TR-Electronic ID-200 User manual

Rotary
Encoders
Linear Encoders Motion System
TR - E - BA - GB - 0022 - 01 11/23/2009
ID-200
User Manual
Bus-Capable Optical Data Transmission ID-200

Contents
©TR-Electronic GmbH 2009, All Rights Reserved Printed in the Federal Republic of Germany
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TR-Electronic GmbH
D-78647 Trossingen
Eglishalde 6
Tel.: [phone]
Fax: [phone]
E-mail: [email protected]
http://www.tr-electronic.de
Copyright protection
This Manual, including the illustrations contained therein, is subject to copyright pro-
tection. Use of this Manual by third parties in contravention of copyright regulations is
forbidden. Reproduction, translation as well as electronic and photographic archiving
and modification require the written content of the manufacturer. Offenders will be
liable for damages.
Subject to amendments
Any technical changes that serve the purpose of technical progress, reserved.
Document information
Release date/Rev. date: 11/23/2009
Document rev. no.: TR - E - BA - GB - 0022 - 01
File name: TR-E-BA-GB-0022-01.DOC
Author: MÜJ
Font styles
Italic or bold font styles are used for the title of a document or are used for highlight-
ing.
Courier font displays text, which is visible on the display or screen and software
menu selections.
″< > ″indicates keys on your computer keyboard (such as <RETURN>).

Contents
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Contents
Contents ..................................................................................................................................................3
Revision index ........................................................................................................................................6
1 General Information ............................................................................................................................7
1.1 Explanation of symbols..........................................................................................................7
1.2 EC Declaration of conformity.................................................................................................7
1.3 Short description....................................................................................................................7
1.4 Features of the ID-200...........................................................................................................8
1.5 Operating principle.................................................................................................................8
2 Safety Notices......................................................................................................................................9
2.1 Safety standards....................................................................................................................9
2.2 Intended use..........................................................................................................................9
2.3 Working safely .......................................................................................................................9
2.4 Organizational measures.................................................................................................... 10
3 Technical Data .................................................................................................................................. 11
3.1 General technical data........................................................................................................ 11
3.2 Dimensioned drawing .........................................................................................................13
4 Order Designations .......................................................................................................................... 14
5 Mounting / Installation (all device variants)................................................................................... 15
5.1 Mounting and alignment ..................................................................................................... 15
5.2 Arrangement of adjacent transmission systems................................................................. 16
5.3 Cascading (series connection) of several ID-200 data paths............................................. 17
5.4 Electrical connection........................................................................................................... 19
5.4.1 Electrical connection - devices with screwed cable glands and terminals ......... 19
5.4.1.1 Supply voltage .................................................................................... 20
5.4.1.2 Switching input.................................................................................... 21
5.4.1.3 Switching output.................................................................................. 21
5.4.2 Electrical connection - devices with M12 connectors ......................................... 22
5.4.2.1 Supply voltage .................................................................................... 23
5.4.2.2 Switching input.................................................................................... 23
5.4.2.3 Switching output.................................................................................. 23
6 PROFIBUS / RS 485 .......................................................................................................................... 24
6.1 PROFIBUS connection – devices with screwed cable glands and terminals..................... 24
6.1.1 Converting the PROFIBUS model with terminals to M12 connectors ................ 25
6.1.2 Conversion to M12 connectors........................................................................... 25
6.2 PROFIBUS connection - devices with M12 connectors ..................................................... 26
6.2.1 Termination for devices with M12 connectors .................................................... 27
6.3 Device configuration PROFIBUS........................................................................................ 28
6.3.1 Termination for devices with screwed cable glands and terminals .................... 28
6.3.2 Adjustment of the transmission rate ................................................................... 28
6.3.3 Changeover PROFIBUS / RS 485 (default: 'Off' = PROFIBUS)......................... 28
6.4 LED Indicators PROFIBUS................................................................................................. 29

