Initialization actions on PLC start of IC92xx controller

This section lists the actions performed when the iC92xx controller powers up or when the user forces a start.

Note: There is "no distinction" between power on and stop/warm-start.

Step	Warm Start from power on or Reboot from iCube Engineer or WBM	Cold Start*
1	Resets configured EtherCAT network. All devices are requested to go to EtherCAT state --> PREOP servopack identification data is read, incl. encoder resolution etc all devices are requested to go to EtherCAT state --> OP	same behavior
2	Initializes non-retain data.	Initializes all data, both retain and non-retain.
3	Clears servo alarms.	same behavior
4	Runs warm start event task one time	Runs cold start event task one time
5	Runs cyclic tasks	same behavior

* Cold start can be requested by the user in iCE. Cold start may also happen automatically when a project is downloaded to a controller that is at factory reset condition.