Subscribe to Our Youtube Channel
Related Manuals for Hypersen HPS-FT Series
Summary of Contents for Hypersen HPS-FT Series
- Page 1 Hypersen Technologies Co., Ltd. HPS-FT-USER V1.8 HPS-FT-USER 6-Axis Force Torque Sensor User Manual Version: HPS-FT-USER 1.8 Host software version: Host 1.11.1.A The manual is issued in February 2022 1 / 38...
- Page 2 The contents or information included in this manual will be changed without notice. Hypersen Technologies Co., Ltd. is not liable for any errors that may appear in this manual. Hypersen Technologies Co., Ltd. shall not be liable for any accidental or consequential injury arising from the use of this manual and the product described in it.
-
Page 3: Table Of Contents
Hypersen Technologies Co., Ltd. HPS-FT-USER V1.8 Table of Contents 1 Product introduction ............................5 1.1 Sensor introduction ..........................5 1.1.1 Introduction ............................5 1.1.2 Product features ..........................5 1.1.3 Physical dimensions ..........................6 1.1.4 Cable definition ..........................8 1.1.5 Packaging information ........................8 1.2.1 Product description ........................... 8 1.2.2 Physical dimensions ..........................9... - Page 4 Hypersen Technologies Co., Ltd. HPS-FT-USER V1.8 5.1.1 Ethernet connection steps ......................21 5.1.2 Filtering and coordinate system conversion functions ..............23 5.1.3 Port setting ............................24 5.1.4 Save data ............................25 5.1.5 IO alarm function (version 1.9.5 or above) ..................26 5.1.6 One-time acquisition mode function ....................
-
Page 5: Product Introduction
Thanks to a structure with good durability and a high overload withstanding capacity, the strain gauge can withstand several times safety overload when working. Compared to traditional structure, the HPS-FT series sensor has a higher signal-to-noise ratio and sensitivity. The integrated temperature compensation algorithm significantly reduces the temperature drift of the sensor due to temperature change. -
Page 6: Physical Dimensions
Hypersen Technologies Co., Ltd. HPS-FT-USER V1.8 1.1.3 Physical dimensions HPS-FT060E/FT060S dimension diagram Flange adapter dimension diagram to install HPS-FT060E/FT060S on Cobots 6 / 38... - Page 7 Hypersen Technologies Co., Ltd. HPS-FT-USER V1.8 HPS-FT025 dimension diagrams HPS-FT120 dimension diagrams 7 / 38...
-
Page 8: Cable Definition
Hypersen Technologies Co., Ltd. HPS-FT-USER V1.8 1.1.4 Cable definition Cable Color Signal Name Signal Type Description Positive pole of Connected to +12V–+24V DC power supply Black Negative pole of Connected to the grounding terminal of power power supply supply White... -
Page 9: Physical Dimensions
Hypersen Technologies Co., Ltd. HPS-FT-USER V1.8 1.2.2 Physical dimensions Figure 3 Right view Figure 2 Left view of Figure 1 Top view of of the adapter the adapter the adapter 1.2.3 Wiring and indicator light definition Port Signal Name Signal Type... -
Page 10: Io Protection Alarm Function
Hypersen Technologies Co., Ltd. HPS-FT-USER V1.8 Connected to terminal B of the RS-485 485B of CH2 sensor Digital interface of the sensor (green cable) Optocoupler Output Digital Output port of optocoupler Optocoupler COM port COM port of optocoupler Lit constantly... -
Page 11: Precautions For Use
Hypersen Technologies Co., Ltd. HPS-FT-USER V1.8 2 Precautions for use The 6-axis force torque sensor is a high-precision device. You should use the sensor properly. Improper use may cause permanent damage to the sensor. Before use, please read the user manual carefully. -
Page 12: Robot Emergency Stop Io Control
