TeraBee IND-TOF-1 User manual

User Manual for
Terabee IND-TOF-1
Technical support: terabee.com/support/
Sales and commercial support: [email protected]

Table of contents
1. Introduction 4
1.1. About Terabee IND-TOF-1 4
1.2. Technical specifications 5
1.3. Symbols explanation 6
2. Package contents 7
3. Mechanical integration 8
3.1. Mechanical design and mounting 8
3.2. Operating buttons and indicators 11
3.3. M12 connector pinout 12
3.4. DC Electrical characteristics 13
4. Operating modes 14
4.1. Operating mode overview 14
4.2. Sensor setup phases 16
4.3. Operating mode 1 (default) 16
4.3.1. Description 16
4.3.2. Set up 17
4.3.3. Operation 18
4.3.4. LED signalization sequence 18
4.4. Operating mode 2 19
4.4.1. Description 19
4.4.2. Set up 19
4.4.3. Operation 20
4.4.4. Rolling buffer (5 measurements) 20
4.4.5. LED signalization sequence 21
4.5. Operating mode 3 21
4.5.1. Description 21
4.5.2. Set up 22
4.5.3. Operation 23
4.5.4. LED signalization sequence 25
4.6. Operating mode 4 25
4.6.1. Description 25
4.6.2. Set up 25
4.6.3. Operation 26
4.6.4. Rolling buffer (5 measurements) 28
4.6.5. LED signalization sequence 28
4.7. Operating mode 5 29
4.7.1. Description 29
4.7.2. Setup 29
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4.7.3. Operation 30
4.7.4. Rolling buffer (5 measurements) 32
4.8. Operating mode 6 (Ranging mode) 33
4.8.1. Description 33
4.8.2. Set up 33
4.8.3. Operation mode 33
4.9. Switching between modes, threshold transfer 34
4.10. Error cases 35
4.11. Special cases (applicable only to modes 3 and 4) 36
4.11.1. Special case 1 36
4.11.2. Special case 2 36
5. Communication 38
5.1. RS485 interface settings 38
5.2. Input registers (read-only) 38
5.2.1 New distance flag 38
5.2.2 Circular distance buffer (applicable for modes 2, 4 and 5) 38
5.3. Configurable sensor parameters (holding registers) 39
5.3.1. Device addressing setting 39
5.3.2. Menu timeout 39
5.3.3. Time delay for operation mode 39
5.3.4. NO/NC active region (applicable to mode 3, 4 and 5) 40
5.3.5. Operating mode select 40
5.3.6. Mode 5 limit value select 41
5.3.7. NO/NC on time (applicable to mode 2, 4 and 5) 41
5.3.8. Fly zone select 41
5.3.9. NPN/PNP selected 41
5.3.10. NO/NC selected 42
5.3.11. Background distance 42
5.3.12. Threshold 1 distance 42
5.3.13. Threshold 2 distance 42
5.4. Default factory reset 43
6. Optical characteristics 44
6.1. Projected reception area 44
6.2. Field of View characteristics 44
7. Connection example: input to a PLC 46
7.1. PNP connection 46
7.2. NPN connection 47
8. Compliance 48
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1.Introduction
The purpose of this document is to give guidelines for installation, use and integration of
the Terabee IND-TOF-1 distance sensor. The user manual includes instructions on the six
modes: setup and operation. For guidelines on sensor connection and usage with a
personal computer, please refer to Terabee IND-TOF-1 Connection to Personal Computer
(Guide).
1.1. About Terabee IND-TOF-1
The Terabee IND-TOF-1 distance sensor offers 12.5 meter detection capabilities with a Field
of View of 2° using Time-of-Flight technology. The rugged IP65 enclosure ensures
dust-proof and water-resistant operation, while the sensor’s compact form-factor (99 g)
allows installation in places not possible with larger & heavier sensors.
Programmable distance thresholds can be set using integrated teach-in buttons to trigger
alarms, detect presence and movement, count objects and more. The sensor provides
proximity notification with a classic NO/NC switching output, while also communicating
calibrated distance data via RS485 (Modbus) interface. Six operating modes enable you to
address a variety of distance sensing and monitoring applications!
Figure 1. Terabee IND-TOF-1
It takes as little as 5 seconds to set up a switching threshold and customized trigger zones
for proximity notification using the integrated teach-in buttons. Multi-color LEDs provide a
visual confirmation of distance threshold breach, sensor power and live data transfer,
making setup easy and intuitive.
For Terabee IND-TOF-1 sensor purchase please visit the official product page of the
Terabee website or contact [email protected].
