDATA[{attribute 'qualified_only'}
+{attribute 'strict'}
+{attribute 'to_string'}
+TYPE E_PackMLCmd :
+(
+	UNDEFINED := 0,
+	RESET := 1,
+	START := 2,
+	STOP := 3,
+	HOLD := 4,
+	UNHOLD := 5,
+	SUSPEND := 6,
+	UNSUSPEND := 7,
+	ABORT := 8,
+	CLEAR := 9,
+	COMPLETE := 10
+) DINT;
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>
\ No newline at end of file
diff --git a/PLC/LibraryCandidates/PackML/E_PackMLState.TcDUT b/PLC/LibraryCandidates/PackML/E_PackMLState.TcDUT
new file mode 100644
index 0000000..337c9b1
--- /dev/null
+++ b/PLC/LibraryCandidates/PackML/E_PackMLState.TcDUT
@@ -0,0 +1,31 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="E_PackMLState" Id="{563a2f85-ab5d-400a-a6dd-3d1839155f82}">
+    <Declaration><![CDATA[{attribute 'qualified_only'}
+{attribute 'strict'}
+{attribute 'to_string'}
+TYPE E_PackMLState :
+(
+	UNDEFINED := 0,
+	CLEARING := 1,
+	STOPPED := 2,
+	STARTING := 3,
+	IDLE := 4,
+	SUSPENDED := 5,
+	EXECUTE := 6,
+	STOPPING := 7,
+	ABORTING := 8,
+	ABORTED := 9,
+	HOLDING := 10,
+	HELD := 11,
+	UNHOLDING := 12,
+	SUSPENDING := 13,
+	UNSUSPENDING := 14,
+	RESETTING := 15,
+	COMPLETING := 16,
+	COMPLETE := 17
+) DINT := STOPPED;
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>
\ No newline at end of file
diff --git a/PLC/LibraryCandidates/PackML/E_PackMLUnitMode.TcDUT b/PLC/LibraryCandidates/PackML/E_PackMLUnitMode.TcDUT
new file mode 100644
index 0000000..9bf72ab
--- /dev/null
+++ b/PLC/LibraryCandidates/PackML/E_PackMLUnitMode.TcDUT
@@ -0,0 +1,21 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="E_PackMLUnitMode" Id="{56f8b8e3-48e3-4607-ac73-c965d4d0058d}">
+    <Declaration><![CDATA[{attribute 'qualified_only'}
+{attribute 'strict'}
+{attribute 'to_string'}
+TYPE E_PackMLUnitMode :
+(
+	INVALID := 0,
+	PRODUCTION := 1,
+	MAINTENANCE := 2,
+	MANUAL := 3,
+	CHANGE_OVER := 4,
+	CLEAN := 5,
+	SET_UP := 6,
+	EMPTY_OUT := 7
+) DINT := PRODUCTION;
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>
\ No newline at end of file
diff --git a/PLC/LibraryCandidates/PackML/FB_PackMLGeneric.TcPOU b/PLC/LibraryCandidates/PackML/FB_PackMLGeneric.TcPOU
new file mode 100644
index 0000000..d01546f
--- /dev/null
+++ b/PLC/LibraryCandidates/PackML/FB_PackMLGeneric.TcPOU
@@ -0,0 +1,225 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <POU Name="FB_PackMLGeneric" Id="{f562a10e-01bc-407d-9fc0-2837d13c10b1}" SpecialFunc="None">
+    <Declaration><![CDATA[FUNCTION_BLOCK FB_PackMLGeneric IMPLEMENTS I_UnitState
+VAR_INPUT
+	// Mode from superior unit
+	eModeCmd : E_PackMLUnitMode;
+	
+	// Command for new state from superior unit
+	eCmd : E_PackMLCmd;
+END_VAR
+VAR_OUTPUT
+	// Current mode of unit
+	eMode : E_PackMLUnitMode;
+	
+	// Current state of unit
+	eState : E_PackMLState;
+	
+	// xInvalidModeCmd : BOOL;
+END_VAR
+VAR
+	// State machine handler
+	_fbStateMachine : FB_PackMLStateMachine;	
+
+	// Internal unit state
+	_eState : E_PackMLState;
+END_VAR
+]]></Declaration>
+    <Implementation>
+      <ST><![CDATA[_fbStateMachine(
+	eMode:= eMode,
+	eCmd:= eCmd,
+	eState=> _eState,
+	xError=> );
+
+
+// Call state method according to current state
+CASE _eState OF
+	E_PackMLState.CLEARING:
+		M_Clearing();
+		
+	E_PackMLState.STOPPED:
+		M_Stopped();
+		
+	E_PackMLState.STARTING:
+		M_Starting();
+		
+	E_PackMLState.IDLE:
+		M_Idle();
+		
+	E_PackMLState.SUSPENDED:
+		M_Suspended();
+		
+	E_PackMLState.EXECUTE:
+		M_Execute();
+		
+	E_PackMLState.STOPPING:
+		M_Stopping();
+		
+	E_PackMLState.ABORTING:
+		M_Aborting();
+		
+	E_PackMLState.ABORTED:
+		M_Aborted();
+		
+	E_PackMLState.HOLDING:
+		M_Holding();
+		
+	E_PackMLState.HELD:
+		M_Held();
+		
+	E_PackMLState.UNHOLDING:
+		M_Unholding();
+		
+	E_PackMLState.SUSPENDING:
+		M_Suspending();
+		
+	E_PackMLState.UNSUSPENDING:
+		M_Unsuspending();
+		
+	E_PackMLState.RESETTING:
+		M_Resetting();
+		
+	E_PackMLState.COMPLETING:
+		M_Completing();
+		
+	E_PackMLState.COMPLETE:
+		M_Complete();
+		
+	ELSE
+		
+		;
+END_CASE
+
+// Copy internal flags to output
+eState := _eState;]]></ST>
+    </Implementation>
+    <Method Name="M_Aborted" Id="{db1a684f-e4e1-4d89-a3aa-9b9dfde0508c}">
+      <Declaration><![CDATA[METHOD M_Aborted
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_Aborting" Id="{928ad614-a3a7-4c6c-b1bc-55ae54e4c95f}">
+      <Declaration><![CDATA[METHOD M_Aborting
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[M_StateComplete();]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_Clearing" Id="{1716cf1b-94c6-4995-8b3f-c7ebcf5727d3}">
+      <Declaration><![CDATA[METHOD M_Clearing
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[M_StateComplete();]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_Complete" Id="{33df5dea-d83b-48e1-8898-d7c8e1f031bd}">
+      <Declaration><![CDATA[METHOD M_Complete
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_Completing" Id="{341608cb-1218-481f-929c-cb79602c11ab}">
+      <Declaration><![CDATA[METHOD M_Completing
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[M_StateComplete();]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_Execute" Id="{2a469169-0eb2-43c9-be21-48909285ee44}">
+      <Declaration><![CDATA[METHOD M_Execute
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[M_StateComplete();]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_Held" Id="{05b040b0-b1b9-4afd-81d0-88fc1f1a7f9b}">
+      <Declaration><![CDATA[METHOD M_Held
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_Holding" Id="{519b03b3-2409-4b45-818f-535b3e16b22e}">
+      <Declaration><![CDATA[METHOD M_Holding
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[M_StateComplete();]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_Idle" Id="{aa784f5c-7adf-4c9f-a414-65b10afd2772}">
+      <Declaration><![CDATA[METHOD M_Idle
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_Resetting" Id="{4050ed6f-edbe-4c3e-ac42-919a37a47ea9}">
+      <Declaration><![CDATA[METHOD M_Resetting
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[M_StateComplete();]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_Starting" Id="{0059e7f6-5f2a-40e4-9d9b-652f221495a9}">
+      <Declaration><![CDATA[METHOD M_Starting
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[M_StateComplete();]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_StateComplete" Id="{0cf3625e-8009-4108-a9f4-d98c991f9930}">
+      <Declaration><![CDATA[METHOD M_StateComplete
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[_fbStateMachine.M_StateComplete();]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_Stopped" Id="{9f8a09cf-f3be-4d60-b5e4-cd9572fae88c}">
+      <Declaration><![CDATA[METHOD M_Stopped
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_Stopping" Id="{193565ef-cf20-428c-b726-e7c1b61375c5}">
