TeraBee IND-Thermal-90 User manual

User Manual for
Terabee IND-Thermal-90
Technical support: [email protected]
Sales and commercial support: [email protected]

Table of contents
Introduction 5
About Terabee IND-Thermal-90 5
Technical specifications 6
Symbols explanation and further information 7
Mechanical integration 8
Mechanical design 8
Mechanical mounting 8
Operating indicators 10
M12 connector pinout 11
DC Electrical characteristics 12
Camera coordinate system 13
Settings 14
Connectivity to RS485 bus 14
Alarm 15
Camera settings 15
Embedded Applications 16
Alarm logic 18
Application 1 19
Description 19
Inputs 19
Outputs 19
Application 2 22
Description 22
Inputs 22
Outputs 22
Application 3 24
Description 24
Inputs 24
Outputs 24
Measurement units 28
Communication 29
Input registers (read-only) 29
Registers mapping 30
Configurable camera parameters (holding registers) 31
Device address settings (slave address) 31
RS485 parameters 32
Application 1 hot threshold 33
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Application 1 cold threshold 33
Application 2 hot threshold 33
Application 2 cold threshold 33
Application 3 hot threshold 34
Application 3 cold threshold 34
NO/NC ON time 34
IND-Thermal-90 emissivity 34
Application 2 centered area size 34
Application 2 moving average size 35
Application 3 ROI size 35
Temperature choice 35
Configurable Flags (Coil Inputs) 36
NO/NC enabled/disabled 36
NO/NC timer based 36
NO/NC selected 36
NPN/PNP selected 37
Application 3 uni-directional counter 37
Application 1 (alarm) enabled/disabled 37
Application 2 (alarm) enabled/disabled 38
Application 3 (alarm) enabled/disabled 38
Master reading 38
Asynchronous reconstruction of Frame by using ‘Master reading’ flag 39
Application 1 limited FoV flag 40
Application 1 and 3 moving average 40
Clear NO/NC 41
Application 3 reset uni-directional counter 41
Discrete Inputs (Read-Only) 41
NO/NC active 41
Alarm triggered 41
Application 1 alarm triggered 42
Application 2 alarm triggered 42
Application 3 alarm triggered 42
Default factory reset 42
Connection example: input to a PLC 43
PNP connection 43
NPN connection 44
Connection to PC (Windows) 45
Hardware setup 45
Software setup 47
MODBUS Doctor software configuration 47
Basic IND-Thermal-90 camera parameter configuration 48
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Read pixel temperature data example 48
Switching to cycle mode 49
Compliance 50
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1. Introduction
The purpose of this document is to give guidelines for installation, use and integration of
the Terabee IND-Thermal-90 thermal camera. The user manual includes instructions on
the three Applications, setup and operation. For guidelines on camera connection and
usage with a personal computer, please refer to Terabee IND-Thermal-90 Connection to
Personal Computer guide.
1.1. About Terabee IND-Thermal-90
The Terabee IND-Thermal-90 thermal camera offers 32 x 32 pixel resolution thermal
measurement. The rugged IP65 enclosure ensures dust-proof and water-resistant
operation, while the camera’s compact form-factor (75 g) allows installation in places not
possible with larger and heavier cameras.
The camera embeds three Applications which can be optionally activated to raise alarms
based on the comparison of the temperature with user-selected temperature thresholds.
Figure 1. Terabee IND-Thermal-90
It takes as little as four seconds to set up a switching threshold for temperature. Three
multi-color LEDs provide a visual confirmation of temperature threshold breach, camera
power and live data transfer, making set-up easy and intuitive.
