manualshive.com logo in svg

Omron CJ1W-PRT21, Operation Manual

Share
Download
Omron CJ1W-PRT21 Operation Manual Download Page 38

  

36

CJ-series PROFIBUS Slave Unit Operation Manual for NJ-series CPU Unit (W510)

Revision History

A manual revision code appears as a suffix to the catalog number on the front and back covers of the
manual.

Revision code

Date

Revised content

01

September 2011 Original production

W510-E2-01

Revision code

Cat. No. 

Summary of Contents for CJ1W-PRT21

Page 1: ...e Unit Cat No W510 E2 01 Note Specifications subject to change without notice Authorized Distributor Printed in Europe Cat No W510 E2 01 CJ Series PROFIBUS Slave Unit for NJ series CPU Unit OPERATION MANUAL PROFIBUS Slave Unit Operation Manual for NJ series CPU Unit CJ1W PRT21 ...

Page 2: ......

Page 3: ...it will be available for reference during operation This manual is intended for the following personnel who must also have knowledge of electrical sys tems an electrical engineer or the equivalent Personnel in charge of introducing FA systems Personnel in charge of designing FA systems Personnel in charge of installing and maintaining FA systems Personnel in charge of managing FA systems and facil...

Page 4: ...ting devices and hardware Using motion control Using EtherCAT Using EtherNet IP Using CJ series Units Software settings Using motion control Using EtherCAT Using EtherNet IP Programming Using motion control Using EtherCAT Using CJ series Units Programming error processing Testing operation and debugging Using motion control Using EtherCAT Using EtherNet IP Maintenance Using EtherCAT Using EtherNet...

Page 5: ...eatures and gives the NJ series Controller specifications Section 2 CPU Unit Operation This section describes the variables and control systems of the CPU Unit and CPU Unit status Section 3 I O Ports Slave Configuration and Unit Configuration This section describes how to use I O ports how to create the slave configuration and unit configuration and how to assign functions Section 4 Controller Set...

Page 6: ...a pro gram on the Sysmac Studio and how to correct those errors Appendices The appendices describe the following Driver Installation for Direct USB Cable Connection Specifying One of Multiple Ethernet Interface Cards Online Help Simulation Instructions CJ series PROFIBUS Master Units Operation Manual for NJ series CPU Unit Cat No W509 Section Description Section 1 Features and System Configuration...

Page 7: ...twork It also describes installing and wiring the Communication Unit as well as the GRT1 series SmartSlice I O Units Section 3 Setup and Operation This section describes the operational aspects of the GRT1 PRT and the SmartSlice I O system Section 4 Troubleshooting and Maintenance This section describes the troubleshooting procedures and maintenance operations for the PROFIBUS Communication Unit A...

Page 8: ... This section contains the procedures for installing the configuration software It also presents an overview of the Configuration software and discusses the main aspects of defining a PROFIBUS configuration Section 4 Allocated CIO and DM Words This section describes the words allocated to the CS1 CJ1W PRM21 PROFIBUS Master Unit in the CIO and DM Areas Section 5 FINS Commands and Responses This sec...

Page 9: ... locking the sliders by moving them toward the back of the Units The End Cover is connected in the same way to the Unit on the far right side of the Controller 1 Join the Units so that the connectors fit exactly 2 The yellow sliders at the top and bottom of each Unit lock the Units together Move the sliders toward the back of the Units as shown below until they click into place Precautions for Cor...

Page 10: ...om the Sysmac Studio to the physical Controller and upload refers to transferring data from the physical Controller to the Sysmac Studio In this manual the CJ1W PRT21 PROFIBUS Slave Unit may be referred to as the PROFIBUS Slave Unit and the CJ1W PRM21 PROFIBUS Master Unit may be referred to as the PROFIBUS Master Unit Precaution on Terminology ...

Page 11: ...it Operation Manual for NJ series CPU Unit W510 Sections in this Manual Nomenclature and Installation Data Exchange with the CPU Unit Troubleshooting and Maintenance Appendices 4 3 2 1 2 3 4 1 I 1 Features and System Configuration A A Index I I ...

Page 12: ...LEDGES THAT THE BUYER OR USER ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE OMRON DISCLAIMS ALL OTHER WARRANTIES EXPRESS OR IMPLIED LIMITATIONS OF LIABILITY OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL INDIRECT OR CONSEQUENTIAL DAMAGES LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS WHETHER SUCH CLAIM IS BASED ON CONTRACT W...

Page 13: ... products nor is it intended to imply that the uses listed may be suitable for the products Outdoor use uses involving potential chemical contamination or electrical interference or conditions or uses not described in this manual Nuclear energy control systems combustion systems railroad systems aviation systems medical equipment amusement machines vehicles safety equipment and installations subje...

Page 14: ... OMRON representative at any time to confirm actual specifications of purchased products DIMENSIONS AND WEIGHTS Dimensions and weights are nominal and are not to be used for manufacturing purposes even when tolerances are shown PERFORMANCE DATA Performance data given in this manual is provided as a guide for the user in determining suitability and does not constitute a warranty It may represent th...

Page 15: ...17 CJ series PROFIBUS Slave Unit Operation Manual for NJ series CPU Unit W510 ...

Page 16: ... and System Configuration 1 1 Overview of PROFIBUS 1 2 1 1 1 Introduction 1 2 1 1 2 PROFIBUS Communication Protocol 1 3 1 1 3 GSD File Technology 1 4 1 1 4 Device Types 1 5 1 1 5 Bus Access Protocol 1 5 1 1 6 Data Throughput 1 7 1 1 7 Diagnostic Functions 1 7 1 1 8 Protection Mechanisms 1 8 1 1 9 Network Operation Modes 1 8 1 2 Configuring the CJ1W PRT21 Slave Unit 1 10 1 3 PROFIBUS Slave Unit 1 1...

Page 17: ... 2 Accessing From the User Program 3 11 3 6 Device Variables for CJ series Unit Software Switches Statuses 3 15 3 6 1 Software Switches _SwCmd 3 15 3 6 2 Status Flags _SlvSta 3 16 3 7 Device Variables for CJ series Unit Configuration 3 20 3 7 1 Slave Parameter Data _SlvParamSta 3 21 3 7 2 Slave Output Data _SlvOutSta 3 22 3 8 CPU Status Information 3 28 Section 4 Troubleshooting and Maintenance 4 ...