+      <Declaration><![CDATA[METHOD M_Stopping
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[M_StateComplete();]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_Suspended" Id="{222c3ad7-f7d5-4773-8e98-863345472053}">
+      <Declaration><![CDATA[METHOD M_Suspended
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_Suspending" Id="{0f5d52e2-2a54-4ea9-a0c4-7f08229c4f21}">
+      <Declaration><![CDATA[METHOD M_Suspending
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[M_StateComplete();]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_Unholding" Id="{662dd054-329b-4e57-ba77-486f92af795a}">
+      <Declaration><![CDATA[METHOD M_Unholding
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[M_StateComplete();]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_Unsuspending" Id="{80fb11c4-916a-4f8f-9cf9-b9a2d51524a1}">
+      <Declaration><![CDATA[METHOD M_Unsuspending
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[M_StateComplete();]]></ST>
+      </Implementation>
+    </Method>
+  </POU>
+</TcPlcObject>
\ No newline at end of file
diff --git a/PLC/LibraryCandidates/PackML/FB_PackMLStateMachine.TcPOU b/PLC/LibraryCandidates/PackML/FB_PackMLStateMachine.TcPOU
new file mode 100644
index 0000000..214c952
--- /dev/null
+++ b/PLC/LibraryCandidates/PackML/FB_PackMLStateMachine.TcPOU
@@ -0,0 +1,244 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <POU Name="FB_PackMLStateMachine" Id="{784ceb84-1721-424f-89d1-422a24198e57}" SpecialFunc="None">
+    <Declaration><![CDATA[FUNCTION_BLOCK FB_PackMLStateMachine
+VAR_INPUT
+	eMode : E_PackMLUnitMode;
+	eCmd : E_PackMLCmd;
+END_VAR
+VAR_OUTPUT
+	eState : E_PackMLState;
+	eCurrentMode : E_PackMLUnitMode;
+	xError : BOOL;
+END_VAR
+VAR
+	// Internal mode
+	_eMode : E_PackMLUnitMode;
+	
+	// Internal state
+	_eState : E_PackMLState;
+END_VAR
+]]></Declaration>
+    <Implementation>
+      <ST><![CDATA[// Check for mode switch
+IF eMode <> _eMode THEN
+	// Only allow mode switch in stopped state
+	// or in aborted state when target mode ist manual mode
+	IF (_eState = E_PackMLState.STOPPED) OR (_eState = E_PackMLState.ABORTED AND eMode = E_PackMLUnitMode.MANUAL) THEN
+		_eMode := eMode;
+	END_IF
+END_IF
+
+
+// Base state machine
+CASE _eState OF
+	E_PackMLState.STOPPING:
+		IF eCmd = E_PackMLCmd.ABORT THEN
+			_eState := E_PackMLState.ABORTING;
+		END_IF
+		
+	E_PackMLState.STOPPED:
+		IF eCmd = E_PackMLCmd.RESET THEN
+			_eState := E_PackMLState.RESETTING;
+		END_IF
+		
+		IF eCmd = E_PackMLCmd.ABORT THEN
+			_eState := E_PackMLState.ABORTING;
+		END_IF
+		
+	E_PackMLState.RESETTING:
+		IF eCmd = E_PackMLCmd.STOP THEN
+			_eState := E_PackMLState.STOPPING;
+		END_IF
+		
+		IF eCmd = E_PackMLCmd.ABORT THEN
+			_eState := E_PackMLState.ABORTING;
+		END_IF
+		
+	E_PackMLState.IDLE:
+		IF eCmd = E_PackMLCmd.START THEN
+			_eState := E_PackMLState.STARTING;
+		END_IF
+		
+		IF eCmd = E_PackMLCmd.STOP THEN
+			_eState := E_PackMLState.STOPPING;
+		END_IF
+		
+		IF eCmd = E_PackMLCmd.ABORT THEN
+			_eState := E_PackMLState.ABORTING;
+		END_IF
+		
+	E_PackMLState.STARTING:
+		IF eCmd = E_PackMLCmd.STOP THEN
+			_eState := E_PackMLState.STOPPING;
+		END_IF
+		
+		IF eCmd = E_PackMLCmd.ABORT THEN
+			_eState := E_PackMLState.ABORTING;
+		END_IF
+		
+	E_PackMLState.EXECUTE:
+		IF eCmd = E_PackMLCmd.SUSPEND THEN
+			_eState := E_PackMLState.SUSPENDING;
+		END_IF
+		
+		IF eCmd = E_PackMLCmd.HOLD THEN
+			_eState := E_PackMLState.HOLDING;
+		END_IF
+		
+		IF eCmd = E_PackMLCmd.STOP THEN
+			_eState := E_PackMLState.STOPPING;
+		END_IF
+		
+		IF eCmd = E_PackMLCmd.ABORT THEN
+			_eState := E_PackMLState.ABORTING;
+		END_IF
+		
+	E_PackMLState.SUSPENDING:
+		IF eCmd = E_PackMLCmd.STOP THEN
+			_eState := E_PackMLState.STOPPING;
+		END_IF
+		
+		IF eCmd = E_PackMLCmd.ABORT THEN
+			_eState := E_PackMLState.ABORTING;
+		END_IF
+		
+	E_PackMLState.SUSPENDED:
+		IF eCmd = E_PackMLCmd.UNSUSPEND THEN
+			_eState := E_PackMLState.UNSUSPENDING;
+		END_IF
+		
+		IF eCmd = E_PackMLCmd.STOP THEN
+			_eState := E_PackMLState.STOPPING;
+		END_IF
+		
+		IF eCmd = E_PackMLCmd.ABORT THEN
+			_eState := E_PackMLState.ABORTING;
+		END_IF
+		
+	E_PackMLState.UNSUSPENDING:
+		IF eCmd = E_PackMLCmd.STOP THEN
+			_eState := E_PackMLState.STOPPING;
+		END_IF
+		
+		IF eCmd = E_PackMLCmd.ABORT THEN
+			_eState := E_PackMLState.ABORTING;
+		END_IF
+		
+	E_PackMLState.HOLDING:
+		IF eCmd = E_PackMLCmd.STOP THEN
+			_eState := E_PackMLState.STOPPING;
+		END_IF
+		
+		IF eCmd = E_PackMLCmd.ABORT THEN
+			_eState := E_PackMLState.ABORTING;
+		END_IF
+		
+	E_PackMLState.HELD:
+		IF eCmd = E_PackMLCmd.UNHOLD THEN
+			_eState := E_PackMLState.UNHOLDING;
+		END_IF
+	
+		IF eCmd = E_PackMLCmd.STOP THEN
+			_eState := E_PackMLState.STOPPING;
+		END_IF
+		
+		IF eCmd = E_PackMLCmd.ABORT THEN
+			_eState := E_PackMLState.ABORTING;
+		END_IF
+		
+	E_PackMLState.UNHOLDING:
+		IF eCmd = E_PackMLCmd.STOP THEN
+			_eState := E_PackMLState.STOPPING;
+		END_IF
+		
+		IF eCmd = E_PackMLCmd.ABORT THEN
+			_eState := E_PackMLState.ABORTING;
+		END_IF
+		
+	E_PackMLState.COMPLETING:
+		IF eCmd = E_PackMLCmd.STOP THEN
+			_eState := E_PackMLState.STOPPING;
+		END_IF
+		
+		IF eCmd = E_PackMLCmd.ABORT THEN
+			_eState := E_PackMLState.ABORTING;
+		END_IF
+		
+	E_PackMLState.COMPLETE:
+		IF eCmd = E_PackMLCmd.RESET THEN
+			_eState := E_PackMLState.RESETTING;
+		END_IF
+	
+		IF eCmd = E_PackMLCmd.STOP THEN
+			_eState := E_PackMLState.STOPPING;
+		END_IF
+		
+		IF eCmd = E_PackMLCmd.ABORT THEN
+			_eState := E_PackMLState.ABORTING;
+		END_IF
+
+	E_PackMLState.ABORTED:
+		IF eCmd = E_PackMLCmd.CLEAR THEN
+			_eState := E_PackMLState.CLEARING;
+		END_IF
+		
+	E_PackMLState.CLEARING:
+		IF eCmd = E_PackMLCmd.ABORT THEN
+			_eState := E_PackMLState.ABORTING;
+		END_IF
+	
+	ELSE
+		;
+END_CASE
+
+// Copy internal state value to fb output
+eState := _eState;
+eCurrentMode := _eMode;]]></ST>
+    </Implementation>
+    <Method Name="M_StateComplete" Id="{e2f1bae5-5059-4baa-8ba2-8dfa58d439e5}">
+      <Declaration><![CDATA[METHOD M_StateComplete
+VAR_INPUT
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[CASE _eState OF
+	E_PackMLState.STOPPING:
+		_eState := E_PackMLState.STOPPED;
+		
+	E_PackMLState.RESETTING:
+		_eState := E_PackMLState.IDLE;
+		
+	E_PackMLState.STARTING:
+		_eState := E_PackMLState.EXECUTE;
+		
+	E_PackMLState.EXECUTE:
+		_eState := E_PackMLState.COMPLETING;
+		
+	E_PackMLState.SUSPENDING:
+		_eState := E_PackMLState.SUSPENDED;
+		
+	E_PackMLState.UNSUSPENDING:
+		_eState := E_PackMLState.EXECUTE;
+		
+	E_PackMLState.HOLDING:
+		_eState := E_PackMLState.HELD;
+		
+	E_PackMLState.UNHOLDING:
+		_eState := E_PackMLState.EXECUTE;
+		
+	E_PackMLState.COMPLETING:
