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Hypersen Technologies Co., Ltd.

HPS-FT-USER V1.8

21

/

38

(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.)

⑦

The robot returns to the safe area after withdrawing from the collision area

⑧

<ZERO>//Reset sensor

<

⑨

<

ALARM_ON

0 1>////Re-enable the alarm function

⑩

<ALARM_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 view the waveform graph and 3D vector graphics of the sensor to familiarize yourself
with the force sensor, and carry out communication diagnosis.

5.1 Ethernet-based host demonstration software

It is suitable for 6-axis force torque  Ethernet adapter.

5.1.1 Ethernet connection steps

Steps: 1. Provide a PC with Windows system.

2. Set the network port of the PC. Make sure that the PC and the sensor are in the same network

segment 192.168.1.X and do not conflict with each other.

Содержание HPS-FT Series

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

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

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

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

Страница 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...

Страница 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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