KEB COMBIVERT CONTROL G6 VARAN, Programming Manual, Page: 9 / 34

3 Dual Port Memory
A Dual Port Memory (DPM) is a RAM memory, whereupon read or write access is pos-
sible from two sides simultaneously.
The entire bus is treated like a 4GB memory, a defined memory area is assigned to each
client.This allows the CPU of the control to access on the participants with simple save,
read and write commands.
This defined memory area addressed a range in a dual port memory (DPM) on which the
application layer of the control card firmware can also access.
Available commands:
Memory read:
Reads data from the memory of a bus participant. The command con-
tains the start address and the number of bytes to read.The client responds with the
requested data.
Memory write: Writes data from the memory of a bus participant. The command con-
tains the start address and the data to be written.The client sends an confirmation.
These first two commands can be combined to form a shared memory read/write com -
mand.
Global write:
All bus participants are addressed simultaneously. This command is used
to global reset of the bus participants and for transmission of SYNC.
3.1 DPM mapping
The following shows the mapping of the DPM. Separated areas for the isochronous
Objects (PDO) and the asynchronous Objects (SDO) are available. The byte order for
all data objects is "Least significant (LS) Byte first".
Address [dec (hex)] Size [byte] Description Access
3)
0 (0x00) 16
Configurable isochronous input PDO data
(Client => Manager)
ro
16 (0x10) 16 Reserved area -
32 (0x20) 16
Configurable isochronous output PDO data
(Manager => Client)
rw
48 (0x30) 16 Reserved area -
64 (0x40) 4 Acyclic request data rw
68 (0x44) 2 Acyclic request index rw
70 (0x46) 1
Acyclic request subindex
(format CANopen DS301)
rw
71 (0x47) 1 Acyclic request Cmd/MsgID
1)
rw
72 (0x48) 4 Acyclic response data ro
76 (0x4C) 1 Acyclic response error code
2)
ro
77 (0x4D) 1 Acyclic response Cmd/MsgID
1)
ro
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DUAL PORT MeMORy