This bug was only experienced on the XL220CL but it was possible on all XL2 models.

There appeared to be a race condition on powerup. Some code was setting the Run Mode to HALTED, which was taking the run task out of its Idle loop. The run task was checking to see if the PLC was online before the PLC was initialized and detected.

The fix for this was to modify the run task to stay in its Idle loop for any Run Mode below RUN_LINE, which includes COAST_TO_STOP and HALTED. It also returns the run mode to the IDLE state. This prevents the race condition by preventing any of the code that would be expected to run when leaving the IDLE state from running. A transition from IDLE to HALTED or COAST_TO_STOP is not expected and this is the best method of fixing/preventing it.