Hypersen HPS-FT Series User Manual Download Page 17 | Manualshive

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Hypersen HPS-FT Series User Manual Download Page 17

Hypersen Technologies Co., Ltd.

HPS-FT-USER V1.8

17

/

38

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.

2. Check the wiring of the sensor and the EtherNet (which are pre-wired before leaving the factory).

3. Wire the 24v power adapter to the power supply port of the EtherNet adapter (which are pre-wired
before leaving the factory) and power it up.

Please check it for confirmation. Incorrect wiring may damage the sensor.

Note

①

. If you do not use the provided power adapter, please be sure to use a

12–24V DC power supply and use terminal blocks to protect the wire ends.
There may be a risk of sensor damage arising from this operation. Please
be careful.

Note

Make sure that there is enough room for all joints of the robot to move and take

protective measures to prevent pinch, dragging, abrasion, etc. to avoid cable
damage.

Note

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Summary of Contents for HPS-FT Series

Page 1: ...Hypersen Technologies Co Ltd HPS FT USER V1 8 1 38 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...

Page 2: ...nologies 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 man...

Page 3: ...oad protection 11 2 1 1 Calculation of the total torque during use 11 2 1 2 Robot emergency stop IO control 12 2 1 3 Setting of the overload protection threshold 12 2 2 Sensor and robotic arm connecti...

Page 4: ...tion 28 5 1 9 Voltage check function 28 5 2 RS485 interface based host software 29 5 2 1 RS485 connection 29 5 2 2 Filter 30 5 2 3 One time acquisition mode function 31 5 2 3 Crosstalk compensation fu...

Page 5: ...to temperature change The product can measure the six components of a force Fx Fy Fz Mx My and Mz in real time with high precision Besides the integrated professional compensation algorithm ensures a...

Page 6: ...Hypersen Technologies Co Ltd HPS FT USER V1 8 6 38 1 1 3 Physical dimensions HPS FT060E FT060S dimension diagram Flange adapter dimension diagram to install HPS FT060E FT060S on Cobots...

Page 7: ...Hypersen Technologies Co Ltd HPS FT USER V1 8 7 38 HPS FT025 dimension diagrams HPS FT120 dimension diagrams...

Page 8: ...cable SHIELD Connected to the grounding terminal of the housing 1 1 5 Packaging information 1 2 Ethernet adapter 1 2 1 Product description The HPS FT EN2000 IO adapter is used to convert the RS485 po...

Page 9: ...5 Negative pole of CH1 sensor power supply GND Connected to negative pole of sensor power supply black cable 6 485A of CH1 sensor Digital Connected to terminal A of RS 485 interface of the sensor whi...

Page 10: ...t them from the outside or isolate them It is recommended to use RL and VCC so that the current IC collector current after energizing is controlled to 5mA 40mA When the output current is greater than...

Page 11: ...torques that exceed the measuring range Without any overload protection of the sensor the sensor can easily be damaged by impacts 2 1 1 Calculation of the total torque during use The following is a ca...

Page 12: ...l HPS FT060E with an Ethernet adapter of 2k fps sampling rate The fastest time for the sensor to trigger the robot s emergency stop IO 0 5ms If 1 T1 The minimum time for the sensor to trigger the robo...

Page 13: ...ude is changed is the actual force plus the force and torque components of the end effector 3 Warranty 3 1 Product warranty The warranty period of HPS FT series 6 axis force torque sensor is 12 months...

Page 14: ...damage condensation lightning strike unauthorized disassembly power surge water ingress overload abnormal power supply 5 product damage due to improper transportation 6 damage caused by an accident o...

Page 15: ...ure installation List of standard torque Product Model Location Screws Used Standard Torque N m HPS FT025 Mounting surface Class 10 9 M3 1 5 1 7 Operating surface Class 10 9 M3 1 5 1 7 HPS FT060E Moun...

Page 16: ...20 Mounting surface Class 10 9 M6 12 14 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 t...

Page 17: ...ter which are pre wired before leaving the factory and power it up Please check it for confirmation Incorrect wiring may damage the sensor Note If you do not use the provided power adapter please be s...

Page 18: ...th an Ethernet cable 4 4 IO protection wiring The IO port of the adapter is of NPN no voltage output type If the IO port of the robot is also of NPN type directly connect the OUT port of the adapter t...

Page 19: ...Hypersen Technologies Co Ltd HPS FT USER V1 8 19 38 4 4 1 Robot emergency stop IO wiring NPN no load IO 4 4 2 Robot protective stop wiring NPN no load IO...

Page 20: ...r IO alarm ALARM_SET ALARM_NORMAL_OPEN Set the IO alarm port to be constantly enabled or constantly disabled ALARM_NORMAL_OPEN 1 Example of operation process Set usually only once ALARM_NORMAL_OPEN 1...

Page 21: ...LARM_CLEAR 0 Clear alarm information 5 Host demonstration software You can use this software to connect to the 6 axis force torque sensor via Ethernet or serial port With the host software you can vie...

Page 22: ...tion 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 5 Enter the Port...

Page 23: ...en 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 Connect the host software to the sensor ac...

Page 24: ...the settings take effect immediately 6 If you want the settings to remain valid after shutdown after completing the setting and making the settings take effect you can close the Para Setting window a...

Page 25: ...4 Save data Steps 1 Connect the host software to the sensor according to 5 1 1 2 Click the Stop button to stop the acquisition performed by the sensor 3 Click the Advanced setting menu to open the Oth...

Page 26: ...and then the relevant parameters will remain valid after shutdown 5 Return to the Plot interface and then you can see an ALARM button at the bottom When the button is green it means that no IO alarm h...

Page 27: ...utton to stop the data acquisition 3 Check Single Shot and then click Connect to enable the one time acquisition mode of the sensor 4 You can check the frame rate in the lower part of the Plot interfa...

Page 28: ...er the overload information receiving interface 4 You can get the sensor overload times counted once every 20ms based on the measuring range of the sensor where the count is updated once every 2min an...

Page 29: ...85 connection Prerequisites 1 Connect the power cable of the sensor to a 12 24V DC power supply 2 Connect the communication cable 485A 485B of the sensor to the RS485 to serial port adapter A B Steps...

Page 30: ...or 6 If it is prompted that the connection fails it means that the power supply wiring port or baud rate of the sensor is incorrect Please check it before reopening the host software for connection 5...

Page 31: ...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 5 2 6 Baud rate setting Modify the baud rate of the sensor Steps 1...

Page 32: ...You can monitor and acquire data in real time through the host monitoring software without affecting the communication between the main port of the sensor and the equipment This is convenient for debu...

Page 33: ...data acquisition path and interval in the Advanced setting 7 Return to the main interface and check Data recording and click the Start button to start acquiring data When you click the Stop button th...

Page 34: ...ion performed by the sensor 3 Click Update on the menu bar to open the window 4 Click the Browse button to load the file SixAxis_xxx hyp 5 Click the Write button and wait until it is prompted that the...

Page 35: ...that the sensor is working normally 8 Troubleshooting 8 1 Ethernet adapter failure When the adapter IP or port is missed you can get the adapter IP and port through the following steps Steps 1 Wire th...

Page 36: ...Hypersen Technologies Co Ltd HPS FT USER V1 8 36 38...

Page 37: ...y command examples 9 27 2021 1 4 Update drawings Add IO protection function descriptions Add precautions 10 11 2021 1 5 Add standard torques for 6 axis force torque sensor installation Modify some tex...

Page 38: ...responsible for the choice selection and use of Hypersen products and Hypersen assumes no liability for application assistance or the design of Purchasers products No license express or implied to any...

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