Contents
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7 INTERBUS 500 kBit/s / RS 422 ........................................................................................................ 30
7.1 Electrical connection INTERBUS 500 kBit/s ...................................................................... 30
7.2 Device configuration INTERBUS 500 kBit/s / RS 422........................................................ 31
7.2.1 Device configuration INTERBUS........................................................................ 31
7.2.2 Device configuration RS 422 .............................................................................. 32
7.3 LED indicators INTERBUS 500 kBit/s / RS 422................................................................. 32
8 INTERBUS 2 MBit/s Fibre Optic Cable ...........................................................................................33
8.1 Fibre optic cable connection INTERBUS 2 MBit/s ............................................................. 33
8.2 Device configuration INTERBUS 2 MBit/s fibre optic cable ............................................... 34
8.3 LED indicators INTERBUS 2 MBit/s fibre optic cable......................................................... 35
9 Data Highway + (DH+) / Remote I/O (RIO) ...................................................................................... 36
9.1 Electrical connection DH+ / RIO......................................................................................... 36
9.2 Device configuration DH+ / RIO ......................................................................................... 37
9.3 LED indicators DH+ / RIO................................................................................................... 38
10 DeviceNet / CANopen..................................................................................................................... 39
10.1 Electrical connection DeviceNet / CANopen .................................................................... 40
10.1.1 Bus transceiver and device supplied via separate power connection.............. 41
10.1.2 Bus transceiver supplied via bus cable, device supplied separate .................. 41
10.1.3 Bus transceiver and device supplied via bus cable.......................................... 42
10.1.4 Installation and connection of the optional M12 connectors............................. 43
10.1.4.1 Conversion to M12 connectors ......................................................... 43
10.2 Device configuration DeviceNet / CANopen..................................................................... 44
10.2.1 Baud rate conversion........................................................................................ 44
10.2.2 Sorting (switch S4.1)......................................................................................... 44
10.2.3 Bus lengths as a function of the baud rate ....................................................... 44
10.3 Wiring................................................................................................................................ 45
10.3.1 Termination....................................................................................................... 46
10.3.1.1 DeviceNet.......................................................................................... 46
10.3.1.2 CANopen .......................................................................................... 46
10.4 DeviceNet / CANopen LED indicators.............................................................................. 47
1.1 Interruption of the data transmission path .......................................................................... 48
10.4.1 Response upon interruption of the optical data transmission path................... 48
10.4.2 "Monitoring" of subscribers ............................................................................... 48
10.4.2.1 Heartbeat .......................................................................................... 48
10.4.2.2 Node / Life Guarding (CANopen)...................................................... 48
10.4.3 Response in the event of buffer overload......................................................... 49
10.4.4 Response in the event of errors on a sub-segment ......................................... 49
10.5 Important notices for system integrators .......................................................................... 49
10.5.1 Schematic drawing of the inner construction.................................................... 50
10.5.2 Timing ............................................................................................................... 51
10.5.3 Synchronous messages ................................................................................... 52
10.5.4 Other implementation notes.............................................................................. 52
11 Ethernet ........................................................................................................................................... 53
11.1 Ethernet connection - devices with screwed cable glands and terminals ........................ 53
11.2 Ethernet connection - devices with M12 connectors........................................................ 54
11.3 Device configuration Ethernet .......................................................................................... 55