+		_eState := E_PackMLState.COMPLETE;
+		
+	E_PackMLState.ABORTING:
+		_eState := E_PackMLState.ABORTED;
+		
+	E_PackMLState.CLEARING:
+		_eState := E_PackMLState.STOPPED;
+END_CASE
+
+eState := _eState;]]></ST>
+      </Implementation>
+    </Method>
+  </POU>
+</TcPlcObject>
\ No newline at end of file
diff --git a/PLC/LibraryCandidates/PackML/ITFs/I_UnitState.TcIO b/PLC/LibraryCandidates/PackML/ITFs/I_UnitState.TcIO
new file mode 100644
index 0000000..26ecb43
--- /dev/null
+++ b/PLC/LibraryCandidates/PackML/ITFs/I_UnitState.TcIO
@@ -0,0 +1,109 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <Itf Name="I_UnitState" Id="{cdb705eb-8c7b-4a1b-b75d-2d038b2142ed}">
+    <Declaration><![CDATA[INTERFACE I_UnitState
+]]></Declaration>
+    <Method Name="M_Aborted" Id="{60879075-982d-46e3-879f-28a027152492}">
+      <Declaration><![CDATA[METHOD M_Aborted
+VAR_INPUT
+END_VAR
+]]></Declaration>
+    </Method>
+    <Method Name="M_Aborting" Id="{a7f0b039-d3ad-461a-85a2-ba36dbff9c79}">
+      <Declaration><![CDATA[METHOD M_Aborting
+VAR_INPUT
+END_VAR
+]]></Declaration>
+    </Method>
+    <Method Name="M_Clearing" Id="{6299cd97-9cf1-4270-94b0-c0bcc4e1099d}">
+      <Declaration><![CDATA[METHOD M_Clearing
+VAR_INPUT
+END_VAR
+]]></Declaration>
+    </Method>
+    <Method Name="M_Complete" Id="{b3cf5b7a-9a5a-43fd-b325-d4fd150ef337}">
+      <Declaration><![CDATA[METHOD M_Complete
+VAR_INPUT
+END_VAR
+]]></Declaration>
+    </Method>
+    <Method Name="M_Completing" Id="{7c1cb77d-7ca4-41f6-bf62-9389baa6ee7f}">
+      <Declaration><![CDATA[METHOD M_Completing
+VAR_INPUT
+END_VAR
+]]></Declaration>
+    </Method>
+    <Method Name="M_Execute" Id="{03ab6d64-3e16-414d-9136-f9b18ea617be}">
+      <Declaration><![CDATA[METHOD M_Execute
+VAR_INPUT
+END_VAR
+]]></Declaration>
+    </Method>
+    <Method Name="M_Held" Id="{68deb94e-e48b-464f-9c76-8d9ed1bf2546}">
+      <Declaration><![CDATA[METHOD M_Held
+VAR_INPUT
+END_VAR
+]]></Declaration>
+    </Method>
+    <Method Name="M_Holding" Id="{559633b5-914c-40d3-8d33-7376565527fb}">
+      <Declaration><![CDATA[METHOD M_Holding
+VAR_INPUT
+END_VAR
+]]></Declaration>
+    </Method>
+    <Method Name="M_Idle" Id="{67e5973f-2505-422d-bb50-93ce0b57a267}">
+      <Declaration><![CDATA[METHOD M_Idle
+VAR_INPUT
+END_VAR
+]]></Declaration>
+    </Method>
+    <Method Name="M_Resetting" Id="{d1009681-05ba-46d8-97a6-e3edaa95ef55}">
+      <Declaration><![CDATA[METHOD M_Resetting
+VAR_INPUT
+END_VAR
+]]></Declaration>
+    </Method>
+    <Method Name="M_Starting" Id="{a747e482-f90e-45e5-98dc-79e29c5eb846}">
+      <Declaration><![CDATA[METHOD M_Starting
+VAR_INPUT
+END_VAR
+]]></Declaration>
+    </Method>
+    <Method Name="M_Stopped" Id="{4639d90c-8eac-499e-a39a-e21317512d84}">
+      <Declaration><![CDATA[METHOD M_Stopped
+VAR_INPUT
+END_VAR
+]]></Declaration>
+    </Method>
+    <Method Name="M_Stopping" Id="{81d1ced0-30b6-4a0e-b4f0-f2f5159fb0a2}">
+      <Declaration><![CDATA[METHOD M_Stopping
+VAR_INPUT
+END_VAR
+]]></Declaration>
+    </Method>
+    <Method Name="M_Suspended" Id="{d84aeac6-2d41-4eb9-bcab-6c5cf55f051b}">
+      <Declaration><![CDATA[METHOD M_Suspended
+VAR_INPUT
+END_VAR
+]]></Declaration>
+    </Method>
+    <Method Name="M_Suspending" Id="{74fa6a0f-a468-4665-8e53-35af4d69eb0e}">
+      <Declaration><![CDATA[METHOD M_Suspending
+VAR_INPUT
+END_VAR
+]]></Declaration>
+    </Method>
+    <Method Name="M_Unholding" Id="{2cbdd1fc-df75-4e65-b402-0f80d7393bf2}">
+      <Declaration><![CDATA[METHOD M_Unholding
+VAR_INPUT
+END_VAR
+]]></Declaration>
+    </Method>
+    <Method Name="M_Unsuspending" Id="{b50ba50d-d8d9-4340-8bf8-95a965e5f0da}">
+      <Declaration><![CDATA[METHOD M_Unsuspending
+VAR_INPUT
+END_VAR
+]]></Declaration>
+    </Method>
+  </Itf>
+</TcPlcObject>
\ No newline at end of file
diff --git a/PLC/LibraryCandidates/PackML/ITFs/I_UnitStateActing.TcIO b/PLC/LibraryCandidates/PackML/ITFs/I_UnitStateActing.TcIO
new file mode 100644
index 0000000..6e11ce1
--- /dev/null
+++ b/PLC/LibraryCandidates/PackML/ITFs/I_UnitStateActing.TcIO
@@ -0,0 +1,73 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <Itf Name="I_UnitStateActing" Id="{c702df5f-1a22-4aea-b488-0fb9e9d6d715}">
+    <Declaration><![CDATA[INTERFACE I_UnitStateActing
+]]></Declaration>
+    <Method Name="M_Aborting" Id="{7c2f68db-46da-431c-ae3a-645172f1883b}">
+      <Declaration><![CDATA[METHOD M_Aborting
+VAR_INPUT
+END_VAR
+]]></Declaration>
+    </Method>
+    <Method Name="M_Clearing" Id="{9d54d966-edc5-4f21-bd4e-93594fa24900}">
+      <Declaration><![CDATA[METHOD M_Clearing
+VAR_INPUT
+END_VAR
+]]></Declaration>
+    </Method>
+    <Method Name="M_Completing" Id="{58605d4f-0a0c-4fdd-9d50-28facf47e281}">
+      <Declaration><![CDATA[METHOD M_Completing
+VAR_INPUT
+END_VAR
+]]></Declaration>
+    </Method>
+    <Method Name="M_Execute" Id="{ab83a18f-a5bc-4b8f-b1f3-7186449d2761}">
+      <Declaration><![CDATA[METHOD M_Execute
+VAR_INPUT
+END_VAR
+]]></Declaration>
+    </Method>
+    <Method Name="M_Holding" Id="{75e803d4-1308-483e-b7e2-17e7d4b226d0}">
+      <Declaration><![CDATA[METHOD M_Holding
+VAR_INPUT
+END_VAR
+]]></Declaration>
+    </Method>
+    <Method Name="M_Resetting" Id="{0e18ccba-b77b-4b73-8769-7ee43b60219b}">
+      <Declaration><![CDATA[METHOD M_Resetting
+VAR_INPUT
+END_VAR
+]]></Declaration>
+    </Method>
+    <Method Name="M_Starting" Id="{58fc3d45-f33e-4dd2-bcd8-33e9912df38b}">
+      <Declaration><![CDATA[METHOD M_Starting
+VAR_INPUT
+END_VAR
+]]></Declaration>
+    </Method>
+    <Method Name="M_Stopping" Id="{2552a9a7-c44e-4a0f-b543-d0ead71abcad}">
+      <Declaration><![CDATA[METHOD M_Stopping
+VAR_INPUT
+END_VAR
+]]></Declaration>
+    </Method>
+    <Method Name="M_Suspending" Id="{4a4db317-bf30-420e-8759-cbe6735e3cbf}">
+      <Declaration><![CDATA[METHOD M_Suspending
+VAR_INPUT
+END_VAR
+]]></Declaration>
+    </Method>
+    <Method Name="M_Unholding" Id="{0552e45c-941b-4643-88d7-3142a7e014c8}">
+      <Declaration><![CDATA[METHOD M_Unholding
+VAR_INPUT
+END_VAR
+]]></Declaration>
+    </Method>
+    <Method Name="M_Unsuspending" Id="{9b9d5dbc-614c-4f59-9357-18a6be86205d}">
+      <Declaration><![CDATA[METHOD M_Unsuspending
+VAR_INPUT
+END_VAR
+]]></Declaration>
+    </Method>
+  </Itf>
+</TcPlcObject>
\ No newline at end of file
diff --git a/PLC/LibraryCandidates/PackML/ITFs/I_UnitStateWaiting.TcIO b/PLC/LibraryCandidates/PackML/ITFs/I_UnitStateWaiting.TcIO
new file mode 100644
index 0000000..b5edbc5
--- /dev/null
+++ b/PLC/LibraryCandidates/PackML/ITFs/I_UnitStateWaiting.TcIO
@@ -0,0 +1,43 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <Itf Name="I_UnitStateWaiting" Id="{39625219-05f8-4347-91c2-8778ac2bbe52}">
+    <Declaration><![CDATA[INTERFACE I_UnitStateWaiting