For Terabee IND-Thermal-90 camera 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-Thermal-90
Product code
TB-IND-T90
Performance
Detection principle
Thermopile
Sensor resolution
32 × 32 pixels
Field Of View (FOV)
90°× 90°
Frame rate
7 Hz
Measurable temperature range
-20 °C to 670 °C
Temperature accuracy (1)
±2 °C for targets below 100 °C,
±2% for targets above 100 °C
Thermal sensitivity
(At 1 Hz and 25 °C ambient temperature)
329 mK
Electronics
Supply voltage VDD
12 VDC to 24 VDC
Typical current consumption
(Without NO/NC load, 20°C ambient temperature)
38 mA (at 12V DC)
21 mA (at 24V DC)
Initialization time
< 4 s
Interfaces
Serial (temperature measurement and remote settings)
Type
RS485 (half-duplex, 1.2 … 256 kbps), unprotected
Communication protocol
Modbus
Digital output (alarm)
Type
Switching (NO/NC in PNP/NPN configuration), 0V - VDD
Maximum output current
450 mA (at 24 V), unfused
Output delay
< 200 ms
Visual notification (status, communication, error)
Type
3 x LEDs (multi-color)
Mechanics
Dimensions
95 mm x 57 mm x 27 mm
Weight
75 g
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Enclosure rating
IP65(2)
Housing material
Main body: ABS
Backplate: Aluminium
Type of connection
M12 A-coded male connector, 5-pin
Ambient temperature operation
(at VDD = 24 VDC)
-10°C to 65°C
Mounting
4 slots for M4 screws
Conformity
Reference Standard
CE, RoHS, Vibration & Shock
1. Reference Application 2 (see below): central 4x4 pixels and 10 frames temporal moving average. Accuracy may
also vary depending on distance, target emissivity, and ambient temperature.
2. Refer to the conformity certificate in the User Manual for details.
1.3. Symbols explanation and further information
The following symbols are used within the document:
This symbol indicates specific recommendations in order to run the camera in the
intended way
The device is electro-static sensitive if touched on the camera (sensor) metallic part
(see Figure 2). However it automatically recovers after disturbance occurs.
Figure 2. Focus on the electro-static sensitive camera (sensor) metallic part
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2. Mechanical integration
2.1. Mechanical design
Terabee IND-Thermal-90 thermal camera offers an ABS housing and an aluminium
backplate (part of camera housing) for robust mounting. Figure 3 illustrates external
dimensions of the distance camera.
Figure 3. External dimensions of Terabee IND-Thermal-90
2.2. Mechanical mounting
When choosing a place for installation, please consider the following
recommendations:
●Mounting close to sources of heat or strong electromagnetic fields can
decrease the sensing performance
●Do not mount anything directly in front of the camera, including glass
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The bottom casing part includes four slots for mounting the camera using standard M4
screws. The following methods can be used to mount the Terabee IND-Thermal-90:
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 camera (Figure 5)
The first solution allows for easy surface attachment and rapid evaluation of the camera.
Depending on the Application requirements for connector/cable position, the camera can
be mounted either horizontally or vertically. The second solution offers the possibility to
mount the camera behind a surface (e.g. panel), ideally with 2 mm thickness for a more
integrated look. Please note that mounting components (e.g. screws, nuts, etc.) are not
included in the product packaging.
Figure 4. Front-panel mounting examples with camera in vertical position (left, connector at the
bottom - considered as default in the manual) and tilted by 90 degree (right).
Figure 5. Back-panel mounting example: back (left) and front (right) isometric views
Optional mounting brackets for angled attachment methods to existing industrial
infrastructures are also available as accessories on the Terabee website.
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Table 2 - Optional mounting brackets compatible with IND-Thermal-90
Accessory
Terabee SKU
Link
90 degrees mounting bracket
TB-90MB-IND-TOF-1
Link
Adjustable mounting bracket for
Terabee industrial sensor
TB-AMB-IND
Link
2.3. Operating indicators
Onboard multi-color LEDs provide a visual confirmation of temperature threshold breach,
camera power and connection status. Figure 6 and the corresponding Table 3 describe the
connector location, and operating indicators. Table 4 shows the signalization sequence of the
LEDs.
Figure 6. M12 Connector and LED indicators
Table 3 - Connector location and onboard operating buttons and indicators
No.
Category
Designator
Description
1
Connection
M12 connector
A-coded male, 5 pin
2
LED indicator
PWR
Power indicator
3
LED indicator
COM
RS485 data transmission
4
LED indicator
STATUS
Notification of alarm / error status
Table 4 - LED signalization logic
LED indicator
LED Color
Signalization logic
PWR
Green
LED continuously ON whenever connected to
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a power supply
COM
Yellow/Red
LED is connected directly to the RS485 line,
signals data transmission and reception
STATUS
Green/Red
Steady green during normal operation, turns
red when the NO/NC output is active. Blinking
red without any green light signals an error.
2.4. M12 connector pinout
Terabee IND-Thermal-90 uses an M12 A-coded male connector, 5 pins. Figure 7 and Table5
provide an overview of the connector pinout.
