SLC5/04 controller fault

Hi guys

there is a SLC5/04 on the floor, I do not have the original code with me, so I am going to re-write code and download it. the problem I have now is that there is a fault in the controller, the Fault LED is on, so I could not connect with it using RSlinx. How to clear the fault manually? disconnect the battery?

Thanks

See link below for the manual ( chapter 10 for troubleshooting)

http://literature.rockwellautomation.com/intradoc-cgi/nph-idc_cgi.exe

Also see pdf for how to clear memory.