+]]></Declaration>
+    <Method Name="M_Aborted" Id="{e9883017-eee3-45b6-a539-97564bed85bd}">
+      <Declaration><![CDATA[METHOD M_Aborted
+VAR_INPUT
+END_VAR
+]]></Declaration>
+    </Method>
+    <Method Name="M_Complete" Id="{e5ea1a66-0ad7-44f0-8155-f8f6e9fb0869}">
+      <Declaration><![CDATA[METHOD M_Complete
+VAR_INPUT
+END_VAR
+]]></Declaration>
+    </Method>
+    <Method Name="M_Held" Id="{22f78e55-8e74-4d03-b949-ddbec289c616}">
+      <Declaration><![CDATA[METHOD M_Held
+VAR_INPUT
+END_VAR
+]]></Declaration>
+    </Method>
+    <Method Name="M_Idle" Id="{a4192dfa-4513-4296-9d67-360bb2fdd051}">
+      <Declaration><![CDATA[METHOD M_Idle
+VAR_INPUT
+END_VAR
+]]></Declaration>
+    </Method>
+    <Method Name="M_Stopped" Id="{8609190c-90f0-46f9-b5b0-5dddabdfa3b1}">
+      <Declaration><![CDATA[METHOD M_Stopped
+VAR_INPUT
+END_VAR
+]]></Declaration>
+    </Method>
+    <Method Name="M_Suspended" Id="{eeb60c98-c52b-43d3-9d93-2abce6744a61}">
+      <Declaration><![CDATA[METHOD M_Suspended
+VAR_INPUT
+END_VAR
+]]></Declaration>
+    </Method>
+  </Itf>
+</TcPlcObject>
\ No newline at end of file
diff --git a/PLC/LibraryCandidates/Unittests/FB_PackMLStateMachine_Test.TcPOU b/PLC/LibraryCandidates/Unittests/FB_PackMLStateMachine_Test.TcPOU
new file mode 100644
index 0000000..6e7e40f
--- /dev/null
+++ b/PLC/LibraryCandidates/Unittests/FB_PackMLStateMachine_Test.TcPOU
@@ -0,0 +1,569 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <POU Name="FB_PackMLStateMachine_Test" Id="{6fbfd066-a6ec-4393-8e2f-9c56726e94be}" SpecialFunc="None">
+    <Declaration><![CDATA[FUNCTION_BLOCK FB_PackMLStateMachine_Test EXTENDS FB_TestSuite
+VAR_INPUT
+END_VAR
+VAR_OUTPUT
+END_VAR
+VAR
+END_VAR
+]]></Declaration>
+    <Implementation>
+      <ST><![CDATA[// Normal commands
+M_InitialState();
+M_StoppedToIdle();
+M_IdleToExecute();
+M_HoldUnholdCycle();
+M_SuspendUnsuspendCycle();
+M_ExecuteToComplete();
+M_ResetFromComplete();
+
+// Full cycle
+M_FullProductionCycle();
+
+// Stop tests
+M_StopFromIdle();
+M_StopFromExecute();
+M_StopFromComplete();
+
+// Abort tests
+M_AbortFromExecute();
+M_AbortDuringStarting();
+M_AbortDuringHolding();
+M_AbortDuringClearing();
+
+// Clearing
+M_ClearFromAborted();
+
+// Mode switching
+M_ModeSwitchInStopped();
+M_ModeSwitchNotAllowedInIdle();
+M_ModeSwitchAbortedToManual();
+M_ModeSwitchAbortedToNonManualNotAllowed();
+
+]]></ST>
+    </Implementation>
+    <Method Name="M_AbortDuringClearing" Id="{35f8c603-4e33-4f68-9e15-218d78d5c03b}">
+      <Declaration><![CDATA[METHOD M_AbortDuringClearing
+VAR
+    fbPackML : FB_PackMLStateMachine;
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[TEST('AbortDuringClearing');
+
+// Setup: Get to CLEARING
+fbPackML(eMode := E_PackMLUnitMode.PRODUCTION, eCmd := E_PackMLCmd.RESET);
+fbPackML.M_StateComplete();
+fbPackML(eCmd := E_PackMLCmd.START);
+fbPackML.M_StateComplete();
+fbPackML(eCmd := E_PackMLCmd.ABORT);
+fbPackML.M_StateComplete();
+fbPackML(eCmd := E_PackMLCmd.CLEAR);
+AssertEquals_DINT(E_PackMLState.CLEARING, fbPackML.eState, 'Setup: Should be CLEARING');
+
+// Test ABORT during CLEARING
+fbPackML(eCmd := E_PackMLCmd.ABORT);
+AssertEquals_DINT(E_PackMLState.ABORTING, fbPackML.eState, 'Should abort from CLEARING');
+
+TEST_FINISHED();]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_AbortDuringHolding" Id="{aaa6bed5-41ed-40eb-8168-11c14ad58832}">
+      <Declaration><![CDATA[METHOD M_AbortDuringHolding
+VAR
+    fbPackML : FB_PackMLStateMachine;
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[TEST('AbortDuringHolding');
+
+// Setup: Get to HOLDING
+fbPackML(eMode := E_PackMLUnitMode.PRODUCTION, eCmd := E_PackMLCmd.RESET);
+fbPackML.M_StateComplete();
+fbPackML(eCmd := E_PackMLCmd.START);
+fbPackML.M_StateComplete();
+fbPackML(eCmd := E_PackMLCmd.HOLD);
+AssertEquals_DINT(E_PackMLState.HOLDING, fbPackML.eState, 'Setup: Should be HOLDING');
+
+// Test ABORT during HOLDING
+fbPackML(eCmd := E_PackMLCmd.ABORT);
+AssertEquals_DINT(E_PackMLState.ABORTING, fbPackML.eState, 'Should abort from HOLDING');
+
+fbPackML.M_StateComplete();
+AssertEquals_DINT(E_PackMLState.ABORTED, fbPackML.eState, 'Should reach ABORTED');
+
+TEST_FINISHED();]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_AbortDuringStarting" Id="{fbb52ff0-3ecb-4984-be10-32efaf2d1f2b}">
+      <Declaration><![CDATA[METHOD M_AbortDuringStarting
+VAR
+    fbPackML : FB_PackMLStateMachine;
+END_VAR]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[TEST('AbortDuringStarting');
+
+// Setup: Get to STARTING
+fbPackML(eMode := E_PackMLUnitMode.PRODUCTION, eCmd := E_PackMLCmd.RESET);
+fbPackML.M_StateComplete();
+fbPackML(eCmd := E_PackMLCmd.START);
+AssertEquals_DINT(E_PackMLState.STARTING, fbPackML.eState, 'Setup: Should be STARTING');
+
+// Test ABORT during STARTING
+fbPackML(eCmd := E_PackMLCmd.ABORT);
+AssertEquals_DINT(E_PackMLState.ABORTING, fbPackML.eState, 'Should abort from STARTING');
+
+fbPackML.M_StateComplete();
+AssertEquals_DINT(E_PackMLState.ABORTED, fbPackML.eState, 'Should reach ABORTED');
+
+TEST_FINISHED();]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_AbortFromExecute" Id="{6eaecb2f-7c92-492a-8635-8d91354de462}">
+      <Declaration><![CDATA[METHOD M_AbortFromExecute
+VAR
+    fbPackML : FB_PackMLStateMachine;
+END_VAR]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[TEST('AbortFromExecute');
+
+// Setup: Get to EXECUTE
+fbPackML(eMode := E_PackMLUnitMode.PRODUCTION, eCmd := E_PackMLCmd.RESET);
+fbPackML.M_StateComplete();
+fbPackML(eCmd := E_PackMLCmd.START);
+fbPackML.M_StateComplete();
+
+// Test ABORT
+fbPackML(eCmd := E_PackMLCmd.ABORT);
+AssertEquals_DINT(E_PackMLState.ABORTING, fbPackML.eState, 'Should transition to ABORTING');
+
+fbPackML.M_StateComplete();
+AssertEquals_DINT(E_PackMLState.ABORTED, fbPackML.eState, 'Should transition to ABORTED');
+
+TEST_FINISHED();]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_ClearFromAborted" Id="{672532be-23ab-4162-bb1f-60f23d043e3f}">
+      <Declaration><![CDATA[METHOD M_ClearFromAborted
+VAR
+    fbPackML : FB_PackMLStateMachine;
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[TEST('ClearFromAborted');
+
+// Setup: Get to ABORTED
+fbPackML(eMode := E_PackMLUnitMode.PRODUCTION, eCmd := E_PackMLCmd.RESET);
+fbPackML.M_StateComplete();
+fbPackML(eCmd := E_PackMLCmd.START);
+fbPackML.M_StateComplete();
+fbPackML(eCmd := E_PackMLCmd.ABORT);
+fbPackML.M_StateComplete();
+AssertEquals_DINT(E_PackMLState.ABORTED, fbPackML.eState, 'Setup: Should be ABORTED');
+
+// Test CLEAR
+fbPackML(eCmd := E_PackMLCmd.CLEAR);
+AssertEquals_DINT(E_PackMLState.CLEARING, fbPackML.eState, 'Should transition to CLEARING');
+
+fbPackML.M_StateComplete();
+AssertEquals_DINT(E_PackMLState.STOPPED, fbPackML.eState, 'Should transition to STOPPED');