Hypersen Technologies Co., Ltd. HPS-FT-USER V1.8 Distance from the end effector to the origin 50mm 100mm 200mm 500mm of the sensor (L) Maximum weight of the end effector (kg) 30.6kg 16.3kg 7.6kg 3.1kg The above is only the calculation of the torque received by the sensor under static conditions, and the dynamic torque will be greater than this value when the robot is moving. -
Page 13: Sensor And Robotic Arm Connection
If the product is not within the warranty period, Hypersen Technologies Co., Ltd. reserves the right to charge the customer for replacement or repair. Hypersen Technologies Co., Ltd. is not liable for any injury or loss such as production loss or damage to other production equipment, which arises from the product found defective beyond the warranty period. -
Page 14: Disclaimer
Hypersen Technologies Co., Ltd. HPS-FT-USER V1.8 3.2 Disclaimer If the product defect is caused by improper handling or noncompliance with the relevant information described in the user manual, the Product Warranty will be void. Failures arising from the following are not covered by the warranty: 1. -
Page 15: Mechanical Structure Installation
Hypersen Technologies Co., Ltd. HPS-FT-USER V1.8 4.2 Mechanical structure installation List of standard torque Product Model Location Screws Used Standard Torque (N·m) Mounting surface Class 10.9 M3 1.5–1.7 HPS-FT025 Operating surface Class 10.9 M3 1.5–1.7 Mounting surface Class 10.9 M5 6.5–7.5... - Page 16 Hypersen Technologies Co., Ltd. HPS-FT-USER V1.8 Mounting surface Class 10.9 M5 6.5–7.5 HPS-FT060S Operating surface Class 10.9 M4 3.5–4 Mounting surface Class 10.9 M6 12–14 HPS-FT120 Operating surface Class 10.9 M8 32–34 Notes: 1. When installing the screws, you need to use spring washers and flat washers, and a small amount of medium-strength thread glue (as shown in the figure).
-
Page 17: Electrical Cable Installation
Hypersen Technologies Co., Ltd. HPS-FT-USER V1.8 4.3 Electrical cable installation Steps: 1. Route the sensor cable from axis 6 to 1 at the end of the robot and fix it. Make sure that there is enough room for all joints of the robot to move and take Note protective measures to prevent pinch, dragging, abrasion, etc. -
Page 18: Io Protection Wiring
Hypersen Technologies Co., Ltd. HPS-FT-USER V1.8 Shielded wire (Optional) 4. Connect the EtherNet adapter to the PC network port with an Ethernet cable, and set the IP address of the PC network port to 192.168.1.X (the sensor 192.168.1.100 by default). Check whether or not the sensor is working normally through the “6-axis force torque sensor host”. -
Page 19: Robot Emergency Stop Io Wiring (Npn, No-Load Io)
Hypersen Technologies Co., Ltd. HPS-FT-USER V1.8 4.4.1 Robot emergency stop IO wiring (NPN, no-load IO) 4.4.2 Robot protective stop wiring (NPN, no-load IO) 19 / 38... -
Page 20: Setting And Enabling Of The Protection Mode Of The Robot
Hypersen Technologies Co., Ltd. HPS-FT-USER V1.8 4.4.3 Setting and enabling of the protection mode of the robot You can set the basic alarm threshold through the host demonstration software, and carry out a simple test through the host computer software. For details, see 5.1.5. More functions can be implemented by commands (see the Ethernet data sheet for details of the commands). -
Page 21: Host Demonstration Software
Hypersen Technologies Co., Ltd. HPS-FT-USER V1.8 (In general, the robot is controlled to move 10mm along axis Z- of the end tool. You can decide whether or not to open the gripper or change the tool quickly according to the different stations of the robot to ensure that its withdrawal from the collision will not cause secondary damage.) - Page 22 Hypersen Technologies Co., Ltd. HPS-FT-USER V1.8 3. Copy and decompress the host demonstration software. Find the file “6-axis force torque sensor host V1.x.x.exe” in the Release folder and double-click it to open it. 4. Check the EtherNet option. Click OK, as shown in the figure.
