User`s guide

Controlling Programs in Multiple CPU Systems
V+ systems equipped with multiple CPUs and optional V+ Extensions can run multiple copies
of V+. Keep the following considerations in mind when running multiple V+ systems:
l A graphics-based system is required.
l The second, third, etc., V+ copies are displayed in separate windows on the monitor.
These windows are labeled Monitor_2, Monitor_3, etc. The system switch MONITORS
must be enabled before these windows can be displayed. The CPU number is
determined by the board address switch (see the Adept MV Controller User's Guide).
l ALL V+ copies share the same digital input, output, and soft signals. Global variables
are not shared.
l The IOGET_ and IOPUT_ instructions can be used to share data between V+ copies
via an 8 KB reserved section of shared memory on each board. Acceptable address
values are 0 to hexadecimal value 1FFF (decimal value 0 to 8191). This memory area
is used only for communication between V+ application programs and is not used for
any other purpose. (It is not possible to access the rest of the processor memory
map.)
l The IOTAS() function can be used to interlock access to user data structures.
l The addresses are based on single-byte (8-bit) values. For example, if you write a 32-
bit value to an address, it occupies four address spaces (the address that you specify
and the next three addresses).
l If you read a value from a location using a format different from the format that was
used to write to that location, you get an invalid value, but you will not get an error
message. (For example, if you write using IOPUTF and read using IOPUTL, your data is
invalid.)
NOTE: V+ does not enforce any memory protection schemes for use of the
application shared-memory area. It is the user's responsibility to keep track
of memory usage. If you are using application or utility programs written by
someone else, you should read the documentation provided with that
software to ensure that it does not conflict with your usage of the shared
area.
l In general, robot control and system configuration changes must be performed from
CPU #1. CPUs other than #1 always start up with the stand-alone control module. No
belts or kinematic modules are loaded.
l Each multiple CPU can execute its own autostart routine. CPU #1 loads the normal
AUTO file and execute the program auto, CPU #2 loads the file AUTO02.V2 and
execute the program auto02.
Controlling Programs in Multiple CPU Systems
(Undefined variable: Primary.Product_Name_V)Language User's Guide, version
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