Invert J4, decode axis faults, and refresh factory programs

[dalethomas81]

Summary

• Negate J4 through the 6-DOF trafo (actual position in, commanded position out). The cone program's C signs are flipped to match, and its approach move is now E10 E-10 F50 instead of E300 F100.
• On axis error 183 (SMC_MS_AXIS_IN_ERRORSTOP), also log F_AxisErrorDetail so the alarm shows the SoftMotion fault that put the joint in errorstop.
• The HMI active-command line shows the current G-code line while a CNC command is running.
• M_BuildTests is rebuilt from the latest BackupRetain.ret.

Factory programs

• Cnc Validation clears the TCP offset, moves to pose 4, runs CNC_Cone.cnc, moves to pose 1, then runs CNC_FromFile.cnc.
• Vision Validation calibrates on a 6×9 checkerboard, waits 10 seconds, then locates Template.jpg.
• Vision PCS1 Test is new (program slot 9): pose 2, PCS1 and TCP offsets, locate screwdriver1.jpg, move over the part.
• Pose 4 in M_Init is seeded to Y = -4.74, Z = -22.79, B = 62.45 so that CNC move is not zeros on a fresh install.

Test plan

• Download. On a wiped retain, or after pulsing BuildTests, confirm the three programs and pose 4 above.
• Run the cone program and confirm J4 / C direction.
• Force an axis into errorstop and confirm the alarm names the root fault, not only code 183.
• Run a CNC command and confirm the HMI line shows the active G-code.