Page 18: ...ries CPU Unit W510 Appendices A 1 Differences of NJ Series from CJ series A 2 A 1 1 Functional Difference A 2 A 1 2 Differences in Access Methods from a User Program A 2 A 2 GSD File for CJ1W PRT21 A 7 A 3 Parameterization by the PROFIBUS Master Unit A 14 Index ...

Page 19: ...ation is used Definition of Precautionary Information WARNING Indicates a potentially hazardous situation which if not avoided could result in death or serious injury Additionally there may be severe property damage Caution Indicates a potentially hazardous situation which if not avoided may result in minor or moderate injury or property damage Precautions for Safe Use Indicates precautions on wha...

Page 20: ...luding warnings The specific operation is shown in the triangle and explained in text This example indicates a precaution for electric shock The triangle symbol indicates precautions including warnings The specific operation is shown in the triangle and explained in text This example indicates a general precaution The filled circle symbol indicates operations that you must do The specific operatio...

Page 21: ...ures must be provided in external control circuits The Controller outputs may remain ON or OFF due to deposition or burning of the output relays or destruction of the output transistors As a countermea sure for such problems external safety measures must be provided to ensure safe operation of the system The CPU Unit will turn OFF all outputs from Basic Output Units in the follow ing cases If an e...

Page 22: ... a momentary power interruption occurs This means that the NJ series Controller may receive incorrect signals from external devices that are also affected by the power interruption Accordingly take suitable actions such as external fail safe measures and interlock conditions to monitor the power supply voltage of the external device as required You must take fail safe measures to ensure safety in ...

Page 23: ...l screws and cable connector screws are tightened to the torque specified in the relevant manuals The loose screws may result in fire or malfunction Online Editing Execute online editing only after confirming that no adverse effects will be caused by deviations in the timing of I O If you perform online editing the task execution time may exceed the task period I O may not be refreshed with extern...

Page 24: ...ocked into place Always remove any dust proof labels that are on the top of the Units when they are shipped before you turn ON the power supply If the labels are not removed heat will accumulate and malfunctions may occur Before you connect a computer to the CPU Unit disconnect the power supply plug of the computer from the AC outlet Also if the computer has an FG terminal make the connections so ...

Page 25: ...ices do not operate incorrectly Configure the external circuits so that the power supply to the control system turns ON only after the power supply to the Controller has turned ON If the power supply to the Controller is turned ON after the control power supply temporary errors may result in incorrect control system signals because the output terminals on Output Units may momentarily turn ON when ...

Page 26: ...lways confirm safety at the connected equipment before you reset Controller errors for a CJ series Special Unit When a Controller error is reset the Unit where the Controller error with an event level of observation or higher will be restarted Before you reset all errors confirm that no Controller errors with an event level of observation or higher have occurred for the CJ series Special Unit Obse...

Page 27: ...t when you transfer settings for the built in EtherNet IP port including IP addresses and tag data links settings This is performed to read and enable the set tings Confirm that the system will not be adversely affected by resetting nodes before you transfer the settings If EtherNet IP tag data links cyclic communications are used with a repeating hub the communica tions load on the network will i...

Page 28: ...Confirm the axis number carefully before you perform an MC Test Run The motor is stopped if communications are interrupted between the Sysmac Studio and the CPU Unit during an MC Test Run Connect the communications cable between the computer and CPU Unit securely and confirm that the system will not be adversely affected before you perform an MC Test Run Always execute the Save Cam Table instructi...

Page 29: ...nsferred to a CPU Unit that was replaced and to externally connected devices before restarting operation Be sure to include the routing tables network parameters and other CPU Bus Unit data which are stored in the CPU Unit Dispose of the product and Batteries according to local ordinances as they apply The following information must be displayed for all products that contain primary lithium batter...

Page 30: ...nnected from the Rack Be sure that the connectors are secure Do not allow foreign matter to enter the openings in the Unit Doing so may result in Unit burning electric shock or failure Do not allow wire clippings shavings or other foreign material to enter any Unit Otherwise Unit burning failure or malfunction may occur Cover the Units or take other suitable countermeasures especially during wirin...

Page 31: ...m that EtherCAT communications are established before you attempt to execute motion control instructions Motion control instructions are not executed normally if EtherCAT communications are not established Use the system defined variables to monitor for errors in communications with the slaves that are controlled by the motion control function module Motion control instructions are not executed no...

Page 32: ...Memory Card all the way Do not turn OFF the power supply to the Controller during SD Memory Card access The files may be corrupted If there is a corrupted file in the SD Memory Card the file is automatically deleted by the restoration function when the power supply is turned ON SD Memory Cards ...

Page 33: ... EN 61000 6 2 EMI Electromagnetic Interference EN 61131 2 and EN 61000 6 4 Radiated emission 10 m regulations Low Voltage Directive Always ensure that devices operating at voltages of 50 to 1 000 VAC and 75 to 1 500 VDC meet the required safety standards The applicable directive is EN 61131 2 Conformance to EC Directives The NJ series Controllers comply with EC Directives To ensure that the machin...

Page 34: ... noise filter must be connected to the power supply line Noise Filter Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in Japan and other countries for OMRON factory automation products Windows Windows 98 Windows XP Windows Vista and Windows 7 are registered trademarks of Microsoft Corporation in the USA and other countries EtherCAT is a registered trademark of Beckho...

Page 35: ...U Unit and CJ series Units 1 Double click CPU Expansion Racks under Configurations and Setup in the Multiview Explorer Or right click CPU Expansion Racks under Configurations and Setup and select Edit from the menu The Unit Editor is displayed for the Controller Configurations and Setup layer Unit Versions Notation of Unit Versions on Products Item Description Unit model Gives the model of the Uni...

Page 36: ...ect Edit from the menu The EtherCAT Configuration Tab Page is displayed for the Controller Configurations and Setup layer 2 Right click the master in the EtherCAT Configurations Editing Pane and select Display Produc tion Information The Production Information Dialog Box is displayed The following items are displayed Node address Type information Serial number If the model number cannot be determi...

Page 37: ... 1 Operation Manual W504 SYSMAC SE2 Learning about the operat ing procedures and func tions of the Sysmac Studio Describes the operating procedures of the Sys mac Studio CJ series PROFIBUS Master Units Operation Manual for NJ series CPU Unit W509 CJ1W PRM21 Learning about the func tions and operating proce dures when the CJ series PROFIBUS Master Unit is used in an NJ series sys tem configuration ...

