User`s guide

Default Task Configuration
CAUTION: Operation of the V+ system can be adversely affected by
incorrect settings of task priorities. Change the default configuration
only if you have a good understanding of V+ task scheduling. For
details, see Scheduling of Program Execution Tasks on page 48.
System Task Configuration
The Adept V+ system has a number of internal tasks that compete with application (user)
program tasks for time within each time slice:
l On motion systems, the V+ trajectory generator runs (as the highest priority task) in
slice # 0 and continues through as many time slices as necessary to compute the
next motion device set point.
l On motion systems, the CPU running servo code runs the servo task (at interrupt
level) every 1 or 2 milliseconds.
1
l The V+ system tasks run according to the priorities shown in the table System Task
Priorities.
Description of System Tasks
The system tasks and their functions are shown in the following table.
Task Function
Trajectory Generator Compute the series of set points that make up a
robot motion
Terminal/Graphics Refresh the terminal or graphics monitor display
Monitor Service user requests entered at the monitor
window (monitor commands and responses to
system prompts)
DDCMP Handle implementation of DDCMP protocols for
serial lines configured as DDCMP lines
Kermit Handle implementation of Kermit protocols for
serial lines configured as Kermit lines
Pendant Handle manual control pendant I/O
Description of System Tasks
Default Task Configuration
(Undefined variable: Primary.Product_Name_V)Language User's Guide, version
17.x
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