268 Rockwell Automation Publication 1769-UM021I-EN-P - May 2018
Chapter 10 Develop 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. A routine is similar to a program file or subroutine in a
PLC or SLC
™processor.
Each program has a main routine. This routine 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 in any of the
routines in the associated program.
Figure 47 - Routines in a Control Application
Control Application
Controller Fault Handler
Task 32
Task 1
Configuration
Status
Watchdog
Program 1000
Program 1
Main Routine
Fault Routine
Program (Local
Tags and
Parameters)
Other Routines
Controller (global)
Tag s
I/O Data System-shared Data
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