Page 38: ... NJ series CPU Unit W510 Revision History A manual revision code appears as a suffix to the catalog number on the front and back covers of the manual Revision code Date Revised content 01 September 2011 Original production W510 E2 01 Revision code Cat No ...

Page 39: ...2 1 1 1 Introduction 1 2 1 1 2 PROFIBUS Communication Protocol 1 3 1 1 3 GSD File Technology 1 4 1 1 4 Device Types 1 5 1 1 5 Bus Access Protocol 1 5 1 1 6 Data Throughput 1 7 1 1 7 Diagnostic Functions 1 7 1 1 8 Protection Mechanisms 1 8 1 1 9 Network Operation Modes 1 8 1 2 Configuring the CJ1W PRT21 Slave Unit 1 10 1 3 PROFIBUS Slave Unit 1 14 1 3 1 Specifications 1 14 1 3 2 Performance 1 15 1 ...

Page 40: ...y It can also be used for extensive and complex communication tasks PROFIBUS DP DP means Decentralized Periphery PROFIBUS DP is optimized for high speed and low cost inter facing It is specially designed for communication between automation control systems and distrib uted I O at the device level PROFIBUS PA PA means Process Automation It permits sensors and actuators to be connected to one common...

Page 41: ...terface Layer defines the interface functions for specific application areas i e the PROFIBUS DP basic functions and communication profiles This streamlined architecture ensures fast and efficient data transmission The application functions which are available to the user as well as the system and device behavior of the various PROFIBUS DP device types are specified in the user interface OSI Layer...

Page 42: ...nloaded to the mas ter device Refer to the CJ series PROFIBUS Master Unit Operation Manual or NJ series CPU Unit Cat No W509 for usage of the GSD file in the master s configuration software GSD File Language The language used in the GSD file is indicated by the last letter of the file extension GS Default GSD English GSE German GSG Italian GSI Portuguese GSP Spanish GSS The GSD files are prepared ...

Page 43: ...evices are also called passive devices OSI Layer 2 Bus Access Protocol The PROFIBUS bus access protocol is implemented by OSI layer 2 This protocol also includes data security and the handling of the transmission protocols and messages Medium Access Control The Medium Access Control MAC specifies the procedures which determine when a device is per mitted to transmit data A token passing procedure ...

Page 44: ...ke the initiative to communicate with DPM1 master devices in a master master communication relation ship Multi peer Communication In addition to logical peer to peer data transmission PROFIBUS DP provides multi peer communi cation broadcast and multicast Broadcast Communication An active station sends an unacknowledged message to all other stations masters and slaves Multicast Communication An act...

Page 45: ... than one master is used Extensive Diagnostics The extensive diagnostic functions of PROFIBUS DP enable fast location of faults The diagnostic messages are transmitted over the bus and collected at the master These messages are divided into three levels 1 Device Related Diagnostics These messages concern the general operational status of the whole device e g over temperature or low voltage 2 Modul...

Page 46: ...slave automati cally switches its outputs to the fail safe status This mechanism can be enabled or disabled for each individual slave Also access protection is available for the inputs and outputs of the DP slaves operating in multi master systems This ensures that direct access can only be performed by the authorised master For other masters the slaves offer an image of their inputs and outputs w...

Page 47: ...rror occurs during the data transfer phase of the DPM1 the Auto_Clear configuration setting determines the subsequent actions If this parameter is set to false the DPM1 remains in the Operate state If set to true the DPM1 switches the outputs of all assigned DP slaves to the fail safe state and the network state changes to the Clear state see 3 6 2 Status Flags _SlvSta Auto_Clear ...

Page 48: ... tion Manual for NJ series CPU unit Cat No W509 Modular Slave The CJ1W PRT21 is characterized as a modular slave The following types of data exchange mod ules are pre defined IN modules of 1 2 4 8 and 16 words OUT modules of 1 2 4 8 and 16 words IN OUT modules of 1 1 2 2 4 4 8 8 and 16 16 words By concatenating up to 32 modules any desired size of input and output block can be created mul tiple se...

Page 49: ... intervals of 1 ms or 10 ms Output data on PROFI BUS fail The user can select how the slave will behave on the host CPU s I O bus in the event the PROFI BUS data exchange communications fails Clear data to Host CPU Hold data to Host CPU Output data format The user can select how the data bytes of a PROFIBUS data exchange telegram are mapped to the host CPU data words Motorola Intel See 3 3 I O Dat...

Page 50: ... exchange telegram Motorola Intel See 3 3 I O Data Format for details Input from slave PLC area Selects the area from which the unit will read PROFIBUS input data to be sent to the master Input area start address Sets the start address in the host CPU from which the PROFIBUS input data to be sent to the mas ter will be read Slave PLC status indica tion Selects if the CPU status information should ...

Page 51: ...status indication is configured as Cyclic by first 2 input words then the connections between master and slave are as follows Master Slave 1st IN word 1st Slave CPU status word 2nd IN word 2nd Slave CPU status word 3rd IN word CIO 50 4th IN word CIO 51 38th IN word CIO 85 1st OUT word CIO 350 2nd OUT word CIO 351 40th OUT word CIO 389 Slave CPU status indication configured as Cyclic by first 2 inp...

Page 52: ...reen indicator ERC red indicator Network status COMM green indicator BF red indicator CPU status ERH red indicator No of CIO words allocated CPU Unit 1 word control data Unit CPU 1 word status data CPU Interface No of DM words allocated Unit CPU 8 words of Unit setup information Amount of I O data per Unit Fixed 2 words CIO area one in one out for Unit status Software Switches 1 word status inform...

Page 53: ...cycle time it may occur that slave output data sent by the PROFIBUS master only during a single fieldbus cycle cannot be read in time by the Unit s host CPU Profibus Interface Applicable standard EN50170 Vol 2 Conformance to PROFIBUS stan dard Certificate No Z01033 Bus connector 9 pin female sub D connector RS 485 PROFIBUS connector Bus address 0 to 99 Remote setting not supported Baud rate auto d...

