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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
Servo
Comm
0 0 0 0 0 0 0 0 0 0 0 0 0 0 4-
1
0
Cat 3
Timer
0 4-
5
0 4-
5
0 4-
5
0 4-
5
0 4-
5
0 4-
5
0 4-
5
0 0
User Task Configuration
The remaining time is allocated to the user tasks using the controller configuration utility. For
details, see the description of CONFIG_C in the Instructions for Adept Utility Programs.
For each time slice, you specify which tasks may run in the slice and what priority each task
has in that slice. The default priority configuration is shown in the following table.
Us-
er
Ta-
sk
Slice
0 1 2 3 4 5 6 7 8 9
1-
0
1-
1
1-
2
1-
3
1-
4
1-
5
0 2-
0
2-
0
2-
0
2-
0
2-
0
2-
0
2-
0
2-
0
2-
0
1-
0
1-
0
1-
0
1-
0
0 0 0
1 1-
9
1-
9
2-
1
2-
1
1-
9
1-
9
2-
1
2-
1
1-
9
9 1-
1
1-
1
9 0 0 0
2 0 0 0 0 0 0 0 0 0 0 0 0 0 2-
0
0 0
3 0 0 0 0 0 0 0 0 0 0 0 0 0 1-
5
0 0
4 1-
5
1-
5
1-
5
1-
5
1-
5
1-
5
1-
5
1-
5
1-
5
5 5 5 5 0 0 0
5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2-
0
0
Default Task Priorities
Default Task Configuration
V+Language User's Guide, v17.0
Page 58