Figure 7. M12, 5-pin connector pinout layout
Table 5 - Connector pinout description
Pin
Designator
Description
1
VDD
12 .. 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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2.5. DC Electrical characteristics
Table 6 - DC Electrical characteristics
Parameter
Level
Level
Power supply
Voltage input DC
12 V
24 V
Current consumption
(typical)
38 mA
21mA
Digital output levels
NO/NC (in PNP/NPN)
Voltage output DC
0 V
24 V
Current consumption
450 mA1
1At VDD = 24 V DC, unfused
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3. Camera coordinate system
The IND-Thermal-90 coordinate system is defined in Figure 7. The camera is always
vertically mounted (M12 connector on the base), as per picture. The z-axis is to be
considered as the distance from the target.
Terabee IND-Thermal-90 is a passive optical temperature measurement camera that uses
thermopile principle. The camera features a 90 degree Field of View, which corresponds to
a detection area of 2 m ×2 m (spot diameter in reception) at 1 m range; 6 m x 6 m (spot
diameter) at 3 m range, and scales linearly with distance, i.e. as 2 × z in Figure 7.
E.g. if one considers the observer to be directed from the target to the camera as per
Figure 8 - left, a typical resulting heatmap is shown in Figure 8 - right. Color-code is
temperature [°C] from cold to hot (black → red → orange → yellow → white).
Figure 7. IND-Thermal-90 reference coordinate system and projected Field of View
Figure 8. Typical views in color-code pictures in the manual: left- observer direction from target to
camera; right - resulting heatmap (considering the registers mapping as shown in Section 7, Figure
15). Note that, given the choice of the observer, x axis direction is inverted in left and right Figures
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4. Settings
4.1. Connectivity to RS485 bus
Figure 8 shows an example of connection in a Modbus of multiple (N) IND-Thermal-90
cameras.
Figure 9. Connection of multiple IND-Thermal-90 cameras on RS485 network. External 120 Ohm
termination resistors have to be added for signal stability at the beginning and end of the
transmission line.
It is important to use 120 Ohm resistors at both terminations of the RS485 bus for
proper operation.
The RS485 interface is a half-duplex connection with the following default parameters:
❏Baud rate : 19200
❏Data bits : 8
❏Stop bits : 1
❏Parity : Even
On top of that, a Modbus RTU protocol is in place to handle the data transfer. Detailed
information about the Communication registers are in Section 7. This is a master-slave
type of protocol, ideal for RS485 data communications. This protocol supports up to 247
devices on the bus. The Terabee IND-Thermal-90 operates as a slave device.
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Protocol
Input description
Modbus
●Select transmission speed (1.2 to 256 kbps)
●Select parity bit (None, Even, Odd). If using no parity, then stop bits
becomes 2
●Select Slave address
When the IND-Thermal-90 is connected for the first time (from default settings), it is
important to match the master network speed to the camera default baud rate
(19.2 kbps) and parity (even) and connect to the camera. Afterwards it is possible to
update the specific camera connection parameters. After the update a restart of the
camera (power off → on cycle) is suggested.
4.2. Alarm
Protocol
Input description
Modbus
●Detection choice for hotspot: hot, cold, hot & cold for the three
Applications
●Flag to activate alarm event electrical activation on NO/NC pin alarm
●Flags to activate alarm contribution, respectively, from Application 1,
Application 2 and/or Application 3
●Setting to switch between NO and NC
●Setting to switch between NPN and PNP connections
●Setting to put the alarm timer-based or user-resettable
●Duration of the alarm pulse (50 ms - 2000 ms)
●Manual reset of the alarm
4.3. Camera settings
Protocol
Input description
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Modbus
●Sensor emissivity
5. Embedded Applications
The camera features three embedded Applications (summarized in Table 6) which process
camera measured temperature data and optionally raise alarms using a classic NO/NC
(0-VDD) switching output, according to user programmable settings. Each of the three
Applications can be enabled/disabled (for alarming) by user choice; and trigger zones can
be customized to meet specific Application needs. Such Applications allow, respectively,
monitoring of:
1. The average and minimum/maximum temperatures over the available frame,
localize hot/cold spots and optionally raise alarm, in case measured min/max
temperatures exceed the (user-selectable) thresholds.
2. The average temperature of an arbitrary area (centered in the FoV) and compare it
to the (user-selectable) thresholds in order to raise alarms.