Page 54: ... message is transferred to the host CPU in one I O refresh and vice versa There are added modules without consistency which simplify communication with Siemens S7 masters PROFIBUS DP Cycle Time The overall PROFIBUS DP communication cycle time will depend on the number and types of PRO FIBUS DP master s and other slaves connected to the network and the overall bus parameters defined in the configur...

Page 55: ...e Number 0 95 for the Unit using the rotary switch on the front of the Unit See section 2 1 3 Switch Settings Connect the PROFIBUS Slave unit to the PROFIBUS network See section 2 3 Network Installation Switch ON the power supply for the CPU Configure the CPU and allocate the Unit in Sysmac Studio Refer to NJ series CPU Unit Software User s Manual Cat No W501 Configure the PROFIBUS Slave Unit usin...

Page 56: ...1 Features and System Configuration 1 18 CJ series PROFIBUS Slave Unit Operation Manual for NJ series CPU Unit W510 ...

Page 57: ...ndicators 2 2 2 1 3 Switch Settings 2 3 2 1 4 PROFIBUS Connector 2 4 2 2 Installing the PROFIBUS DP Slave Unit 2 5 2 2 1 System Configuration Precautions 2 5 2 2 2 Mounting 2 5 2 2 3 Handling Precautions 2 6 2 2 4 External Dimensions 2 7 2 3 Network Installation 2 8 2 3 1 Network Structure 2 8 2 3 2 Bus Termination 2 10 2 3 3 PROFIBUS Cable Connector 2 11 2 3 4 Shielding Precautions 2 11 Nomenclat...

Page 58: ... RUN and COMM indicators green should be ON while the ERC ERH and BF indicators red should be OFF Refer to 4 1 1 Determining Operating Status from the Indica tors 2 1 1 Nomenclature 2 1 2 Indicators Three indicators RUN ERC and ERH give a status indication of the Unit in general Two indicators COMM and BF are related to the status of the PROFI BUS DP network MACH NODE x101 x100 x101 x100 RUN ERC C...

Page 59: ... O Unit number or so called Machine No The Special I O number setting determines which words in the CIO Area and Data Memory Area are allocated to the CJ1W PRT21 see 3 5 1 Data Flow Any Machine number in the setting range is allowed as long as it has not been set on another Spe cial I O Unit connected to the CPU If the same number is used for the CJ1W PRT21 and another Special I O Unit an error wi...

Page 60: ...llation RTS The signal RTS TTL signal relative to DGND is meant for the direction control of repeaters in case repeaters without self control capability are used VP DGND The signals VP and DGND are meant to power an externally mounted bus terminator The powering of the 220 termination resistor ensures a defined idle state potential on the data lines To ensure proper functioning up to the highest b...

Page 61: ...IBUS DP Slave Unit 2 2 2 1 System Configuration Precautions 2 2 Installing the PROFIBUS DP Slave Unit You can mount up to 16 Units on the CPU Rack or an Expansion Rack per CPU but no more than 10 Units on one Rack 1 Carefully align the connectors to mount the PROFIBUS DP Slave Unit 2 2 1 System Configuration Precautions 2 2 2 Mounting ...

Page 62: ...e you mount or dismount a Unit or con nect or disconnect cables Provide separate conduits or ducts for the I O lines to prevent noise from high tension lines or power lines Prevent wire clippings cutting chips or other materials from getting inside the Unit They could cause scorching failure and malfunction Pay particular attention to this during installation and take measures such as covering the...

Page 63: ...ROFIBUS Slave Unit Operation Manual for NJ series CPU Unit W510 2 2 Installing the PROFIBUS DP Slave Unit 2 2 2 4 External Dimensions 2 2 4 External Dimensions MACH NODE x101 x100 x101 x100 RUN ERC COMM ERH BF 90 mm 31 mm Bus 65 mm No PRT21 No 5 mm ...

Page 64: ... contain network branches The total cable length of the bus depends on the cable and the selected baud rate Also RS 485 specifies a maximum of up to 32 devices master and slave devices per line segment If more than 32 devices are to be connected or if the total length of the segment must be extended beyond its maximum repeaters must be used to link the separate segments Note Repeaters are devices ...

Page 65: ...work This cable type has the follow ing characteristics Note The PROFIBUS standard EN 50170 also specifies a Type B cable with different cable char acteristics Use of Type B cable is no longer recommended Maximum PROFIBUS Cable Length The transmission speed defines the maximum advised cable distance or cable segment in metres before the use of a repeater is recommended The cable lengths specified ...

Page 66: ...o 390 Ω resistors Powering the terminator resistor via VP 5 VDC and DGND ensures a defined idle state potential on the data lines To ensure the correct functioning up to the highest baud rate the bus cable must be terminated at both its ends A missing bus termination can cause errors during data transfer Problems can also arise if too many bus terminators are fitted since each bus termi nator repr...

Page 67: ... rate of 500 kbps or less The two PROFIBUS data lines are designated A and B There are no regula tions on which cable core color should be connected to which of the two data terminals on each PROFIBUS device the sole requirement is to ensure that the same core color is connected to the same terminal A or B for all devices throughout the entire system across all devices and bus segments The PROFIBU...

Page 68: ...tion Guide line for PROFIBUS DP FMS PNO Order No 2 112 which is available at every regional PROFI BUS Organization The information covers Test run of PROFIBUS equipment Testing the PROFIBUS cable and bus connectors Determining loop resistance Testing for correct bus termination Determining the segment length and cable route Other test methods Example of an equipment report in the PROFIBUS guidelin...

Page 69: ...p Data 3 6 3 5 Data Exchange with the CPU Unit 3 8 3 5 1 Data Flow 3 8 3 5 2 Accessing From the User Program 3 11 3 6 Device Variables for CJ series Unit Software Switches Statuses 3 15 3 6 1 Software Switches _SwCmd 3 15 3 6 2 Status Flags _SlvSta 3 16 3 7 Device Variables for CJ series Unit Configuration 3 20 3 7 1 Slave Parameter Data _SlvParamSta 3 21 3 7 2 Slave Output Data _SlvOutSta 3 22 3 ...

Page 70: ...ms may cause confusion as to which data should be considered input data and which is output data In this manual all I O data communication is defined from the point of view of the PROFIBUS DP system Slave INPUT Data is process data which the CJ1W PRT21 reads from the assigned areas of the host CPU The CJ1W PRT21 sends this data to the PROFIBUS DP master unit Slave OUTPUT Data is process data which...