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11.3.1 Autonegotiation (Nway) .................................................................................... 55
11.3.2 Transmission rate conversion........................................................................... 55
11.3.3 Network expansion ........................................................................................... 55
11.4 Wiring................................................................................................................................ 56
11.4.1 ID-200 between switch/hub and terminal/PLC ................................................. 56
11.4.2 ID-200 between switch/hub and switch/hub ..................................................... 56
11.4.3 ID-200 between terminal/PLC and terminal/PLC.............................................. 56
11.4.4 Assignment of the RJ45 and M12 Ethernet cables .......................................... 57
11.4.4.1 RJ45 to RJ45 - 1 : 1 .......................................................................... 57
11.4.4.2 RJ45 to RJ45 - "Crossover".............................................................. 57
11.4.4.3 M12 plug - D-coded with open cable end ......................................... 57
11.4.4.4 M12 plug to M12 plug - D-coded ...................................................... 57
11.4.4.5 M12 plug, D-coded to RJ45 - 1 : 1.................................................... 58
11.4.4.6 M12 plug, D-coded to RJ45 - "Crossover"........................................ 58
11.4.5 Installing cable with RJ45 connector ................................................................ 58
11.5 LED Indicators Ethernet ................................................................................................... 59
11.6 Important notices for system integrators .......................................................................... 59
11.6.1 Typical bus configuration.................................................................................. 60
11.6.2 Timing ............................................................................................................... 61
11.6.2.1 Sequence diagram............................................................................ 61
11.6.2.2 Description of time segments ........................................................... 61
11.6.2.3 Signal delay ...................................................................................... 62
11.6.2.4 Examples 10Base-T Ethernet........................................................... 62
11.6.2.5 Examples 100Base-TX Ethernet ...................................................... 62
12 Commissioning / Operation (all device models) ......................................................................... 63
12.1 Indicator and operating elements ..................................................................................... 63
12.2 Operating modes .............................................................................................................. 64
12.2.1 Changing the operating mode .......................................................................... 64
12.3 Initial commissioning......................................................................................................... 65
12.3.1 Switch on device / function check..................................................................... 65
12.3.2 Fine adjustment ................................................................................................ 65
12.4 Operation .......................................................................................................................... 66
13 Maintenance.................................................................................................................................... 67
13.1 Cleaning............................................................................................................................ 67
14 Diagnostics and Troubleshooting ................................................................................................ 68
14.1 Status display on the device............................................................................................. 68
14.2 Diagnostic mode............................................................................................................... 68
14.3 Troubleshooting................................................................................................................ 69
15 Accessories .................................................................................................................................... 70
15.1 Contact assignment of PWR IN for voltage supply .......................................................... 70
1.2 PROFIBUS ......................................................................................................................... 70
1.2.1 Terminator plug PROFIBUS ............................................................................... 70
15.2 DeviceNet / CANopen ...................................................................................................... 71
1.3 Ethernet .............................................................................................................................. 71

Revision index
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Revision index
Revision Date Index
First release 11/16/04 00
•Further interfaces added 11/23/09 01

General Information
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1 General Information
1.1 Explanation of symbols
The symbols used in this operating manual are explained below.
CAUTION !
Pay attention to passages marked with this symbol. Failure to heed this information
can lead to injuries to personnel or damage to the equipment.
CAUTION Laser !
This symbol warns of possible danger through hazardous laser radiation.
Note
This symbol indicates text passages containing important information.
1.2 EC Declaration of conformity
The devices have been developed, designed and manufactured under observation of
the applicable international and European standards and directives.
A corresponding declaration of conformity can be requested from TR-Electronic
GmbH.
The manufacturer of the product, TR-Electronic GmbH in
D-78647 Trossingen, operates a certified quality assurance system in accordance with
ISO 9001.
1.3 Short description
Where data have to be transmitted to and from moving objects, optical data transmis-
sion systems provide an ideal solution.
With the ID-200 series, TR-Electronic offers optical, high-performance data transmis-
sion systems. The data transmission units are robust and are not subject to wear.
An ID-200 data transmission system consists of a set of two transmission and recep-
tion units: e.g. ID-200 40802-22010 and ID-200 40802-22020.

General Information
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1.4 Features of the ID-200
The fact that bus systems are found in nearly all areas of industry places high de-
mands on data transmission systems are required. The ID-200 fulfils these require-
ments, particularly with regard to:
•Transmission safety
•Minimum transmission times (real-time capable)
•Deterministic transmission
The ID-200 data transmission system, which is available in several model variations,
makes possible the contact-free transmission of the following bus protocols:
•PROFIBUS FMS, DP, MPI, mixed-operation FMS – DP, up to max. 1.5 MBit/s,
PROFISAFE
•INTERBUS 500 kBit/s, RS 422 general, copper cable
•INTERBUS 2 MBit/s / 500 kBit/s, fibre optic cable
•Data Highway + (DH+) from Rockwell Automation (Allen Bradley)
•Remote I/O (RIO) from Rockwell Automation (Allen Bradley)
•DeviceNet
•CANopen
•Ethernet for all protocols on TCP/IP or UDP
Other bus systems on request.
1.5 Operating principle
To prevent the devices from mutually interfering with one another during data trans-
mission in duplex operation, two different frequency pairs must be used. These are in-
dicated by the type designation -xx01x and -xx02x as well as the label frequency f1
und frequency f2 on the control panel.
Figure 1-1: Operating principle
The receiving level is checked at both devices and can be read on a bar graph LED
indicator. If the receiving level drops below a certain value, e.g. due to increased soil-
ing of the optics, a warning output is activated.
All works on the device (mounting, connecting, aligning, indicator/operating elements)
are performed comfortably on the front side.

