Rockwell Automation GMLC Reference Manual - Manual (Page 374)

Publication GMLC-5.2 - November 1999
End Program 337
If multitasking was not enabled when the fault occurred and the End
Program block with When End or Fault selected was executed, the
program can be re-started via a Restart Program block after the fault is
cleared, as shown below.
If a global or runtime fault is still active when the Restart Program block
executes, the program does not restart—the fault handler is immediately
called again via the End Program block with When End or Fault selected.
This ensures that all faults are cleared before the program restarts.
When restarting the program after executing the End Program block with
When End or Fault selected, as shown above, it is imperative that you use
an explicit Restart Program block—you must not directly connect the
output node of the fault handler module back to a previous block in the
diagram.
If multitasking was enabled when the fault occurred and the End Program
block with When End or Fault selected executes, the program can also be
re-started via a Restart Program block as explained previously. You can
also use a Task Control block, with Restart Dispatcher selected, after the
fault has been cleared to resume all tasks that were active when the fault
occurred, as shown below.
!
ATTENTION: Do not connect the output node of the
Fault Handler module directly back to a previous block
in the diagram.