+
+TEST_FINISHED();]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_ExecuteToComplete" Id="{d180915d-5230-4918-a72f-7d7b60cb333e}">
+      <Declaration><![CDATA[METHOD M_ExecuteToComplete
+VAR
+    fbPackML : FB_PackMLStateMachine;
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[TEST('ExecuteToComplete');
+
+// Setup: Get to EXECUTE
+fbPackML(eMode := E_PackMLUnitMode.PRODUCTION, eCmd := E_PackMLCmd.RESET);
+fbPackML.M_StateComplete();
+fbPackML(eCmd := E_PackMLCmd.START);
+fbPackML.M_StateComplete();
+AssertEquals_DINT(E_PackMLState.EXECUTE, fbPackML.eState, 'Setup: Should be in EXECUTE');
+
+// Test completion
+fbPackML.M_StateComplete();
+AssertEquals_DINT(E_PackMLState.COMPLETING, fbPackML.eState, 'Should transition to COMPLETING');
+
+fbPackML.M_StateComplete();
+AssertEquals_DINT(E_PackMLState.COMPLETE, fbPackML.eState, 'Should transition to COMPLETE');
+
+TEST_FINISHED();]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_FullProductionCycle" Id="{e11b3300-6857-4b29-8000-595d07539eed}">
+      <Declaration><![CDATA[METHOD M_FullProductionCycle
+VAR
+    fbPackML : FB_PackMLStateMachine;
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[TEST('FullProductionCycle');
+
+// STOPPED -> RESETTING -> IDLE
+fbPackML(eMode := E_PackMLUnitMode.PRODUCTION, eCmd := E_PackMLCmd.RESET);
+fbPackML.M_StateComplete();
+AssertEquals_DINT(E_PackMLState.IDLE, fbPackML.eState, 'Should reach IDLE');
+
+// IDLE -> STARTING -> EXECUTE
+fbPackML(eCmd := E_PackMLCmd.START);
+fbPackML.M_StateComplete();
+AssertEquals_DINT(E_PackMLState.EXECUTE, fbPackML.eState, 'Should reach EXECUTE');
+
+// EXECUTE -> COMPLETING -> COMPLETE
+fbPackML.M_StateComplete();
+fbPackML.M_StateComplete();
+AssertEquals_DINT(E_PackMLState.COMPLETE, fbPackML.eState, 'Should reach COMPLETE');
+
+// COMPLETE -> RESETTING -> IDLE
+fbPackML(eCmd := E_PackMLCmd.RESET);
+fbPackML.M_StateComplete();
+AssertEquals_DINT(E_PackMLState.IDLE, fbPackML.eState, 'Should return to IDLE');
+
+TEST_FINISHED();]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_HoldUnholdCycle" Id="{01b950b4-a901-4c0f-8993-5e8c46b75e11}">
+      <Declaration><![CDATA[METHOD M_HoldUnholdCycle
+VAR
+    fbPackML : FB_PackMLStateMachine;
+END_VAR]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[TEST('HoldUnholdCycle');
+
+// Setup: Get to EXECUTE
+fbPackML(eMode := E_PackMLUnitMode.PRODUCTION, eCmd := E_PackMLCmd.RESET);
+fbPackML.M_StateComplete();
+fbPackML(eCmd := E_PackMLCmd.START);
+fbPackML.M_StateComplete();
+
+// Test HOLD
+fbPackML(eCmd := E_PackMLCmd.HOLD);
+AssertEquals_DINT(E_PackMLState.HOLDING, fbPackML.eState, 'Should transition to HOLDING');
+
+fbPackML.M_StateComplete();
+AssertEquals_DINT(E_PackMLState.HELD, fbPackML.eState, 'Should transition to HELD');
+
+// Test UNHOLD
+fbPackML(eCmd := E_PackMLCmd.UNHOLD);
+AssertEquals_DINT(E_PackMLState.UNHOLDING, fbPackML.eState, 'Should transition to UNHOLDING');
+
+fbPackML.M_StateComplete();
+AssertEquals_DINT(E_PackMLState.EXECUTE, fbPackML.eState, 'Should return to EXECUTE');
+
+TEST_FINISHED();]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_IdleToExecute" Id="{e39d1646-a140-445b-a77a-a4b3ecb6a68b}">
+      <Declaration><![CDATA[METHOD M_IdleToExecute
+VAR
+	fbPackML : FB_PackMLStateMachine;
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[TEST('IdleToExecute');
+
+// Setup: Get to IDLE
+fbPackML(eMode := E_PackMLUnitMode.PRODUCTION, eCmd := E_PackMLCmd.RESET);
+fbPackML.M_StateComplete();
+AssertEquals_DINT(E_PackMLState.IDLE, fbPackML.eState, 'Setup: Should be IDLE');
+
+// Test START command
+fbPackML(eCmd := E_PackMLCmd.START);
+AssertEquals_DINT(E_PackMLState.STARTING, fbPackML.eState, 'Should transition to STARTING');
+
+fbPackML.M_StateComplete();
+AssertEquals_DINT(E_PackMLState.EXECUTE, fbPackML.eState, 'Should transition to EXECUTE');
+
+TEST_FINISHED();]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_InitialState" Id="{abbdf72f-ef98-4943-bd47-30822864724d}">
+      <Declaration><![CDATA[METHOD M_InitialState
+VAR
+	fbPackML : FB_PackMLStateMachine;
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[TEST('InitialState');
+
+AssertEquals_DINT(
+    Expected := E_PackMLState.STOPPED,
+    Actual := fbPackML.eState,
+    Message := 'Initial state should be STOPPED'
+);
+
+AssertEquals_DINT(
+    Expected := E_PackMLUnitMode.PRODUCTION,
+    Actual := fbPackML.eCurrentMode,
+    Message := 'Initial mode should be PRODUCTION'
+);
+
+AssertFalse(
+    Condition := fbPackML.xError,
+    Message := 'No error should be present initially'
+);
+
+TEST_FINISHED();]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_ModeSwitchAbortedToManual" Id="{16d80727-dea0-4822-8ac2-bb785dfb8fd9}">
+      <Declaration><![CDATA[METHOD M_ModeSwitchAbortedToManual
+VAR
+    fbPackML : FB_PackMLStateMachine;
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[TEST('ModeSwitchAbortedToManual');
+
+// Setup: Get to ABORTED in PRODUCTION mode
+fbPackML(eMode := E_PackMLUnitMode.PRODUCTION, eCmd := E_PackMLCmd.RESET);
+fbPackML.M_StateComplete();
+fbPackML(eCmd := E_PackMLCmd.START);
+fbPackML.M_StateComplete();
+fbPackML(eCmd := E_PackMLCmd.ABORT);
+fbPackML.M_StateComplete();
+AssertEquals_DINT(E_PackMLState.ABORTED, fbPackML.eState, 'Setup: Should be ABORTED');
+AssertEquals_DINT(E_PackMLUnitMode.PRODUCTION, fbPackML.eCurrentMode, 'Mode should be PRODUCTION');
+
+// Switch to MANUAL mode - should be allowed
+fbPackML(eMode := E_PackMLUnitMode.MANUAL);
+AssertEquals_DINT(E_PackMLUnitMode.MANUAL, fbPackML.eCurrentMode, 'Mode should switch to MANUAL');
+
+TEST_FINISHED();]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_ModeSwitchAbortedToNonManualNotAllowed" Id="{814f1869-6786-43ba-944f-eec48a900610}">
+      <Declaration><![CDATA[METHOD M_ModeSwitchAbortedToNonManualNotAllowed : REFERENCE TO FB_Test
+VAR
+    fbPackML : FB_PackMLStateMachine;
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[TEST('ModeSwitchAbortedToNonManualNotAllowed');
+
+// Setup: Get to ABORTED in PRODUCTION mode
+fbPackML(eMode := E_PackMLUnitMode.PRODUCTION, eCmd := E_PackMLCmd.RESET);
+fbPackML.M_StateComplete();
+fbPackML(eCmd := E_PackMLCmd.START);
+fbPackML.M_StateComplete();
+fbPackML(eCmd := E_PackMLCmd.ABORT);
+fbPackML.M_StateComplete();
+AssertEquals_DINT(E_PackMLState.ABORTED, fbPackML.eState, 'Setup: Should be ABORTED');
+
+// Try to switch to MAINTENANCE - should be rejected
+fbPackML(eMode := E_PackMLUnitMode.MAINTENANCE);
+AssertEquals_DINT(E_PackMLUnitMode.PRODUCTION, fbPackML.eCurrentMode, 'Mode should remain PRODUCTION');
+
+TEST_FINISHED();]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_ModeSwitchInStopped" Id="{438c169a-3232-4ff5-8d39-6d4748bb8e0c}">