Safety Notices
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2 Safety Notices
2.1 Safety standards
The optical ID-200 data transmission system was developed, manufactured and
tested in accordance with applicable safety standards. It corresponds to the stand of
the art.
2.2 Intended use
The ID-200 optical data transmission system has been designed and developed for
the optical transmission of data in the infrared range.
CAUTION !
The protection of personnel and the device cannot be guaranteed if the device is op-
erated in a manner not corresponding to its intended use.
Areas of application
The ID-200 is suitable for the following areas of application:
•Automated high-bay warehouses
•Stationary data transmission between buildings
•Anywhere, where data transmission to and from stationary or moving objects (vis-
ual contact) over relatively long distances (up to 200 m) is required.
•Rotary transmission
2.3 Working safely
CAUTION Laser !
The ID-200 data transmission system uses an infrared diode and is a device of LED
Class 1 according to EN 60825-1.
When used under reasonable conditions, devices of LED Class 1 are safe. This even
includes the use of optical instruments used for the direct observation of the laser
beam.
For the operation of the data transmission system with artificial optical radiation, we
refer to directive 2006/25/EC or its implementation in the respective national legisla-
tion and to the applicable parts of EN 60825.
CAUTION !
Access and changes to the device, except where expressly described in this operating
manual, are not authorised.

Safety Notices
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2.4 Organizational measures
Documentation
All notes in this operating manual must be heeded, in particular those in the sections
2 “Safety Notices” and 12 “Commissioning / Operation (all device models)”. Keep this
technical description carefully. It should always be available.
Safety regulations
Consider the legal determination valid locally and the rules of the trade cooperative
associations.
Qualified personnel
Mounting, commissioning and maintenance of the device may only be carried out by
qualified personnel.
Work on electrical installations may only be carried out by qualified electricians.
Repair
Repairs must only be carried out by the manufacturer or an authorised representative.

Technical Data
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3 Technical Data
3.1 General technical data
Electrical data
Supply voltage Vin 18 ... 30 V DC
Current consumption without optics heating approx. 200 mA at 24 V DC (no load at switching output)
Current consumption with optics heating approx. 800 mA at 24 V DC (no load at switching output)
Optical data
Sensing distance 0.2 ... 120 m, ID-200 40802-x10xx
0.2 ... 200 m, ID-200 40802-x20xx
Transmission diode Infrared light, wavelength 880 nm
Opening angle ±0,5° to optical axis
Ambient light >10000 Lux acc. to EN 60947-5-2 (2000)
Laser safety class 1 acc. to EN 60825-1
Input/output
Input 0 ... 2 V DC: transmitter/receiver deactivated
18 ... 30 V DC: transmitter/receiver activated
Output
0 ... 2 V DC: normal operation
Vin – 2 V DC: limited performance reserve
output current max. 100 mA, short-circuit proof,
protected against surge voltage, transients and overheating
Operating and display elements
Membrane buttons Change the operating mode
Individual LEDs Indicate voltage supply, operating mode, data transmission
(depends on the model)
LED strip Bar graph display of the receiving level
Mechanical data
Housing Aluminium diecast; light inlet/outlet, glass
Weight approx. 1200 g
Protection class IP 65 acc. to EN 60529
Environmental conditions
Operating temperature - 5°C ... +50°C without optics heating
-30°C ... +50°C with optics heating (non-condensing)
Storage temperature -30°C ... +70°C
Air humidity max. 90% rel. humidity, non-condensing
Vibrations acc. to EN 60068-2-6
Noise acc. to EN 60068-2-64
Shock acc. to EN 60068-2-27 and EN 60068-2-29
EMC 1)acc. to EN 61326 + A1 + A2 + A3
EN 61000-6-2 : 2005 and EN 61000-6-4 : 2001

Technical Data
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1): CAUTION !
This is a Class A product. In a domestic environment this product may cause radio in-
terference in which case the operator may be required to take adequate measures.