Page 71: ... I O bus to the input buffer of the Unit During each PROFIBUS DP cycle this data is transmitted to the master over PROFIBUS Slave output data received from PRO FIBUS is first stored in the output buffer of the Unit During an I O refresh this data is transferred to the memory of the host CPU via the I O Bus Host CPU I O BUS CJ1W PRT21 I O Area Data Link Area CPU Bus unit area Special I O Unit Area ...

Page 72: ...it memory variable allocation and user defined variable registration refer to section How to Create Device Variables for CJ series Unit and Sysmac Studio Ver 1 0 Operation Manual Cat No W504 For CJ1W PRT21 the maximum amount of mapped I O data is 100 words input 100 words output with the following restrictions that inputs outputs must be 180 words or less ...

Page 73: ... Endian Motorola Big Endian By default the most significant byte of a CPU data word will be mapped to an even byte in the PRO FIBUS DP message the least significant byte is mapped to an odd byte e g Intel Little Endian Alternatively selecting Intel format will result in Additional Information Variable _SlavOutEndianMdSta indicates how the data bytes of a PROFIBUS data telegram are mapped to Host C...

Page 74: ...change mode the Set_Prm telegram will provide the following information Start address of the area in the host CPU where to read and to send to the master Format Motorola Intel of the data to be sent to the master Actions to be taken in case of CPU status change or fatal errors Inclusion of 2 words CPU status information or not Chk_Cfg The Chk_Cfg telegram will provide the number of words to be rea...

Page 75: ...cate that no I O data is exchanged After the Set_Prm telegram is received by the Unit it will check if the specified data areas in the host CPU exist If not this will be indicated as a Parameter Fault to the PROFIBUS master and in variable _SlvSta In case the parameters specify to include CPU status information in the input data the amount of input data read from the CPU will be 2 words less than ...

Page 76: ...evice Variables are positioned internally in the CPU Bus Unit words allocated in CIO and DM areas User defined variables are created by the user and can be allocated to specific memory areas used for CJ series Units allocated to slaves Additional Information By using these variables the user can program without the need to be aware of the configuration of the memory used for CJ series Units 3 5 1 ...

Page 77: ...U Unit User program Mach No 15 10 wds PROFIBUS Slave Unit I O refresh Status Mach No 0 8 wds Mach No 15 8 wds Configuration Information When Data Changes Allocated DM Area Words for Special I O Units Memory areas such as CIO DM WR HR and EM User defined variable User Specified Variables I O refresh Corresponding device variable for CJ series Unit Corresponding device variable for CJ series Unit So...

Page 78: ...it Configuration with Sysmac Studio For details on the I O ports defined for PROFIBUS Slave Unit refer to 3 6 Device Variables for CJ series Unit Software Switches Statuses and 3 7 Device Variables for CJ series Unit Configura tion Software Switches Status Area Software switches execution instructions of each function from the CPU Unit to the PROFIBUS Slave Unit and statuses are allocated They are...

Page 79: ...e following shows the structure of a variable name created automatically with method 3 For details on Device Variables for CJ series Unit refer to the following 3 6 Device Variables for CJ series Unit Software Switches Statuses 3 7 Device Variables for CJ series Unit Configuration In the explanations throughout this manual the default device name automatically created is used as the device variabl...

Page 80: ...ter to host CPU memory area CIO 350 CX ConfiguratorFDT configuration downloaded to Master Unit CJ1W PRM21 Master Unit Configuration Unit Number 1 Station Address 1 1 Word Input Allocation from slave to CPU area CIO 3300 1 Word Output Allocation to slave from CPU area CIO 3200 CX ConfiguratorFDT configuration downloaded to Master Unit ...

Page 81: ...nit CJ series PROFIBUS Slave Unit Operation Manual for NJ series CPU Unit W510 3 5 Data Exchange with the CPU Unit 3 3 5 2 Accessing From the User Program Allocate the I O data to the user defined variables as shown in the example below ...

Page 82: ...series PROFIBUS Slave Unit Operation Manual for NJ series CPU Unit W510 Additional Information For details on CJ Unit memory variable allocation and user defined variable registration refer to Sysmac Studio Ver 1 0 Operation Manual Cat No W504 ...

Page 83: ...r CJ series Unit Type R W Description _SwCmd WORD RW Software Switches see section 3 6 1 _StartCommCmd BOOL RW Bit 00 Start communication _StopCommCmd BOOL RW Bit 01 Stop communication _SlvSta WORD R Status flags see section 3 6 2 _DatXchgActSta BOOL R Bit 00 Data exchange active _ClearSta BOOL R Bit 01 CLEAR _FreezeSta BOOL R Bit 02 FREEZE _SyncSta BOOL R Bit 03 SYNC _WdtDsblSta BOOL R Bit 04 Wat...

Page 84: ...be 0000 During normal operation only the data exchange active flag _DatXchgActSta will be TRUE Name of Device Variable for CJ series Unit Type R W Description Function _StartCommCmd BOOL RW Start Commu nication FALSE TRUE PROFIBUS DP communication will be enabled If the communication is already enabled no specific action is taken TRUE FALSE No action _StopCommCmd BOOL RW Stop Commu nication FALSE ...

Page 85: ...s accepted a global control command FREEZE from its master The slave input data from the CPU is not updated at the PROFIBUS DP interface until the next FREEZE command to this slave or until the slave receives an UNFREEZE command _SyncSta BOOL R SYNC FALSE Not in SYNC mode TRUE The slave has accepted a global control command SYNC from its master The slave out put data to the CPU is not updated at t...

Page 86: ...ard parameter settings valid set tings are described in the PROFIBUS stan dard Invalid user parameter settings allowed set tings are described in the GSD file of the Unit Incorrect start addresses for I O data in the host CPU system If one of them is invalid parameter error is indicated plus _StartAdrInErr and or _StartAdrOutErr will be set Configuration Error can be caused by Input or output leng...

Page 87: ... transferred between master and slave units _StartAdrOutErr BOOL R Incorrect start address for slave output area FALSE No error TRUE There is an error in the slave output area mapping The start address of the area as specified in the Set_Prm telegram is invalid for this CPU The BF indicator is BLINKING to indicate a con figuration or parameterisation error no I O data is transferred between master...