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1.2. Technical specifications
Table 1 - Technical specifications of Terabee IND-TOF 1
Product code
TB-IND-TOF-1-RS485
Performance
Detection principle
Infrared Time-of-Flight
Range(1)
0.5 m to 12.5 m
Output resolution
5 mm
Accuracy(1)
±4 cm in the first 4 m, ±1% beyond 4 m
Repeatability
±5 mm
Field of View
Approx. 2°
Projected reception area
10.5 cm × 10.5 cm @ 3 m range
Light source wavelength
940 nm
Access time for distance measurements
11 ms
Response time for NO/NC state change (3)
35 ms to 100 ms
Electronics
Supply voltage VIN
24 V±5% DC
Current consumption (max. @ VIN= 24V DC)
90 mA
Warm-up time (advised)
≥ 15 min
Initialization time
<1s
Interfaces
Digital output
Switching (NO/NC in PNP/NPN configuration),
0 V - 24 V
Maximum output current:
450 mA (@ VIN= 24 V DC), unfused
Serial interface
(distance measurement and remote settings)
RS485 (half-duplex, 19.2 kbps)
Communication protocol
Modbus
Visual notification
5 x LEDs (multicolor)
Mechanical data
Dimensions (L×W×H)
94 mm x 56 mm x 31 mm
Weight
99 g
Enclosure rating
IP65
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Housing material
Main body: ABS
Backplate: Aluminium
Type of connection
M12 A-coded male connector, 5-pin
Ambient temperature operation (@ VIN = 24 V DC)
-20°C to +45°C
Mounting style
4 slots for M4 screws
Conformity
Reference standard
CE, RoHS, Eye-Safety, Vibration & Shock (4)
(1) Specifications are derived from tests in controlled conditions (target with 80% diffuse reflectivity, indoor fluorescent
lighting, ambient temperature around 25°C). Note that bright sunlight, target surface reflectivity and other variables can
affect sensor performance
(2) Evaluated as one standard deviation over multiple measurements
(3) Applicable to modes 1 and 3
(4) Refer to conformity certificates in the User Manual for details
1.3. Symbols explanation
The following symbols are used within the document:
This symbol indicates specific recommendations in order to run the sensor in the
intended way
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2.Package contents
The product package (Figure 2) contains the following items:
●Terabee IND-TOF-1 distance sensor
Figure 2. Product package content
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3.Mechanical integration
3.1. Mechanical design and mounting
Terabee IND-TOF-1 distance sensor offers an ABS housing and an aluminium backplate
(part of sensor housing) for robust mounting. Figure 3 illustrates external dimensions of
the distance sensor.
Figure 3. External dimensions of Terabee IND-TOF-1
The bottom casing part includes four slots for mounting the sensor using standard M4
screws. The following methods can be used to mount the Terabee IND-TOF-1:
1. Front-panel mount using the long M4 screw slots (Figure 4)
2. Back-panel mount using the 2mm ledge on the front side of the sensor (Figure 5)
The first solution allows for easy surface attachment and rapid evaluation of the sensor.
Depending on the application requirements for connector/cable position, the sensor can
be mounted both horizontally and vertically. The second solution offers the possibility to
mount the sensor behind a surface (e.g. panel), ideally with 2 mm to 3 mm thickness - for a
more integrated look. Please note that mounting components (e.g. screws, nuts, etc.) are
not included in the product packaging.
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Figure 4. Front-panel mounting example
Figure 5. Back-panel mounting example
An optional 90 degree mounting bracket accessory is also available on the Terabee website
for angled attachment methods to existing industrial infrastructures.
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When choosing a place for installation, please consider the following
recommendations:
●During setup and operation, please make sure that the sensor is not
pointing at a distance longer than the maximum offered range (12.5
meters). Please ensure that a physical object/obstruction (e.g wall) is
covering the sensors entire Field of View, no further than the maximum
range (12.5 meters) of the sensor
●It is recommended to install the sensor min. 70 cm from the
measuring/monitoring objects in your application. Please note that
mounting the sensor with a distance smaller than 70 cm from the
measured object, can affect the sensor absolute accuracy
●Mounting close to sources of heat or strong electromagnetic fields can
decrease the sensing performance
●Do not mount anything directly in front of the sensor
●Within the first meter from the sensor avoid objects with high surface
reflectivity in a cone of approximately ± 45° around the central optical axis
of the sensor
●It is better to avoid having other sources of continuous wave or modulated
IR light close to the sensor
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3.2. Operating buttons and indicators
The sensor features integrated teach-in buttons (PROG and SET) to allow quick and
intuitive on-the-field programming of distance thresholds (see Section 4 for mode setup
and operation). Onboard multi-color LEDs provide a visual confirmation of distance
threshold breach, sensor power and more. Figure 6 and the corresponding Table 2
describe the connector location, onboard operating buttons and indicators. Table 3 shows
the signalization sequence of the LEDs.
Figure 6. Operating buttons and LED indicators
Table 2 - Connector location and onboard operating buttons and indicators
No.