Technical Data
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3.2 Dimensioned drawing
ID-200 40802 - 1x0xx
ID-200 40802 - 2x0xx
ID-200 40802 - 4x0xx
ID-200 40802 - 5x0xx
ID-200 40802 - 3x0xx
ID-200 40802 - 6x0xx M12
ID-200 40802 - 1x0xx M12
ID-200 40802 - 6x0xx
Permissible cables:
•M16 x 1.5: round cable ∅5 … 10 mm
•M20 x 1.5: round cable ∅7 … 12 mm
•M25 x 1.5: round cable ∅4.5 … 9 mm
AControl panel
BTransmission optics
CReception optics
DOptical axis
Figure 3-1: Dimensioned drawing ID-200

Order Designations
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4 Order Designations
Addresses for ordering
Products manufactured by TR-Electronic GmbH can be ordered from any
of the distributor and service addresses listed on the last page.
Optical data transmission system ID-200,
Order designation
Explanation of the
order designation
The order designation for the ID-200 is structured according to the following scheme:
ID-200 40802-AB0CD
The letters A - D represent the following device variants:
•A
interface 1 = PROFIBUS, RS485
2 = INTERBUS 500 kBit/s / RS 422
3 = INTERBUS 2 MBit/s fibre optic cable
4 = Data Highway + (DH+) / Remote I/O (RIO)
5 = DeviceNet / CANopen
6 = Ethernet
•B
range 1 = 120 m
2 = 200 m
•0
extension always 0
•C
frequencies 1 = carrier frequency pair 1
2 = carrier frequency pair 2
•D
optics heating 0 = without optics heating
1 = with optics heating (-30 - +50°C)
Two complete units with different frequencies (1 and 2) must be ordered for each
transmission path.

Mounting / Installation (all device variants)
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5 Mounting / Installation (all device variants)
5.1 Mounting and alignment
An optical data transmission system, consisting of 2 ID-200 devices, involves mount-
ing each of the devices on mutually opposing, plane-parallel, flat and usually vertical
walls with unobstructed view of the opposing ID-200.
Make certain that, at the minimum operating distance Amin the optical axes of the de-
vices are aligned with one another within ± Amin • 0.01 to ensure that the transmis-
sion/reception beams of the two devices lie within the opening angle. This also applies
for rotary transmission.
Note
The opening angle (angle of radiation) of the optics is ± 0.5° to the optical axis! For all
device models, the horizontal and vertical adjustment angles of the fine alignment with
the adjustment screws is ±6° for each. The optical transmission path between the
ID-200s should not be interrupted. If interruptions cannot be avoided, please read the
notice in chapter 12.4: “Operation”.
Therefore, pay close attention when selecting a suitable mounting location!
CAUTION !
In case of a mobile arrangement for a ID-200 pay particular attention that the align-
ment of the devices relative to one another remains unchanged over the transmission
path.
The transmission can be interrupted by e.g. jolts, vibrations or inclination of the mobile
device due to irregularities in the floor or path.
Ensure adequate track stability! (see also chapter 14.2: “Diagnostic mode”)
Mount each device with 4 screws ∅5 mm using 4 of the 5 fastening holes in the
mounting plate of the device (see Figure 3-1: Dimensioned drawing ID-200).
ID-200 40802-xx01x ID-200 40802-xx02x
( frequency f 1 ) ( frequency f 2 )
Horizontal and vertical max. ± (A
min
• 0.01
)
A
min
Optical axis
360° rotation possible 360° rotation possible
Figure 5-1: Mounting the devices
Note
The fine alignment of the transmission system is performed during commissioning
(see chapter 12.3.2: “Fine adjustment”). The position of the optical axis of the ID-200
can be found in Figure 3-1.

Mounting / Installation (all device variants)
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5.2 Arrangement of adjacent transmission systems
To prevent mutual interference of adjacent transmission systems, the following meas-
ures should be taken in addition to exact alignment:
•In the case of an offset frequency arrangement, the distance between two
parallel data transmission paths must not be less than
•In the case of identical frequency arrangement, the distance between two
parallel data transmission paths must be at least
300 mm + tan (0.5°) x sensing distance (ID-200 / 120 m), or
500 mm + tan (0.5°) x sensing distance (ID-200 / 200 m)
Figure 5-2: Arrangement of adjacent transmission systems