Page 88: ...p4 BOOL R Bit 11 Slave assigned to Group 4 _SlvGrp5 BOOL R Bit 12 Slave assigned to Group 5 _SlvGrp6 BOOL R Bit 13 Slave assigned to Group 6 _SlvGrp7 BOOL R Bit 14 Slave assigned to Group 7 _SlvGrp8 BOOL R Bit 15 Slave assigned to Group 8 _SlvWdtFact1 USINT R Bits 00 to 07 Watchdog factor 1 _SlvWdtFact2 USINT R Bits 08 to 15 Watchdog factor 2 _SlvOutSta LWORD R Slave Output Data see section 3 7 2 ...

Page 89: ..._SlvGrp1 _SlvGrp2 _SlvGrp3 _SlvGrp4 _SlvGrp5 _SlvGrp6 _SlvGrp7 _SlvGrp8 Name of Device Variable for CJ series Unit Type R W Description Function _SlvMstrAdr USINT R Master Address Low byte Integer value 00 to 125 indicating the node address of the PROFIBUS DP Master from which the Unit has received and accepted the Chk_Cfg and Set_Prm telegrams 255 indi cates that the slave has not been configured...

Page 90: ...lave output data from the master to the slave Dm 2 Dm 3 and Dm 4 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 _SlvParamSta _SlvWdtFact1 _SlvWdtFact2 Name of Device Variable for CJ series Unit Type R W Description Function _SlvWdtFact1 USINT R Watchdog Fac tor 1 The master s parameterisation telegram con tains the value to which the slave s communica tion watchdog timer will be set The actual watchdog con...

Page 91: ...5 E5 xxxxx 14 EM bank 6 E6 xxxxx 15 EM bank 7 E7 xxxxx 16 EM bank 8 E8 xxxxx 17 EM bank 9 E9 xxxxx 18 EM bank A EA xxxxx 19 EM bank B EB xxxxx 20 EM bank C EC xxxxx _SlvOutHoldBusErr BOOL R Data hold on PROFIBUS fail FALSE Clear data to Host CPU TRUE Hold data to Host CPU Indicates how the slave will behave on the Host CPU I O bus in the event the PROFIBUS data exchange communication fails e g com...

Page 92: ...SlavOutSta to which the PROFIBUS out put data received from the master will be writ ten The value is provided by the PROFIBUS master s Set_Prm telegram and indicated in _SlvOutStartAdr after both the Set_Prm and Chk_Cfg telegrams have been accepted The indication is only valid in case the output area code is unequal to 00 The start address is indicated as a value in the range 0 32767 15 14 13 12 1...

Page 93: ...xxxxx 09 EM bank 1 E1 xxxxx 10 EM bank 2 E2 xxxxx 11 EM bank 3 E3 xxxxx 12 EM bank 4 E4 xxxxx 13 EM bank 5 E5 xxxxx 14 EM bank 6 E6 xxxxx 15 EM bank 7 E7 xxxxx 16 EM bank 8 E8 xxxxx 17 EM bank 9 E9 xxxxx 18 EM bank A EA xxxxx 19 EM bank B EB xxxxx 20 EM bank C EC xxxxx _SlvInProgCont BOOL R Continue in PROGRAM mode Indicates how the slave will behave on PROFI BUS in case the host CPU is in PROGRAM...

Page 94: ...ase the Slave will send static diagnostics messages to the master _SlvInFatlExit BOOL R Exit on fatal error _SlvInIntelMd BOOL R Inputs Intel mode Indicates how the host CPU data words are mapped to a PROFIBUS data exchange tele gram FALSE Motorola high byte first TRUE Intel low byte first The values in _SlavInSta are provided by the PROFIBUS master s Set_Prm telegram and indicated in _SlavOutSta ...

Page 95: ...t_Prm and Chk_Cfg telegrams have been accepted The indication is only valid in case the input area code is unequal to 00 The start address is indicated as a value in the range 0 to 32767 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 _SlvInDatLen _SlvInDatLen Name of Device Variable for CJ series Unit Type R W Description Function _SlvInDatLen UINT R Input data length The value indicates the size of the ar...

Page 96: ...p or at fatal I O bus error both Words 0 is set to 0000 status unknown Additional Information Shown format for both words is in Motorola mode If Intel mode is specified for the PROFIBUS inputs the high and low bytes will change places Specific NJ series CPU status is not mapped in the second word Word 1 above Use generic PROFIBUS Input to map detailed NJ series status Refer to the NJ series GetAla...

Page 97: ...us from the Indicators 4 2 4 1 2 Errors During Initial Processing 4 3 4 1 3 Errors During Normal Operation 4 3 4 2 Standard and Extended Diagnostics 4 5 4 3 Event Logs 4 6 4 3 1 Overview of the Event Logs 4 6 4 3 2 Error Table 4 6 4 3 3 Error Descriptions 4 8 4 4 Maintenance and Replacement 4 10 4 4 1 Cleaning 4 10 4 4 2 Inspection 4 10 4 4 3 Replacing Faulty Units 4 11 4 4 4 Addition Replacement ...

Page 98: ...Operating Status from the Indicators Indicator Color Status RUN Green OFF The Unit is not in operation ON The Unit is in operation ERC Red OFF The Unit is normal ON The Unit has an operational failure ERH Red OFF The CPU is normal BLINK Communication with the Host CPU has stopped ON The CPU has an operational failure Indicator Color Status COMM Green OFF No PROFIBUS DP Data exchange communication ...

Page 99: ...has been pro grammed to stop Action Fatal Error in Configuration is set to Stop The Unit will transmit diagnostics to the PROFIBUS Master Check the status of _SlvInFatlCont and _SlvInFatlExit Check the operating mode of the CPU Check the diagnostics sent to the Master Unit for more information OFF ON OFF Unit Error The Unit is defective Replace the Unit 4 1 3 Errors During Normal Operation COMM BF...

Page 100: ...er connection and correct wiring according to the recommended procedures see 2 3 Network Installation Replace the Master Unit Replace the Slave Unit OFF Flashing Parameter Con figuration Error Invalid configuration in PRO FIBUS Master Unit The Slave Unit is defective Check _ParamErr variable details in 3 6 2 Status Flags _SlvSta Verify the configuration and parameter data of the Slave Unit Verify ...