Category
Designator
Description
1
Connection
M12 connector
A-coded male, 5 pin
2
Teach-in button
PROG
Background distance threshold setup
(enter setup mode)
3
Teach-in button
SET
Threshold No.1 and No. 2 setting
4
LED indicator
Tx
RS485 data transmission
5
LED indicator
PWR
Power indicator
6
LED indicator
Sel
Notification on device selection by master
7
LED indicators
Th1, Th2
Error and threshold breach notification
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Table 3 - LED signalization logic
LED indicator
LED Color
Signalization logic
Tx
Red
LED blinking indicates that sensor (slave) is
sending data on the bus
PWR
Red
LED continuously ON whenever connected
to a power supply
Sel
Blue
LED blinking indicates that sensor (slave
device) has been selected by a master
Th1, Th2
Green/Red
Distance threshold breach notification,
error indication
3.3. M12 connector pinout
Terabee IND-TOF-1 uses an M12 A-coded male connector, 5 pins. Figure 7 and Table 4
provides an overview of the connector pinout.
Figure 7. M12, 5-pin connector pinout layout
Table 4 - Connector pinout description
Pin
Designator
Description
1
+24V
24V DC power supply
2
GND
Ground (power supply and data)
3
NO/NC
Normally Open or Normally closed (PNP/NPN) connection
4
Tx/Rx+
RS485 differential line. High for logic 1 and low for logic 0
5
Tx/Rx-
RS485 differential line. Low for logic 1 and high for logic 0
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3.4. DC Electrical characteristics
Table 5 - DC Electrical characteristics
Parameter
Minimum
Standard
Maximum
Power supply
Voltage input DC
24 V
24 V
24 V
Current consumption
50 mA
70 mA
90 mA
Digital output levels
NO/NC (in PNP/NPN)
Voltage output DC
0 V
24 V
Current consumption
450 mA
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4.Operating modes
The sensor features 6 embedded operating modes for (1) proximity notification; using a
classic NO/NC (0-24V) switching output and (2) providing information of distance data.
Operating modes 1 to 5 output a 24V signal on the NO/NC pin according to user
programmable settings. On the field programming makes it quick and easy to set up
distance thresholds using integrated teach-in buttons (PROG and SET), allowing to
customize trigger zones and meet specific application needs.
While all operating modes support distance data communication via RS485 interface at all
times, operating mode 6 has been developed to obtain only distance values without the
use of programmable switching thresholds.
Since the sensor’s NO/NC switching output and RS485 distance data use distinct pins, both
functions can be used either to complement each other or as separate functions. For
instance, the switching output can act as a trigger for the master device, e.g.
Programmable Logic Controller (PLC), to inquire the exact distance at which the light beam
has been broken.
Please respect the sensor warm up time (at least 15 mins), before operating mode
setup and sensor operation. Using the sensor before the recommended warm-up
time may negatively impact its performance.
4.1. Operating mode overview
Operating modes are summarized in Table 6. Operating modes from 1 to 5 - provide
detection zones with distance thresholds functionalities and switching output, and require
a setup process, before going into operation mode. Mode 6 requires no setup and offers
no switching output, and distance data sampling is started as soon as the sensor is
powered.
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Table 6 - Operating modes
Operating mode
Setup
Operation
Switching output (NO/NC)
Distance data
1
1 threshold
Output is triggered as soon as an object
BREAKS the light beam in the trigger
zone.
Output remains triggered as long as the
light beam in the trigger zone is broken.
Available via RS485
(Modbus)
2
1 threshold
Output is triggered as soon as an object
LEAVES the light beam in the trigger
zone. *
Available via RS485
(Modbus)
3
3 thresholds
Output is triggered as soon as an object
ENTERS the trigger zone.
Output remains triggered as long as the
light beam in the trigger zone is broken.
Available via RS485
(Modbus)
4
3 thresholds
Output is triggered as soon as an object
LEAVES the trigger zone of the light
beam. *
Available via RS485
(Modbus)
5
3 thresholds
Output is triggered as soon as an object
LEAVES the trigger zone of the light
beam. *
Available via RS485
(Modbus)
6
No setup
No switching output
Available via RS485
(Modbus)
*The sensor is not triggered while the light beam in the trigger zone is broken (applicable to modes 2, 4 and 5)
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4.2. Sensor setup phases
The setup process always consists of 3 phases, displayed in Figure 8.
Figure 8. Setup phases
1. Programming mode - registration of distance thresholds (valid thresholds are set)
2. Time delay for operation mode - wait period between “end of programming
mode” and “start of operation mode” (default value is set to 2 seconds, however this
is a configurable parameter)
3. Operation mode - marks the end of setup, sensor is ready to perform detection
under programmed trigger zones.
