186 Rockwell Automation Publication 5069-UM002A-EN-P - January 2019
Chapter 8 Develop Control Applications
Programs
The controller operating system is a preemptive multitasking system that is in
compliance with IEC 61131-3. This system provides the following:
• Programs to group data and logic
• Routines to encapsulate executable code that is written in one
programming language
Each program contains the following:
•Local Tags
• Parameters
• A main executable routine
• Other routines
• An optional fault routine
Figure 31 - Program Within a Control Application
Controller Fault Handler
Task 32
Task 1
Configuration
Status
Watchdog
Program 1000
Program 1
Main Routine
Fault Routine
Other Routines
Controller (global) Tags I/O Data System-shared Data
Program Tags
and Program
Parameters
Add-On Instruction
Definition
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