Page 101: ... FAL FALS code 1 Invalid start address input area Invalid end address input area Invalid start address output area Invalid end address output area Note Note Extended diagnostics are sent to the master upon mode changes or when error codes are changed Byte Bit Position Designation 7 6 5 4 3 2 1 0 0 According to PROFIBUS standard Station_status_1 1 According to PROFIBUS standard Station_status_2 2 A...

Page 102: ...eported as events in the NJ series CPU Unit Refer to the NJ series CPU Unit Software User s Manual Cat No W501 for details on the event logs in an NJ series CPU Unit Refer to the NJ series Troubleshooting Manual Cat No W503 for details on Controller errors confirmation methods and corrections The errors that may occur for this Unit are listed below Event levels are given in the table as follows Ma...

Page 103: ...y Invalid standard parameter settings valid settings are described in the PROFIBUS standard Invalid user parameter settings allowed settings are described in the GSD file of the Unit Incorrect start addresses for I O data in the host CPU system If one of them is invalid parameter error is indicated plus _StartAdrInErr and or _StartAdrOutErr will be set Configuration Error can be caused by Input or...

Page 104: ...r program will continue Stops Execution of the user program stops Starts Execution of the user program starts 4 3 3 Error Descriptions Controller Error Descriptions Event name Gives the name of the error Event code Gives the code of the error Meaning Gives a short description of the error Source Gives the source of the error Source details Gives details on the source of the error Detection timing ...

Page 105: ...riables Variable Data type Name _ParamErr BOOL Parameter configuration error Cause and cor rection Assumed cause Correction Prevention Invalid standard parameter settings valid settings are described in the PROFIBUS standard Check PROFIBUS standard and cor rect the settings Load the correct parameters to the Master Unit Invalid user parameter settings allowed settings are described in the GSD file...

Page 106: ...hese substances could damage the surface of the Unit Be sure to inspect the system periodically to keep it in optimum operating condition In general inspect the system once or twice a year but more frequently if the system is used in high temperature or high humidity environments or dirty dusty conditions Prepare the following equipment before inspecting the system Required Equipment Philips type ...

Page 107: ...placing the Unit do not reconnect it to the Network before carrying out the procedures listed below After replacing a PROFIBUS Slave Unit before applying power set the Machine number to the same number as the previous Unit The PROFIBUS network allows to connect and disconnect devices while in operation Connecting and Disconnecting Devices Connecting disconnecting any device in a PROFIBUS network i...

Page 108: ...4 Troubleshooting and Maintenance 4 12 CJ series PROFIBUS Slave Unit Operation Manual for NJ series CPU Unit W510 ...

Page 109: ... series CPU Unit W510 App A 1 Differences of NJ Series from CJ series A 2 A 1 1 Functional Difference A 2 A 1 2 Differences in Access Methods from a User Program A 2 A 2 GSD File for CJ1W PRT21 A 7 A 3 Parameterization by the PROFIBUS Master Unit A 14 Appendices ...

Page 110: ... 95 Start address of the special I O Unit DM area m D20000 Unit number x 100 Unit number 0 to 95 A 1 1 Functional Difference Item Function in CJ series Function in NJ series Responding to DPM1 and DPM2 Masters Data_Exchange Slave_Diag Set_Prm Chk_cfg Global_Control SYNC FREEZE CLEAR Same as on left Configurable with In Out and In Out modules 1 2 4 8 and 16 words Total of 0 to 100 words in 0 to 100...

Page 111: ...correcting the Machine number setting cycle the power to the Controller Be sure that no Machine numbers are duplicated To avoid duplication when you set a PROFIBUS Slave Unit to the Machine number n set the next Unit to the Machine number n 1 MACH No CIO Area MACH No CIO Area 00 CIO 2000 to CIO 2009 06 CIO 2060 to CIO 2069 01 CIO 2010 to CIO 2019 07 CIO 2070 to CIO 2079 02 CIO 2020 to CIO 2029 08 ...

Page 112: ...s for CJ series Unit Word address Bit Variable name Description CIO n 0 _StartCommCmd Start Communication 1 _StopCommCmd Stop Communication 2 to 15 Undefined Reserved by system CJ series I O memory address NJ series device variables for CJ series Unit Word address Bit Variable name Description CIO n 1 0 to 15 _SlvSta Status flags CJ series I O memory address NJ series device variables for CJ serie...

Page 113: ...ramSta Slave parameter data CJ series I O memory address NJ series device variables for CJ series Unit Word address Bit Variable name Description DM 0 to 7 _SlvMstrAdr Master address 8 _SlvGrp1 Slave assigned to Group 1 9 _SlvGrp2 Slave assigned to Group 2 10 _SlvGrp3 Slave assigned to Group 3 11 _SlvGrp4 Slave assigned to Group 4 12 _SlvGrp5 Slave assigned to Group 5 13 _SlvGrp6 Slave assigned to...

Page 114: ...DM 5 to DM 7 0 to 15 for each word _SlvInSta Slave Input Settings CJ series I O memory address NJ series device variables for CJ series Unit Word address Bit Variable name Description DM 5 0 to 7 _SlvInAreaCode Input area code 8 _SlvInProgCont Continue in PROGRAM mode 9 _SlvInProgExit Exit in PROGRAM mode 10 _SlvInFatlCont Continue on fatal error 11 _SlvInFatlExit Exit on fatal error 12 _SlvInInte...

Page 115: ...C_0602 GSD Version 2 2000 Date November 16 2004 C Copyright OMRON Corporation 2004 All Rights Reserved Important notice Any modification of parameters in this file may lead to undefined behavior of the Profibus DP system General information Profibus_DP GSD_Revision 2 GSD file revision 2 0 Vendor_Name OMRON Corporation Vendor name string Model_Name OMRON CJ1W PRT21 Model type string Ident_Number 0x...

Page 116: ...p 1 SPC3 specific feature Supported baud rates 9 6_supp 1 9600 Baud 19 2_supp 1 19 2 kBaud 45 45_supp 1 45 45 kBaud 93 75_supp 1 93 75 kBaud 187 5_supp 1 187 5 kBaud 500_supp 1 500 kBaud 1 5M_supp 1 1 5 MBaud 3M_supp 1 3 MBaud 6M_supp 1 6 MBaud 12M_supp 1 12 MBaud Max response times MaxTsdr_9 6 60 60 Tbit 6 25 msec MaxTsdr_19 2 60 60 Tbit 3 125 msec MaxTsdr_45 45 60 60 Tbit 1 32 msec MaxTsdr_93 75...