-
Page 23: Filtering And Coordinate System Conversion Functions
Hypersen Technologies Co., Ltd. HPS-FT-USER V1.8 6. Enter the host interface. Click the Connect button and then the Start button. Then you can reset the sensor and view the Plot and 3D Axis interfaces. 5.1.2 Filtering and coordinate system conversion functions Steps: 1. -
Page 24: Port Setting
Hypersen Technologies Co., Ltd. HPS-FT-USER V1.8 3. Open the Parameter setting window. 4. Then you can set the Kalman filter, low pass filter, median filter, moving average filter and sensor coordinate rotation function. 5. Set according to the parameters specified in the manual, and then click the button to make the settings take effect immediately. -
Page 25: Save Data
Hypersen Technologies Co., Ltd. HPS-FT-USER V1.8 3. Open the Port Setting window. 4. After setting the ports of the sensor, click OK, and wait until it is prompted that the setting is successful and reconnection is recommended. Click the Save user setting... -
Page 26: Io Alarm Function (Version 1.9.5 Or Above)
Hypersen Technologies Co., Ltd. HPS-FT-USER V1.8 5.1.5 IO alarm function (version 1.9.5 or above) Steps: 1. Connect the host software to the sensor according to 5.1.1. 2. Click Setting to enter the alarm threshold setting interface. 3. The default value 99999 means that the axis is not monitored. After setting the alarm, click to make the settings take effect immediately. -
Page 27: One-Time Acquisition Mode Function
Hypersen Technologies Co., Ltd. HPS-FT-USER V1.8 filtering. 5. If there is a need for contact force monitoring, you can contact the aftersales personnel to change the IO alarm mode. 6. In the contact force monitoring mode, the resetting will be performed automatically after the contact force disappears. -
Page 28: Overload Information Receiving Function
Hypersen Technologies Co., Ltd. HPS-FT-USER V1.8 Precautions: By default, the sensor enables crosstalk compensation mode, which has a strong inhibitory effect on crosstalk, but will slightly affect the single-axis precision. If the operating scenario is single-axis measurement, you can try to disable the crosstalk compensation mode. -
Page 29: Rs485 Interface-Based Host Software
Hypersen Technologies Co., Ltd. HPS-FT-USER V1.8 5.2 RS485 interface–based host software It is suitable for 6-axis force torque sensor + EtherCat adapter. 5.2.1 RS485 connection Prerequisites: 1. Connect the power cable of the sensor to a 12–24V DC power supply. -
Page 30: Filter
Hypersen Technologies Co., Ltd. HPS-FT-USER V1.8 3. Select the appropriate port. 4. If the sensor with an RS485 interface is purchased, the default baud rate is 115200. If the sensor with an EtherCat or EtherNet adapter is purchased, the default baud rate of the sensor is 1500000. -
Page 31: One-Time Acquisition Mode Function
Hypersen Technologies Co., Ltd. HPS-FT-USER V1.8 5.2.3 One-time acquisition mode function See 5.1.6 for details. 5.2.3 Crosstalk compensation function See 5.1.7 for details. 5.2.4 Overload information receiving function See 5.1.8 for details. 5.2.5 Voltage check function See 5.1.9 for details. -
Page 32: Host Monitoring Software
Hypersen Technologies Co., Ltd. HPS-FT-USER V1.8 4. After modifying the baud rate, click OK to make it take effect immediately. 5.Click the Save user setting button on the Advanced setting menu, and then the relevant parameters will remain valid after shutdown. - Page 33 Hypersen Technologies Co., Ltd. HPS-FT-USER V1.8 5. Click Start to start monitoring the sensor data. 6. You can also set the data acquisition path and interval in the Advanced setting. 7. Return to the main interface and check “Data recording” and click the...
-
Page 34: Firmware Update Software
Hypersen Technologies Co., Ltd. HPS-FT-USER V1.8 7 Firmware update software The sensor and the adapter can be upgraded online through the firmware update software. Make sure that there is no power-down occurring during the update. Otherwise there will be a risk of irreparable damage. -
Page 35: Troubleshooting
Hypersen Technologies Co., Ltd. HPS-FT-USER V1.8 3. Open the EtherNet firmware update software. 4. Set the communication settings of the current adapter. Click the button to enter the UpdateFirmwareTool interface. 5. Click the Browse button to load the file FTxx_Lan_Convertor_xxx.hyp. - Page 36 Hypersen Technologies Co., Ltd. HPS-FT-USER V1.8 36 / 38...
-
Page 37: Revision History
Hypersen Technologies Co., Ltd. HPS-FT-USER V1.8 Revision history Date Revision Description 7/10/2020 First version 8/11/2020 Add RS485 connection examples. Add each communication connection specifications and troubleshooting. Add debugging examples. 10/10/2020 Add precautions. 9/11/2021 Update icons. Add descriptions of the new functions of the host. Add string and binary command examples. - Page 38 Hypersen products and/or to this document at any time without notice. Purchasers should obtain the latest relevant information on Hypersen products before placing orders. Hypersen products are sold pursuant to Hypersen’s terms and conditions of sale in place at the time of order acknowledgment.
Need help?
Do you have a question about the HPS-FT Series and is the answer not in the manual?
Questions and answers