Mounting / Installation (all device variants)
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5.3 Cascading (series connection) of several ID-200 data paths
If two communicating participants (TN) are separated by several optical transmission
paths between two participants, then this is called cascading. There are further par-
ticipants between the individual optical transmission paths in this case.
Master
TN1
TN8
TN2
TN4
TN5
TN3
TN6 TN7
Path 1
Path 3
Path 4
Path 2
Path 5 Path 6
Figure 5-3: Cascading of several ID-200 systems
CAUTION !
If, for example, participant 3 (TN3) of a multi-master bus system wants to exchange
data directly with participant 7 (TN7), then 5 optical transmission paths are cascaded.
This constellation can also occur if, e.g., a programming device that attempts to ac-
cess participant 3 (TN3) is connected to participant 7 (TN7) for maintenance purposes
or during commissioning of a master-slave-system.

Mounting / Installation (all device variants)
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The following table shows the maximum number of optical transmission paths for cas-
cading.
Bus system
Max. number of optical
transmission paths for
cascading
Remark
Profibus (with retiming) 3
Attention:
Profibus FMS is a multi-
master bus
RS 485 (without retiming) 2
Interbus 500 kBit (RS422) 3
Interbus FOC 3 Applies for 500 kBit and
2 MBit
RIO 3
1)
DH+ 3
1)
Attention:
DH+ may be a multi-
master bus
DeviceNet 3
CANopen 3
Ethernet 3
Depends significantly on
the configuration of the
master and on the re-
quirements of the plant
(timing).
1): See remarks in the respective chapters of the individual bus systems about the
switch position filtered / not filtered depending on the transmission rate.
Note
The individual time delay of the optical transmission path is specified in the chapters of
the individual bus systems and depends on the type, switch position, and transmission
rate.

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5.4 Electrical connection
CAUTION !
Connection of the device and maintenance work while under voltage must only be car-
ried out by a qualified electrician.
If faults cannot be corrected, the device should be removed from operation and pro-
tected against possible use.
Before connecting the device, be sure that the supply voltage agrees with the value
printed on the nameplate.
The ID-200… is designed in accordance with safety class III for supply by PELV (Pro-
tective Extra Low Voltage, with reliable disconnection).
For UL applications: only for use in class 2 circuits according to NEC.
Be sure that the functional earth is connected correctly. Error-free operation is only
guaranteed if the device is connected to functional earth.
Described in the following two sub-chapters is the electrical connection of the supply
voltage, the input and the output.
The connection of the respective bus system is described in the following chapters.
5.4.1 Electrical connection - devices with screwed cable glands and terminals
To establish the electrical connections, you must first remove the red housing top with
the optics. To do this, loosen the three housing hex screws. The housing top is now
only electrically connected to the base by means of a connector. Carefully pull the
housing top straight forward without canting.
Figure 5-4: Removing the housing top

Mounting / Installation (all device variants)
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The connection place in the housing base with the screwed cable glands is now freely
accessible.
Terminal Function
Vin Positive supply voltage
+18 ... +30 V DC
GND Negative supply voltage 0 V DC
PE Functional earth
OUT
WARN
Switching output, activated if level drops
below the warning level
Switching input for transmitter/receiver cut-off:
0 ... 2 V DC: transmitter/receiver switched
off, no transmission
IN
18 ... 30 V DC: transmitter/receiver active,
normal function
Switch Function
On (default):
The switching input is not analysed. The
transmitter/receiver unit is always in operation.
S1
Off:
The switching input is analysed. Depending on
the input voltage, normal function or transmit-
ter/receiver unit switched off.
Figure 5-5: Position of the general, non-bus-specific terminals and switches
5.4.1.1 Supply voltage
Connect the supply voltage, including the functional earth, to the spring terminals la-
belled Vin, GND and PE (see Figure 5-5).
Note
The connection terminals Vin, GND and PE are provided double to simplify wiring
through the supply voltage to other devices.
The functional earth can alternatively be connected at the screw terminal in the hous-
ing base (max. cable cross section 2.5 mm2).
If you would like to wire through the supply voltage, you should replace the filler plugs
on the right side of the housing base with an M16 x 1.5 screwed cable gland and
guide the continuing supply voltage cable through this gland. The housing seal is, in
this way, ensured (Protection Class IP 65).
The housing top can be removed and replaced under voltage.