# Restarting program after auto or general stop

**URL:** <https://tech-community.robotics.abb.com/t/restarting-program-after-auto-or-general-stop/4893>\
**Category:** Robot Controller\
**Created:** [May 25, 2012, 2:32pm UTC](https://tech-community.robotics.abb.com/t/restarting-program-after-auto-or-general-stop/4893 "2012-05-25T14:32:12Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![bmrgud](https://avatars.discourse-cdn.com/v4/letter/b/90db22/32.png) [@bmrgud](https://tech-community.robotics.abb.com/u/bmrgud)\
**Post date:** [May 25, 2012, 2:32pm UTC](https://tech-community.robotics.abb.com/t/restarting-program-after-auto-or-general-stop/4893/1 "2012-05-25T14:32:12Z")

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Hello to all, I’d like to ask how to automatically turn motors on and  
continue stopped program after safety gates being open and closed, and  
safety chain established again. Do I send signals from PLC directly to  
robot safety input (and which inputs for motors on and program start),  
or I send them to devicenet inputs, and then create cross connections  
between DN and safety inputs (if this is possible at all). Thanks in advance.