3. The average temperature of user-defined regions of interest (ROI), list and count
hot/cold spots (i.e. the ROIs exceeding the user-selectable thresholds) and raise
alarms.
All Applications support temperature data communication via RS485 interface at all times.
However the complete frame of 32 x 32 pixels requires several Modbus messages to be
sent and received via the bus.
Since the camera’s NO/NC switching output and RS485 temperature/settings 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 current minimum and maximum
temperatures.
Table 6 - Embedded Applications
Application 1
Application 2
Application 3
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Setup
Via RS485 (Modbus) or Graphical User Interface (GUI)
Operation
Sensor data
Available via RS485 (Modbus)
Operation
Switching
output
(NO/NC)
Temperature Threshold
Alarm (triggered by
min/max temperature
over the available Field of
View)
Threshold Alarm from
the average over a
Centered area
(expandable to the
available Field of View)
Counting and monitoring
of Regions of Interest
(ROI)
Application
examples
Temperature control of
continuous flow of
extruded material
Temperature monitoring
of electrical cabinets
Automatic control of
water spray when hot
materials (e.g. bricks)
pass on conveyor belts
(in the center of the Field
of View)
Fire and explosion
prevention
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5.1. Alarm logic
The alarm logic is represented in Figure 10. Modbus registers content and addresses (addr)
are summarized in the Communication Section of this manual.
Figure 10. Logic for alarm of IND-Thermal-90.
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5.2. Application 1
Description
The average temperature and minimum-maximum temperatures (and related pixel
coordinates) are derived from measurements over the available frame. Such minimum and
maximum measured temperature pixels are compared to user-defined min and max
thresholds and can (optionally) generate an alarm (i.e. a switch) over the NO/NC output.
Figure 11 shows a centered area of 18 x 18 pixels and an example of commands to trigger
alarm via Application 2 is shown in Table 7.
Inputs
Protocol
Input description
Modbus
●Minimum and maximum temperature thresholds2
●Detection choice for hotspot: hot, cold, hot & cold
●FoV to be considered for Application: entire (default) or central 20 × 20
pixels3
●Option of temporal moving average (4 frames). Same setting as for App1
Outputs
Protocol
Output description
Modbus
●Measured minimum, maximum (values and pixel coordinates) and
average temperatures over the available the FoV
Modbus +
electric
●Optional Alarm and NO/NC flags activation in case of temperature breach
3Due to potential residual non-linearities, measurement might result slightly distorted at the
corners of the FoV (lower with respect to the center for an isothermal target). Therefore it might be
useful to activate the option ‘limited FOV flag’=1 to shrink the minimum, maximum and average
temperature calculation locally in the inner 20 × 20 pixels. N.B.: the camera will always acquire the
full 32 ×32 data frame in case the customer is interested in full image reconstruction.
2For stable alarm readings, it is suggested to consider minimum 10 °C (190 dK) difference between
minimum and maximum thresholds
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Figure 11. Application 1. Example of two similar heat sources in the camera full FoV with option:
●Left: ‘limited_FoV_flag = 0’. Minimum (cyan ‘x’ marker), maximum (red ‘x’ marker) and
average temperatures are computed in the full FoV. In this case (xmin,ymin) = (21, 27) and
(xmax,ymax) = (31,1) - see green rectangular contour.
●Right: ‘limited_FoV_flag = 1’. Minimum (cyan ‘x’ marker), maximum (red ‘x’ marker) and
average temperatures are computed only in the central 20 × 20 pixels (green rectangular
contour). In this case (xmin, ymin) = (21, 25) and (xmax, ymax) = (23, 6) respectively.
Table 7 - Example of ‘hot’ NO/NC timer-based (250 ms) alarm activation for Application 1 (referring
to Figure 11 - right). Text in red indicates alarming conditions and related outputs. Description of
Modbus registers can be found in the Communication Section of this manual
Input (from user)
Modbus Register
Address
Value
Application 1 enabled/disabled
Coil input
5
1
NO / NC enabled/disabled
0
1
Limited FoV flag
11
1
NO/NC timer based
1
1 (default)
NO/NC selected
2
0 (NO)
NPN/PNP selected
3
1 (NPN)
Application 1 and 3 moving average
10
0
NO/NC ON time
Holding register
8
250 (ms)
Application 1 (cold threshold)
3
2732 dK (0.05 °C)
Application 1 (hot threshold)
2
3082 dK (35.05 °C)
Temperature choice
13
1 (hot)
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