270 Rockwell Automation Publication 1769-UM021G-EN-P - October 2015
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 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
Figure 48 - Routines in 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)
Tags
I/O Data System-shared Data
Routine
Routine
Routine
Routine
Controller Designer
Logical Designer
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