I have a complex multiple state-machine PLC controlling a psychotic machine. Currently certain places can't be recovered from short of a power-cycle. The power cycle is torturous because several servo drives take forever to boot-up and they don't need to be rebooted. So, recovery takes about a minute, which is way too long to keep the production blood pressure's down. Is there any way to make a CLICK restart, essentially a warm-boot? Any suggestions welcome.