User`s guide

Restrictions With Multiprocessor Systems
You can set up certain tasks to operate on any processor board, including servo tasks, vision
tasks, and in some cases, V+ user tasks. However, there are several V+ operations that can
be performed only from Processor 1:
l Robot control
l System configuration changes
l Certain commands/instructions
l ENABLE/DISABLE of POWER
l ENABLE/DISABLE of ROBOT
l INSTALL
l High-level motion control tasks
l trajectory generation
l kinematic solution program execution
l V+ motion instructions such as MOVE instructions
l V+ force instructions such as FORCE.READ instructions
l DeviceNet
Processors other than processor 1 always start up with the stand-alone control module, with
no belts or kinematic modules loaded. If attempted on another processor, the V+ operations
listed above returns the error:
-666 *Must use Monitor #1*
with the exception of a V+ force instruction, which returns the following error:
-666 *Device Hardware not Present*
High-Level Motion Control Tasks
As more axes are added to the system, the high-level motion control computational load on
processor 1 increases, even if the servo processing is allocated to other processors.
For any given application, the processing power required to execute the high-level motion
control is a function of which kinematic modules are used. It must be evaluated on a case-
by-case basis.
Peripheral Drivers
There is an impact on processor 1 whenever an auxiliary processor accesses one of these
devices. However, communications between a processor board and its local serial lines,
digital I/O, and analog I/O operate on the processor on which the V+ instruction is executed.
Restrictions With Multiprocessor Systems
(Undefined variable: Primary.Product_Name_V)Language User's Guide, version
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