+      <Declaration><![CDATA[METHOD M_ModeSwitchInStopped
+VAR
+    fbPackML : FB_PackMLStateMachine;
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[TEST('ModeSwitchInStopped');
+
+fbPackML(eMode := E_PackMLUnitMode.PRODUCTION);
+AssertEquals_DINT(E_PackMLState.STOPPED, fbPackML.eState, 'Should be in STOPPED');
+AssertEquals_DINT(E_PackMLUnitMode.PRODUCTION, fbPackML.eCurrentMode, 'Mode should be PRODUCTION');
+
+// Mode switch should be accepted
+fbPackML(eMode := E_PackMLUnitMode.MAINTENANCE);
+AssertEquals_DINT(E_PackMLUnitMode.MAINTENANCE, fbPackML.eCurrentMode, 'Mode should switch to MAINTENANCE');
+
+TEST_FINISHED();]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_ModeSwitchNotAllowedInIdle" Id="{a1275023-bc44-4cde-b6cb-9ba394083234}">
+      <Declaration><![CDATA[METHOD M_ModeSwitchNotAllowedInIdle
+VAR
+    fbPackML : FB_PackMLStateMachine;
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[TEST('ModeSwitchNotAllowedInIdle');
+
+// Setup: Get to IDLE in PRODUCTION mode
+fbPackML(eMode := E_PackMLUnitMode.PRODUCTION, eCmd := E_PackMLCmd.RESET);
+fbPackML.M_StateComplete();
+AssertEquals_DINT(E_PackMLState.IDLE, fbPackML.eState, 'Setup: Should be in IDLE');
+AssertEquals_DINT(E_PackMLUnitMode.PRODUCTION, fbPackML.eCurrentMode, 'Mode should be PRODUCTION');
+
+// Try to switch mode - should be rejected
+fbPackML(eMode := E_PackMLUnitMode.MANUAL);
+AssertEquals_DINT(E_PackMLUnitMode.PRODUCTION, fbPackML.eCurrentMode, 'Mode should remain PRODUCTION');
+AssertEquals_DINT(E_PackMLState.IDLE, fbPackML.eState, 'Should remain in IDLE');
+
+TEST_FINISHED();]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_ResetFromComplete" Id="{cbdb2a33-12a7-489c-a968-e416c0488e4f}">
+      <Declaration><![CDATA[METHOD M_ResetFromComplete
+VAR
+    fbPackML : FB_PackMLStateMachine;
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[TEST('ResetFromComplete');
+
+// Setup: Get to COMPLETE
+fbPackML(eMode := E_PackMLUnitMode.PRODUCTION, eCmd := E_PackMLCmd.RESET);
+fbPackML.M_StateComplete();
+fbPackML(eCmd := E_PackMLCmd.START);
+fbPackML.M_StateComplete();
+fbPackML.M_StateComplete();
+fbPackML.M_StateComplete();
+AssertEquals_DINT(E_PackMLState.COMPLETE, fbPackML.eState, 'Setup: Should be COMPLETE');
+
+// Test RESET from COMPLETE
+fbPackML(eCmd := E_PackMLCmd.RESET);
+AssertEquals_DINT(E_PackMLState.RESETTING, fbPackML.eState, 'Should transition to RESETTING');
+
+fbPackML.M_StateComplete();
+AssertEquals_DINT(E_PackMLState.IDLE, fbPackML.eState, 'Should transition to IDLE');
+
+TEST_FINISHED();]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_StopFromComplete" Id="{6f2c0387-41ef-426f-869c-ddae93a70046}">
+      <Declaration><![CDATA[METHOD M_StopFromComplete
+VAR
+    fbPackML : FB_PackMLStateMachine;
+END_VAR]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[TEST('StopFromComplete');
+
+// Setup: Get to COMPLETE
+fbPackML(eMode := E_PackMLUnitMode.PRODUCTION, eCmd := E_PackMLCmd.RESET);
+fbPackML.M_StateComplete();
+fbPackML(eCmd := E_PackMLCmd.START);
+fbPackML.M_StateComplete();
+fbPackML.M_StateComplete();
+fbPackML.M_StateComplete();
+AssertEquals_DINT(E_PackMLState.COMPLETE, fbPackML.eState, 'Setup: Should be COMPLETE');
+
+// Test STOP from COMPLETE
+fbPackML(eCmd := E_PackMLCmd.STOP);
+AssertEquals_DINT(E_PackMLState.STOPPING, fbPackML.eState, 'Should transition to STOPPING');
+
+fbPackML.M_StateComplete();
+AssertEquals_DINT(E_PackMLState.STOPPED, fbPackML.eState, 'Should transition to STOPPED');
+
+TEST_FINISHED();]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_StopFromExecute" Id="{2399ead6-3273-4524-990f-02be84126c6a}">
+      <Declaration><![CDATA[METHOD M_StopFromExecute
+VAR
+    fbPackML : FB_PackMLStateMachine;
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[TEST('StopFromExecute');
+
+// Setup: Get to EXECUTE
+fbPackML(eMode := E_PackMLUnitMode.PRODUCTION, eCmd := E_PackMLCmd.RESET);
+fbPackML.M_StateComplete();
+fbPackML(eCmd := E_PackMLCmd.START);
+fbPackML.M_StateComplete();
+
+// Test STOP from EXECUTE
+fbPackML(eCmd := E_PackMLCmd.STOP);
+AssertEquals_DINT(E_PackMLState.STOPPING, fbPackML.eState, 'Should transition to STOPPING');
+
+fbPackML.M_StateComplete();
+AssertEquals_DINT(E_PackMLState.STOPPED, fbPackML.eState, 'Should transition to STOPPED');
+
+TEST_FINISHED();]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_StopFromIdle" Id="{15984370-8f4c-4823-af08-97c9f70546cd}">
+      <Declaration><![CDATA[METHOD M_StopFromIdle
+VAR
+    fbPackML : FB_PackMLStateMachine;
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[TEST('StopFromIdle');
+
+// Setup: Get to IDLE
+fbPackML(eMode := E_PackMLUnitMode.PRODUCTION, eCmd := E_PackMLCmd.RESET);
+fbPackML.M_StateComplete();
+
+// Test STOP from IDLE
+fbPackML(eCmd := E_PackMLCmd.STOP);
+AssertEquals_DINT(E_PackMLState.STOPPING, fbPackML.eState, 'Should transition to STOPPING');
+
+fbPackML.M_StateComplete();
+AssertEquals_DINT(E_PackMLState.STOPPED, fbPackML.eState, 'Should transition to STOPPED');
+
+TEST_FINISHED();]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_StoppedToIdle" Id="{4e29286e-7cd6-4d2e-89db-08104750a1c6}">
+      <Declaration><![CDATA[METHOD M_StoppedToIdle
+VAR
+	fbPackML : FB_PackMLStateMachine;
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[TEST('StoppedToIdle');
+
+fbPackML(eMode := E_PackMLUnitMode.PRODUCTION);
+AssertEquals_DINT(E_PackMLState.STOPPED, fbPackML.eState, 'Should be in STOPPED');
+
+fbPackML(eCmd := E_PackMLCmd.RESET);
+AssertEquals_DINT(E_PackMLState.RESETTING, fbPackML.eState, 'Should transition to RESETTING');
+
+fbPackML.M_StateComplete();
+AssertEquals_DINT(E_PackMLState.IDLE, fbPackML.eState, 'Should transition to IDLE');
+
+TEST_FINISHED();]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_SuspendUnsuspendCycle" Id="{78311aa6-53b9-4c6e-8c1c-a43729a514d1}">
+      <Declaration><![CDATA[METHOD M_SuspendUnsuspendCycle
+VAR
+    fbPackML : FB_PackMLStateMachine;
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[TEST('SuspendUnsuspendCycle');
+
+// Setup: Get to EXECUTE
+fbPackML(eMode := E_PackMLUnitMode.PRODUCTION, eCmd := E_PackMLCmd.RESET);
+fbPackML.M_StateComplete();
+fbPackML(eCmd := E_PackMLCmd.START);
+fbPackML.M_StateComplete();
+
+// Test SUSPEND
+fbPackML(eCmd := E_PackMLCmd.SUSPEND);
+AssertEquals_DINT(E_PackMLState.SUSPENDING, fbPackML.eState, 'Should transition to SUSPENDING');
+
+fbPackML.M_StateComplete();
+AssertEquals_DINT(E_PackMLState.SUSPENDED, fbPackML.eState, 'Should transition to SUSPENDED');
+
+// Test UNSUSPEND
+fbPackML(eCmd := E_PackMLCmd.UNSUSPEND);
+AssertEquals_DINT(E_PackMLState.UNSUSPENDING, fbPackML.eState, 'Should transition to UNSUSPENDING');
+
+fbPackML.M_StateComplete();
