188 Rockwell Automation Publication 5069-UM002A-EN-P - January 2019
Chapter 8 Develop Control Applications
Routines
A routine is a set of logic instructions in one programming language, such as
Ladder Diagram (ladder logic). Routines provide the executable code for the
project in a controller.
Each program has a main routine. The main is the first routine to execute when
the controller triggers the associated task and calls the associated program. Use
logic, such as the Jump to Subroutine (JSR) instruction, to call other routines.
You can also specify an optional program fault routine. The controller executes
this routine if it encounters an instruction-execution fault within any of the
routines in the associated program.
Figure 34 - Routines in a Control Application
Figure 35 - Routine
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
Controller Organizer Logical Organizer
Routine
Routine
Routine
Routine
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