Please be aware that during setup a timeout (default 30 s), is initiated at any step
of the following setup procedures. If such timeout expires, the sensor will exit the
Setup (programming) mode and go back into Operation mode. To modify the
timeout value (MENU TIMEOUT parameter) please see Section 5.3.3.
4.3. Operating mode 1 (default)
4.3.1. Description
This mode is used for reactive detection applications with the switching output triggered as
soon as an object enters the light beam in the trigger zone. A background threshold is
programmed to set the trigger zone. Mode 1 is useful for alarm applications, positioning
tasks and monitoring distance.
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4.3.2. Set up
Figure 9. Mode 1 setup phases
Step 1 - Set background threshold
●Make sure that an object is fully covering the sensors Field of View at the preferred
background distance, then hold the PROG button for 1 second
●The LED indicators, Th1 and Th2 (both GREEN), will now go from ON to OFF status to
confirm entering programming mode.
●Once the programming mode is completed, the sensor enters the “time delay for
operation mode” for 2 seconds (default). See Section 5.3.3. to configure this
parameter.
●After that, LED indicators, Th1 and Th2, will turn ON and stay fixed (GREEN) to verify
a properly stored background threshold.
Step 2 - Sensor ready
●The background is now taught in and the sensor is in operation mode.
During setup and operation, please make sure that the sensor is not pointing at a
distance longer than the maximum offered range (12.5 meters). Please ensure
that a physical object/obstruction (e.g wall) is covering the sensors entire Field of
View, no further than the maximum range (12.5 meters) of the sensor.
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4.3.3. Operation
As soon as an object or a person enters the light beam in the set trigger zone, a switching
output is triggered. The sensor is activated as long as an object or a person is detected in
the light beam of the trigger zone. Both LED indicators, Th1 and Th2 will stay continuously
ON (RED) as long as the output is triggered. Any movement beyond the background
threshold will be ignored.
Figure 10. Mode 1 operation, detection principle
4.3.4. LED signalization sequence
Table 7 - Mode 1 LED signalization sequence
Phase
LED designators
Sequence
Signification
Setup
Th1; Th2
Both LEDs will go from
ON (GREEN) to OFF
status for 2 s (default)
Indicates a properly stored
background distance
Th1; Th2
Both LEDs will stay
continuously ON
(GREEN)
Indicates that setup is finalized and
sensor is in operation mode
Operation
Th1; Th2
Both LEDs will stay
continuously ON (RED)
Indicates that an object is detected
within the set trigger zone. LEDs will
stay RED as long as the object is in
the Field of View
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4.4. Operating mode 2
4.4.1. Description
Mode 2 is used for applications such as counting moving objects/people, and monitoring
object height. A single background threshold is used to set a trigger zone. The sensor is
activated as soon as an object leaves the programmed trigger zone in the light beam.
4.4.2. Set up
Figure 11. Mode 2 setup phases
Step 1 - Set background threshold
●Make sure that an object is fully covering the sensors Field of View at the preferred
background distance, then hold the PROG button for 1 second.
●The LED indicators, Th1 and Th2 (both GREEN), will now go from ON to OFF status to
confirm entering programming mode.
●Once the programming mode is completed, the sensor enters the “time delay for
operation mode” for 2 seconds by default (see Section 5.3.3. to configure this
parameter).
●After that, LED indicators, Th1 and Th2, will turn ON and stay fixed (GREEN) to verify
a properly stored background threshold.
Step 2 - Sensor ready
●The background is now taught in and the sensor is in operation mode.
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During setup and operation, please make sure that the sensor is not pointing at a
distance longer than the maximum offered range (12.5 meters). Please ensure
that a physical object/obstruction (e.g wall) is covering the sensors entire Field of
View, no further than the maximum range (12.5 meters) of the sensor.
4.4.3. Operation
Unlike mode 1, a switching output will not be activated while an object is in the sensors
trigger zone. In mode 2, as soon as an object or a person completely leaves the sensors
trigger zone in the light beam (measured distance reads the background threshold
distance) - a switching output is activated. Both LED indicators, Th1 and Th2, will blink
GREEN once to indicate a detection. Any movement beyond the background threshold will
be ignored.
The NO/NC switching output activation time by default is set to 250 ms, and can be
modified using the “NO/NC on time” parameter (see Section 5.3.7.)
Figure 12. Mode 2 operation, detection principle
4.4.4. Rolling buffer (5 measurements)
After an object has entirely left the light beam of the trigger zone, the distance that was
recorded during detection, is stored in a register as the measured distance to the object.
The sensor has the capacity to store 5 measurements at the same time. Every new
measurement will erase the oldest (5th) value from the device. This functionality allows to
obtain accurate distance-to-target feedback as an added layer of intelligence, in addition to
the NO/NC switching output. Please refer to Section 5.2.2. for additional information.
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