+AssertEquals_DINT(E_PackMLState.EXECUTE, fbPackML.eState, 'Should return to EXECUTE');
+
+TEST_FINISHED();]]></ST>
+      </Implementation>
+    </Method>
+  </POU>
+</TcPlcObject>
\ No newline at end of file
diff --git a/PLC/LibraryCandidates/Unittests/PRG_Test.TcPOU b/PLC/LibraryCandidates/Unittests/PRG_Test.TcPOU
new file mode 100644
index 0000000..fbfef77
--- /dev/null
+++ b/PLC/LibraryCandidates/Unittests/PRG_Test.TcPOU
@@ -0,0 +1,13 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <POU Name="PRG_Test" Id="{f876543c-d362-446e-a091-152833fd4557}" SpecialFunc="None">
+    <Declaration><![CDATA[PROGRAM PRG_Test
+VAR
+	_fbPackMLStateMachine_Test : FB_PackMLStateMachine_Test;
+END_VAR
+]]></Declaration>
+    <Implementation>
+      <ST><![CDATA[TcUnit.RUN();]]></ST>
+    </Implementation>
+  </POU>
+</TcPlcObject>
\ No newline at end of file
diff --git a/PLC/PLC.plcproj b/PLC/PLC.plcproj
index 604f851..191b583 100644
--- a/PLC/PLC.plcproj
+++ b/PLC/PLC.plcproj
@@ -33,6 +33,12 @@
     <Compile Include="01_Stationen\HVTester\FB_HVTester.TcPOU">
       <SubType>Code</SubType>
     </Compile>
+    <Compile Include="01_Stationen\Kuka_Robot\E_KukaRobot_JobNumberRobot.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="01_Stationen\Kuka_Robot\E_KukaRobot_JobNumerPLC.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
     <Compile Include="01_Stationen\Kuka_Robot\FB_KukaRobot.TcPOU">
       <SubType>Code</SubType>
     </Compile>
@@ -64,16 +70,34 @@
       <SubType>Code</SubType>
       <LinkAlways>true</LinkAlways>
     </Compile>
-    <Compile Include="LibraryCandidates\ISA88\E_Isa88_Cmd.TcDUT">
+    <Compile Include="LibraryCandidates\PackML\E_PackMLCmd.TcDUT">
       <SubType>Code</SubType>
     </Compile>
-    <Compile Include="LibraryCandidates\ISA88\E_Isa88_State.TcDUT">
+    <Compile Include="LibraryCandidates\PackML\E_PackMLState.TcDUT">
       <SubType>Code</SubType>
     </Compile>
-    <Compile Include="LibraryCandidates\ISA88\FB_Isa88_SM.TcPOU">
+    <Compile Include="LibraryCandidates\PackML\E_PackMLUnitMode.TcDUT">
       <SubType>Code</SubType>
     </Compile>
-    <Compile Include="LibraryCandidates\ISA88\I_Isa88_SM.TcIO">
+    <Compile Include="LibraryCandidates\PackML\FB_PackMLGeneric.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="LibraryCandidates\PackML\FB_PackMLStateMachine.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="LibraryCandidates\PackML\ITFs\I_UnitState.TcIO">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="LibraryCandidates\PackML\ITFs\I_UnitStateActing.TcIO">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="LibraryCandidates\PackML\ITFs\I_UnitStateWaiting.TcIO">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="LibraryCandidates\Unittests\FB_PackMLStateMachine_Test.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="LibraryCandidates\Unittests\PRG_Test.TcPOU">
       <SubType>Code</SubType>
     </Compile>
     <Compile Include="PlcTask.TcTTO">
@@ -97,11 +121,17 @@
     <Folder Include="01_Stationen" />
     <Folder Include="00_Main" />
     <Folder Include="LibraryCandidates" />
-    <Folder Include="LibraryCandidates\ISA88" />
     <Folder Include="GVLs" />
+    <Folder Include="LibraryCandidates\Unittests" />
+    <Folder Include="LibraryCandidates\PackML" />
+    <Folder Include="LibraryCandidates\PackML\ITFs" />
     <Folder Include="Visu" />
   </ItemGroup>
   <ItemGroup>
+    <PlaceholderReference Include="BaseComponents">
+      <DefaultResolution>BaseComponents, * (Heisig GmbH)</DefaultResolution>
+      <Namespace>BC</Namespace>
+    </PlaceholderReference>
     <PlaceholderReference Include="System_VisuElemMeter">
       <DefaultResolution>VisuElemMeter, 4.7.0.0 (System)</DefaultResolution>
       <Namespace>VisuElemMeter</Namespace>
@@ -161,6 +191,10 @@
       <Namespace>Tc3_Module</Namespace>
       <SystemLibrary>true</SystemLibrary>
     </PlaceholderReference>
+    <PlaceholderReference Include="TcUnit">
+      <DefaultResolution>TcUnit, * (www.tcunit.org)</DefaultResolution>
+      <Namespace>TcUnit</Namespace>
+    </PlaceholderReference>
   </ItemGroup>
   <ItemGroup>
     <None Include="PLC.tmc">
diff --git a/PLC/PlcTask.TcTTO b/PLC/PlcTask.TcTTO
index 85ca8d4..2866370 100644
--- a/PLC/PlcTask.TcTTO
+++ b/PLC/PlcTask.TcTTO
@@ -5,7 +5,7 @@
     <CycleTime>10000</CycleTime>
     <Priority>20</Priority>
     <PouCall>
-      <Name>PRG_Main</Name>
+      <Name>PRG_Test</Name>
     </PouCall>
     <TaskFBGuid>{40eb18ee-d47c-458f-bba5-88b899fc1567}</TaskFBGuid>
     <Fb_init>{6e3535be-c313-4e44-9f98-4268a560c4bf}</Fb_init>
diff --git a/_Config/IO/Device 1 (EtherCAT).xti b/_Config/IO/Device 1 (EtherCAT).xti
index 046ef84..d759226 100644
--- a/_Config/IO/Device 1 (EtherCAT).xti	
+++ b/_Config/IO/Device 1 (EtherCAT).xti	
@@ -544,7 +544,7 @@
 		<ImageData Id="1020">424de6000000000000007600000028000000100000000e000000010004000000000070000000000000000000000010000000000000001c120800244aa500203262002462ee001c273f00245ad500243a7c001c222b001c1a1e002472fc00244fb7001c2a4d00243a7100246afc0024428d001c1a1300d5bbbbbbedddddddddb8777fcdd9dd9dd580ffffcddddddd9e7780f47b5dd9ddd3d35cb700e9ddd9ddd9d9de88a9ddddd9dddd9abb3dddddddddd99e04d9dd9dddddddd20adddddd9dd9d958b9ddd9ddddddd18cddddddd9dd5554e99d999d1dd9b07b2ee111e1add5bb777774bb6add</ImageData>
 		<ImageData Id="1021">424de6000000000000007600000028000000100000000e000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000c0c0c0000000ff0000ff000000ffff00ff000000ff00ff00ffff0000ffffff00bb1111113bbbbbbbbb1000001bbbbbbbbb0000001bbbbbbbb300000001bbbbbbbbbbb110003bbbbbbbbbbbb3003bbbbbbbbbbbb311bbbbbbbbbbbbb300bbbbbbbbbbbbb103bbbbbbbbbbbbb01bbbbbbbbbbbb301bbbbbbbbbbbbb03bbbbbbb3bbb1001133333333bb3110000001113bb</ImageData>
 	</ImageDatas>
-	<Device Id="1" DevType="111" DevFlags="#x0003" AmsPort="28673" AmsNetId="0.0.0.0.2.1" RemoteName="Device 1 (EtherCAT)" InfoImageId="2">
+	<Device Id="1" Disabled="true" DevType="111" DevFlags="#x0003" AmsPort="28673" AmsNetId="0.0.0.0.2.1" RemoteName="Device 1 (EtherCAT)" InfoImageId="2">
 		<Name>__FILENAME__</Name>
 		<AddressInfo>
 			<Pnp>
@@ -556,9 +556,6 @@
 		<Image Id="1" AddrType="9" ImageType="3">
 			<Name>Image</Name>
 		</Image>
-		<Image Id="5" AddrType="10" ImageType="3">
-			<Name>Prozessabbild-2</Name>
-		</Image>
 		<Box Id="24" BoxType="9099">
 			<Name>Etcher1ChuckPresent (EP1018-0001)</Name>
 			<ImageId>1000</ImageId>
@@ -35040,19 +35037,19 @@ Bit 8 - 15 : reserved]]></Comment>
 					<Var>
 						<Name>HEAD</Name>
 						<Type GUID="{D46F6451-58CF-4853-A5DB-DA36D1D59A28}" Namespace="IO">ECAT_HEAD</Type>
-						<BitOffs>1184</BitOffs>
+						<BitOffs>12416</BitOffs>
 					</Var>
 					<Var>
 						<Name>DATA</Name>
 						<Type GUID="{18071995-0000-0000-0000-001300000200}">ARRAY [0..511] OF BYTE</Type>
