User`s guide

Task Function
Disk Driver Handle requests for I/O to the hard and floppy
disk drives and the Compact Flash
Serial I/O Service serial I/O ports
Pipes Driver Allow a V+ task to service I/O requests like a
standard I/O driver
NFS Driver Allow access of remote files on network file
servers using the Network File Services protocol
TCP Driver Handle the TCP network communications
protocol on Ethernet
Vision Communications Communicate between V+ and vision software
Vision Analysis Evaluate vision commands
Vision Analysis #2 Vision tool analysis
Servo Communications Communicate with the servo interrupt routines
or the motion-control hardware
Cat 3 Timer Handle timing and sequencing when robot
power is enabled in systems with the Cat 3
option enabled
Syste-
m
Task
Time Slice
0 1 2 3 4 5 6 7 8 9
1-
0
1-
1
1-
2
1-
3
1-
4
1-
5
Traject-
ory
Genera-
tor
6-
3
6-
3
6-
3
6-
3
6-
3
6-
3
6-
3
6-
3
6-
3
6-
3
6-
3
6-
3
6-
3
6-
3
6-
3
6-
3
Termin-
al/
Graphi-
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 5-
8
System Task Priorities
Default Task Configuration
V+Language User's Guide, v17.0
Page 56