Additional ABB S4C 3.XX RRS Server Information

This section discusses additional information for the ABB S4C RRS Server.

See Also
ABB RRS Servers
ABB RRS Profiles/Attributes

IPC Resource Requirements

ABB S4C 3.XX RRS module IPC resource requirements per simulated robot are as described below.

  • 4 Semaphore IDs/8 Semaphores per Semaphore ID
  • 22 Shared Memory Segment IDs
  • 4 Message Queue IDs

On an SGI RRS server, kernel parameters may need to be modified using the /usr/sbin/systune -i command in order to have the ABB S4C RRS module support "X" RRS devices at the same time as follows:

  • msgmni = 4 * X (default is 50 on IRIX 6.2)
  • semmni = 4 * X (default is 10 on IRIX 6.2)
  • semmns = 8 * X (default is 60 on IRIX 6.2)
  • shmmni = 22 * X (default is 100 on IRIX 6.2)
  • sshmseg = 1 * X (default is 100 on IRIX 6.2)

On IRIX 6.2, the file /var/sysgen/stune lists updates that may have been made to kernel parameter values. Parameters not listed in this file are set to their default value.

On HP-UX systems, the system administration utility sam can be used for this purpose.

After a kernel parameter update, the system must be rebooted for the new parameter values to take effect.