Page 117: ... 1 CIO area CIOxxxx Text 3 Data Memory Dxxxxx Text 4 Work area Wxxx Text 5 Holding area Hxxx Text 8 EM bank 0 E0 xxxxx Text 9 EM bank 1 E1 xxxxx Text 10 EM bank 2 E2 xxxxx Text 11 EM bank 3 E3 xxxxx Text 12 EM bank 4 E4 xxxxx Text 13 EM bank 5 E5 xxxxx Text 14 EM bank 6 E6 xxxxx Text 15 EM bank 7 E7 xxxxx Text 16 EM bank 8 E8 xxxxx Text 17 EM bank 9 E9 xxxxx Text 18 EM bank A EA xxxxx Text 19 EM b...

Page 118: ...2 EndExtUserPrmData ExtUserPrmData 4 Input area start address Unsigned16 50 0 32767 EndExtUserPrmData ExtUserPrmData 5 Input data format Bit 4 0 0 1 Prm_Text_Ref 3 EndExtUserPrmData ExtUserPrmData 6 Output to slave PLC area Unsigned8 1 1 20 Prm_Text_Ref 2 EndExtUserPrmData ExtUserPrmData 7 Output area start address Unsigned16 350 0 32767 EndExtUserPrmData ExtUserPrmData 8 Output data format Bit 4 ...

Page 119: ...Ext_User_Prm_Data_Ref 8 3 Ext_User_Prm_Data_Ref 9 4 Ext_User_Prm_Data_Ref 7 12 Diagnostics Max_Diag_Data_Len 11 Maximum diagnostic length Host Diagnostics CPU Mode Diagnostic Unit_Diag_Bit 0002 PLC Output OFF Unit_Diag_Bit 0003 PLC CPU waiting Unit_Diag_Bit 0006 PLC non fatal error FAL Unit_Diag_Bit 0007 PLC fatal error FALS Unit_Diag_Bit 0008 PLC in Program mode Unit_Diag_Bit 0012 Invalid start a...

Page 120: ...le Module 8 words Out from master 0xE7 8 words Out EndModule Module 16 words Out from master 0xEF 16 words Out EndModule Input definitions Module 1 word In to master 0xD0 1 word In EndModule Module 2 words In to master 0xD1 2 words In EndModule Module 4 words In to master 0xD3 4 words In EndModule Module 8 words In to master 0xD7 8 words In EndModule Module 16 words In to master 0xDF 16 words In E...

Page 121: ... Out EndModule Module 4 words Out No Cons 0x63 4 words Out EndModule Module 8 words Out No Cons 0x67 8 words Out EndModule Module 16 words Out No Cons 0x6F 16 words Out EndModule Input definitions Module 1 word In No Cons 0x50 1 word In EndModule Module 2 words In No Cons 0x51 2 words In EndModule Module 4 words In No Cons 0x53 4 words In EndModule Module 8 words In No Cons 0x57 8 words In EndModu...

Page 122: ... Only the 2 indicated bits can be set by the user Byte Bit Position Designation 7 6 5 4 3 2 1 0 0 Lock Req Unlock Req Sync Req Freeze Req WD on Res Res Res Station status 1 00 to FF WD_Fact_1 2 00 to FF WD_Fact_2 3 MinTSDR 4 00 to FF Ident_Number_High 5 00 to FF Ident_Number_Low 6 00 to FF Group_Ident 7 0 Fail Safe 0 0 0 WD 1 ms 0 0 DPV1_Status_1 8 0 0 0 0 0 0 0 0 DPV1_Status_2 9 0 0 0 0 0 0 0 0 D...

Page 123: ...Index 1 CJ series PROFIBUS Master Unit Operation Manual for NJ series CPU Unit W509 I Index ...

Page 124: ...ink Layer 1 3 Device Variables 3 8 3 10 DPM1 1 5 1 15 DPM2 1 5 1 15 Dust Protection Label 2 6 E Electro magnetic Compatibility 2 11 EN 50170 1 2 2 9 EN50081 2 1 14 EN50170 Vol 2 1 15 2 4 EN61131 2 1 14 Environmental Conditions 4 10 ERC 4 2 ERH 4 2 Extended Diagnostics 4 5 F Fail Safe Support 1 11 G GSD File Language 1 4 GSD File Technology 1 4 I I O Map 3 11 I O Port 3 10 3 15 IEC 1158 2 1 2 Imped...

Page 125: ...R Repeaters 2 8 Rotary Switch 2 2 A 3 RS 485 2 8 RS 485 Technology 1 3 RUN 4 2 S Set_Prm 1 10 3 6 Slave Device 1 5 Software Switches 3 10 Standard Diagnostics 4 5 Standard EN50170 1 2 Status Area 3 10 STOP 1 8 Stub Lines 2 10 T Termination Resistors 2 10 Time Monitoring 1 8 Token Passing 1 5 Transmission Speed 1 4 Transmission Time 1 7 Tree Topology 2 9 U Uniform Bus Access Protocol 1 2 User defin...

Page 126: ...ent or addition to the above warranty See http www omron247 com or contact your Omron representative for pub lished information 14 Limitation on Liability Etc OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL INDIRECT INCIDENTAL OR CONSEQUENTIAL DAMAGES LOSS OF PROFITS OR PRODUCTION OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS WHETHER SUCH CLAIM IS BASED IN CONTRACT WARRANTY NEGLIGENCE ...

Page 127: ...Brasil 55 11 2101 6300 www omron com br OMRON ARGENTINA SALES OFFICE Cono Sur 54 11 4783 5300 OMRON CHILE SALES OFFICE Santiago 56 9 9917 3920 OTHER OMRON LATIN AMERICA SALES 54 11 4783 5300 OMRON INDUSTRIAL AUTOMATION THE AMERICAS HEADQUARTERS Schaumburg IL USA 847 843 7900 800 556 6766 www omron247 com OMRON EUROpE B V Wegalaan 67 69 NL 2132 JD Hoofddorp The Netherlands Tel 31 0 23 568 13 00 Fax...

Reviews:

No comments

Brands by name

Popular brands

Load more brands