Changed from ISA88 to PackML

- Added PackML Base FB's - Added Unit Tests for PackML Base State Machine - Added Robot job numbers according to new interface - Added PLC job number for robot to call according to new interface - Change Robot to PackML interface
2026-01-23 22:55:49 +01:00
parent 2d11c43579
commit 3946e45c65
26 changed files with 1615 additions and 421 deletions
--- a/PLC/LibraryCandidates/Unittests/FB_PackMLStateMachine_Test.TcPOU
+++ 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>