Hypersen HPS-FT Series User manual

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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

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Please read this manual carefully before use.
This user manual will be checked and revised regularly, and the updated contents will be included
in the latest version. 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.
Please read this manual before installing and using the product.
Please keep this manual so that it can be read and referenced at any time.
The figures in this manual are for reference only. The actual product shall prevail.
© 2022 Hypersen Technologies Co., Ltd. – All rights reserved

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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
1.2.3 Wiring and indicator light definition ...................................................................................................9
1.2.4 IO protection alarm function ............................................................................................................10
1.2.5 Ethernet bus communication port ...................................................................................................10
2 Precautions for use .......................................................................................................................................11
2.1 Sensor overload 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 connection .......................................................................................................13
3 Warranty ....................................................................................................................................................... 13
3.1 Product warranty ....................................................................................................................................13
3.2 Disclaimer .............................................................................................................................................. 14
4 Installation .....................................................................................................................................................14
4.1 Tools and accessories ...........................................................................................................................14
4.2 Mechanical structure installation ........................................................................................................... 15
4.3 Electrical cable installation .................................................................................................................... 17
4.4 IO protection wiring ................................................................................................................................18
4.4.1 Robot emergency stop IO wiring (NPN, no-load IO)......................................................................19
4.4.2 Robot protective stop wiring (NPN, no-load IO) ............................................................................. 19
4.4.3 Setting and enabling of the protection mode of the robot .............................................................. 20
5 Host demonstration software ....................................................................................................................... 21
5.1 Ethernet-based host demonstration software ....................................................................................... 21

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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 ............................................................................................... 27
5.1.7 Crosstalk compensation function ....................................................................................................27
5.1.8 Overload information receiving function ......................................................................................... 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 function ....................................................................................................31
5.2.4 Overload information receiving function ......................................................................................... 31
5.2.5 Voltage check function ....................................................................................................................31
5.2.6 Baud rate setting ............................................................................................................................. 31
6 Host monitoring software ..............................................................................................................................32
6.1. Host demonstration software connection steps ................................................................................... 32
7 Firmware update software ............................................................................................................................34
7.1. Sensor firmware update ....................................................................................................................... 34
7.2. Ethernet firmware update ..................................................................................................................... 34
8 Troubleshooting ............................................................................................................................................35
8.1 Ethernet adapter failure ......................................................................................................................... 35
Revision history ............................................................................................................................................... 37

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1 Product introduction
1.1 Sensor introduction
1.1.1 Introduction
The HPS-FT series sensors are high-performance digital 6-axis force torque sensors, which can precisely
measure the force and torque components along the three-dimensional coordinate system axes X, Y and Z.
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. 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
high measurement linearity and extremely low crosstalk.
1.1.2 Product features
Measure the force and torque along the axes X, Y and Z quickly and precisely
—High resolution
—High signal-to-noise ratio
—Waterproof and dustproof design (IP65)
—High anti-overload capacity
—Compact design for easy integration
A fully integrated compact structure, which includes:
—an anodized aerospace aluminum housing (HPS-FT060E)
—a stainless steel housing (HPS-FT060S)
—a highly sensitive elastic piece and strain gauge
—a high-precision ACD conversion circuit
—a high performance embedded microprocessor
—advanced embedded data processing, filtering and decoupling algorithms
—a high-speed RS-485 bus port
—EtherCAT and Ethernet adapters

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1.1.3 Physical dimensions
HPS-FT060E/FT060S dimension diagram
Flange adapter dimension diagram to install HPS-FT060E/FT060S on Cobots

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HPS-FT025 dimension diagrams
HPS-FT120 dimension diagrams

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1.1.4 Cable definition
Cable Color
Signal Name
Signal Type
Description
Red
Positive pole of
power supply
VCC
Connected to +12V–+24V DC
Black
Negative pole of
power supply
GND
Connected to the grounding terminal of power
supply
White
RS-485A
Digital
Connected to terminal A of the RS-485 transceiver
(the “+” terminal)
Green
RS-485B
Digital
Connected to terminal B of the RS-485 transceiver
(the “-” terminal)
Yellow
Shielded 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 port of the 6-axis force torque sensor into a
100M Ethernet interface, supporting more and simpler command settings. Its data output frequency can
reach up to 2000HZ.
Model
HPS-FT025
HPS-FT060E
HPS-FT060S
HPS-FT120
Sensor size
23(H) x 26.2(D) mm
87(L) x 78(W) x
28.5(H)mm
87(L) x 78(W) x
28.5(H)mm
142(L) x 126(W) x
49.9(H)mm
Sensor weight
28g
255g
465g
1450g
Packaging
box size
312(L) x 196(W) x
62(H)mm
312(L) x 196(W) x
62(H)mm
312(L) x 196(W) x
62(H)mm
310(L) x 290(W) x
80(H)mm

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1.2.2 Physical dimensions
1.2.3 Wiring and indicator light definition
Port
Number
Signal Name
Signal Type
Description
1
Positive pole of adapter
power supply
VCC
Connected to +12V–+24V DC
2
Negative pole of adapter
power supply
GND
Connected to the grounding terminal of
power supply
3
Adapter shield grounding
terminal
SHIELD
Connected to the grounding terminal of
the housing
4
Positive pole of CH1
sensor power supply
VCC
Connected to positive pole of sensor
power supply (red cable)
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 (white cable)
7
485B of CH1 sensor
Digital
Connected to terminal B of the RS-485
interface of the sensor (green cable)
8
Positive pole of CH2
sensor power supply
VCC
Connected to positive pole of sensor
power supply (red cable)
9
Negative pole of CH2
sensor power supply
GND
Connected to negative pole of sensor
power supply (black cable)
10
485A of CH2 sensor
Digital
Connected to terminal A of the RS-485
interface of the sensor (white cable)
Figure 2 Left view of
the adapter
Figure 3 Right view
of the adapter
Figure 1 Top view of
the adapter

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11
485B of CH2 sensor
Digital
Connected to terminal B of the RS-485
interface of the sensor (green cable)
12*1
Optocoupler Output
Digital
Output port of optocoupler
13*2
Optocoupler COM port
GND
COM port of optocoupler
Upper indicator light
Lit constantly
Channel 1 sensor communication is normal
Not lit
Channel 1 sensor communication is abnormal
Lower indicator light
Lit constantly
Channel 2 sensor communication is normal
Not lit
Channel 2 sensor communication is abnormal
1.2.4 IO protection alarm function
The alarm signal output (port 12) is a non-powered NPN output port, which needs an external GPIO to
provide drive current. COM port (port 13) and the grounding terminal of the signal are not connected. You
can choose to connect 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 40mA, it is recommended to add a primary power amplifier at the back to avoid equipment
failure due to excessive current.
1.2.5 Ethernet bus communication port
The Ethernet adapter has a UDP or TCP communication port, a UDP port by default. You can also use a
TCP port by switching the jumper 2 inside the adapter. The default IP is 192.168.1.100, the mask is
255.255.255.0, the gateway is 192.168.1.1, and the port number is 8080. You can use commands to modify
the IP, mask, gateway and port number (port 50000 is the debugging port, which is disabled for users). If
jumper 1 inside the adapter is switched to a different position instead of the default position, all parameters
will be initialized to the default parameters every time the adapter is restarted.
Out port (port 12)
COM port (port 13)