-						<BitOffs>1264</BitOffs>
+						<BitOffs>12496</BitOffs>
 					</Var>
 					<Var>
 						<Name>CNT</Name>
 						<Comment><![CDATA[Working counter
 After receiving]]></Comment>
 						<Type>UINT</Type>
-						<BitOffs>5360</BitOffs>
+						<BitOffs>16592</BitOffs>
 					</Var>
 				</Vars>
 				<Vars VarGrpType="2">
@@ -35060,19 +35057,19 @@ After receiving]]></Comment>
 					<Var>
 						<Name>HEAD</Name>
 						<Type GUID="{D46F6451-58CF-4853-A5DB-DA36D1D59A28}" Namespace="IO">ECAT_HEAD</Type>
-						<BitOffs>1184</BitOffs>
+						<BitOffs>12416</BitOffs>
 					</Var>
 					<Var>
 						<Name>DATA</Name>
 						<Type GUID="{18071995-0000-0000-0000-001300000200}">ARRAY [0..511] OF BYTE</Type>
-						<BitOffs>1264</BitOffs>
+						<BitOffs>12496</BitOffs>
 					</Var>
 					<Var>
 						<Name>CNT</Name>
 						<Comment><![CDATA[Working counter
 Before sending]]></Comment>
 						<Type>UINT</Type>
-						<BitOffs>5360</BitOffs>
+						<BitOffs>16592</BitOffs>
 					</Var>
 				</Vars>
 			</EtherCATCmd>
diff --git a/_Config/IO/Device 11 (NOV-DP-RAM).xti b/_Config/IO/Device 11 (NOV-DP-RAM).xti
index c14437f..1d01070 100644
--- a/_Config/IO/Device 11 (NOV-DP-RAM).xti	
+++ b/_Config/IO/Device 11 (NOV-DP-RAM).xti	
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <TcSmItem xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4026.19" ClassName="CDevDpRamDef" SubType="121">
-	<Device Id="11" DevType="121">
+	<Device Id="11" Disabled="true" DevType="121">
 		<Name>__FILENAME__</Name>
 		<AddressInfo>
 			<Pci>
diff --git a/_Config/PLC/PLC Instance.xti b/_Config/PLC/PLC Instance.xti
index 0cfc22e..4235036 100644
--- a/_Config/PLC/PLC Instance.xti	
+++ b/_Config/PLC/PLC Instance.xti	
@@ -18,55 +18,4 @@
 			<TaskPouOid Prio="20" OTCID="#x08502001"/>
 		</TaskPouOids>
 	</Instance>
-	<Mappings>
-		<OwnerA>
-			<OwnerB Name="TIID^Device 1 (EtherCAT)^Box 44 (EX260-SEC1)">
-				<Link VarA="PlcTask Outputs^PRG_Main._fbHVTester._xCloseDoor1" VarB="Byte 0^Output[3]" Size="1"/>
-				<Link VarA="PlcTask Outputs^PRG_Main._fbHVTester._xCloseDoor2" VarB="Byte 0^Output[1]" Size="1"/>
-				<Link VarA="PlcTask Outputs^PRG_Main._fbHVTester._xOpenDoor1" VarB="Byte 0^Output[2]" Size="1"/>
-				<Link VarA="PlcTask Outputs^PRG_Main._fbHVTester._xOpenDoor2" VarB="Byte 0^Output[0]" Size="1"/>
-			</OwnerB>
-			<OwnerB Name="TIID^Device 1 (EtherCAT)^HV_K01_KL01^HV_K01_KL07 (EL2008)">
-				<Link VarA="PlcTask Outputs^PRG_Main._fbHVTester._xCloseChamber1" VarB="Channel 6^HV Hot_CloseChamber" Size="1"/>
-				<Link VarA="PlcTask Outputs^PRG_Main._fbHVTester._xCloseChamber2" VarB="Channel 3^HV Cold_CloseChamber" Size="1"/>
-				<Link VarA="PlcTask Outputs^PRG_Main._fbHVTester._xOpenChamber1" VarB="Channel 5^HV Hot_OpenChamber" Size="1"/>
-				<Link VarA="PlcTask Outputs^PRG_Main._fbHVTester._xOpenChamber2" VarB="Channel 2^HV Cold_OpenChamber" Size="1"/>
-			</OwnerB>
-			<OwnerB Name="TIID^Device 1 (EtherCAT)^K01_KL01 (EK1100)^K01_KL02 (EL1018)">
-				<Link VarA="PlcTask Inputs^PRG_Safety._xRequestOpenDoor" VarB="Channel 4^MainDoorUnlock" Size="1"/>
-			</OwnerB>
-			<OwnerB Name="TIID^Device 1 (EtherCAT)^K20_QM01 (EX260-SEC1)">
-				<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher2._xCloseDoor" VarB="Byte 0^Output[1]" Size="1"/>
-				<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher2._xOpenDoor" VarB="Byte 0^Output[0]" Size="1"/>
-			</OwnerB>
-			<OwnerB Name="TIID^Device 1 (EtherCAT)^K21_QM01 (EX260-SEC1)">
-				<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher1._xCloseDoor" VarB="Byte 0^Output[1]" Size="1"/>
-				<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher1._xOpenDoor" VarB="Byte 0^Output[0]" Size="1"/>
-			</OwnerB>
-			<OwnerB Name="TIID^Device 1 (EtherCAT)^PC_K01_KL01 (EK1100)^PC_K01_KL02 (EL1918)">
-				<Link VarA="PlcTask Inputs^PRG_Safety._xComStartup" VarB="StandardInputs^Standard Out Var 12" Size="1"/>
-				<Link VarA="PlcTask Outputs^PRG_Safety._xErrorAck" VarB="StandardOutputs^Standard In Var 212" Size="1"/>
-				<Link VarA="PlcTask Outputs^PRG_Safety._xLockDoor" VarB="StandardOutputs^Standard In Var 192" Size="1"/>
-				<Link VarA="PlcTask Outputs^PRG_Safety._xRun" VarB="StandardOutputs^Standard In Var 9" Size="1"/>
-			</OwnerB>
-			<OwnerB Name="TIID^Device 1 (EtherCAT)^RobotMain">
-				<Link VarA="PlcTask Inputs^PRG_Main._fbRobot._abMirrorToolsAndPositions" VarB="Module 3 (Default IO)^Std. In (64 Bytes)^Input DWORD 4 (Greifer/Drehteller/Positionen)"/>
-				<Link VarA="PlcTask Inputs^PRG_Main._fbRobot._asiMotorTemps1To4" VarB="Module 3 (Default IO)^Std. In (64 Bytes)^Input DWORD 8 (Motor Temp)"/>
-				<Link VarA="PlcTask Inputs^PRG_Main._fbRobot._asiMotorTemps5To8" VarB="Module 3 (Default IO)^Std. In (64 Bytes)^Input DWORD 9 (Motor Temp)"/>
-				<Link VarA="PlcTask Inputs^PRG_Main._fbRobot._awJobStatesFromRobot" VarB="Module 3 (Default IO)^Std. In (64 Bytes)^Input DWORD 2 (JobAktiv/JobEnde)"/>
-				<Link VarA="PlcTask Inputs^PRG_Main._fbRobot._diMirrorOffsetPosX" VarB="Module 3 (Default IO)^Std. In (64 Bytes)^Input DWORD 5 (Offset X)"/>
-				<Link VarA="PlcTask Inputs^PRG_Main._fbRobot._diMirrorOffsetPosY" VarB="Module 3 (Default IO)^Std. In (64 Bytes)^Input DWORD 6 (Offset Y)"/>
-				<Link VarA="PlcTask Inputs^PRG_Main._fbRobot._diMirrorThickness" VarB="Module 3 (Default IO)^Std. In (64 Bytes)^Input DWORD 7 (Thickness)"/>
-				<Link VarA="PlcTask Inputs^PRG_Main._fbRobot._dwErrorBits" VarB="Module 3 (Default IO)^Std. In (64 Bytes)^Input DWORD 1 (Errorbits)"/>
-				<Link VarA="PlcTask Inputs^PRG_Main._fbRobot._dwJobForPLC" VarB="Module 3 (Default IO)^Std. In (64 Bytes)^Input DWORD 3 (JobForPLC)"/>
-				<Link VarA="PlcTask Inputs^PRG_Main._fbRobot._uState^dwState" VarB="Module 3 (Default IO)^Std. In (64 Bytes)^Input DWORD 0 (Status)"/>
-				<Link VarA="PlcTask Outputs^PRG_Main._fbRobot._abToolsAndPositions" VarB="Module 3 (Default IO)^Std. Out (64 Bytes)^Output DWORD 2 (Greifer/Drehteller/Positionen)"/>
-				<Link VarA="PlcTask Outputs^PRG_Main._fbRobot._diOffsetPosX" VarB="Module 3 (Default IO)^Std. Out (64 Bytes)^Output DWORD 3 (Offset X)"/>
-				<Link VarA="PlcTask Outputs^PRG_Main._fbRobot._diOffsetPosY" VarB="Module 3 (Default IO)^Std. Out (64 Bytes)^Output DWORD 4 (Offset Y)"/>
-				<Link VarA="PlcTask Outputs^PRG_Main._fbRobot._diThickness" VarB="Module 3 (Default IO)^Std. Out (64 Bytes)^ Output DWORD 5 (Thickness)"/>
-				<Link VarA="PlcTask Outputs^PRG_Main._fbRobot._uCtrl^dwCtrl" VarB="Module 3 (Default IO)^Std. Out (64 Bytes)^Output DWORD 0 (CMDs)"/>
-				<Link VarA="PlcTask Outputs^PRG_Main._fbRobot._uJobs^dwJobs" VarB="Module 3 (Default IO)^Std. Out (64 Bytes)^Output DWORD 1 (JobNr/PLCJobNr)"/>
-			</OwnerB>
-		</OwnerA>
-	</Mappings>
 </TcSmItem>