Hangkai HKVL-56 Six-Axis Force/Torque Sensor, 56mm, 100–400N
Hangkai HKVL-56 Six-Axis Force/Torque Sensor, 56mm, 100–400N
Hangkai Microelectronic
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The Hangkai Microelectronic HKVL-56 is a compact six-axis force/torque sensor for robotic contact feedback, humanoid-robot integration, assembly and polishing. It measures Fx, Fy and Fz together with moments Mx, My and Mz in a 56mm-diameter,22.5mm-high aluminum-alloy housing with integrated signal electronics.
Select a Sensor or PC Adapter
Choose 56A,56B,56C or56D according to the force and moment ranges on all axes. The RS485-to-USB and CAN-to-USB selections are adapters only and do not include a sensor. The source does not name a communication interface in the four model-option labels: confirm the supplied interface and protocol for your controller before ordering.
Measurement Ranges
| Parameter | 56A | 56B | 56C | 56D |
|---|---|---|---|---|
| Fx range(N) | 100 | 200 | 300 | 400 |
| Fy range(N) | 100 | 200 | 300 | 400 |
| Fz range(N) | 100 | 200 | 300 | 400 |
| Mx range(N·m) | 5 | 7 | 10 | 12 |
| My range(N·m) | 5 | 7 | 10 | 12 |
| Mz range(N·m) | 5 | 7 | 10 | 12 |
The source table also shows a custom56AS reference at50N per force axis and2N·m per moment axis. That custom option and the customer-service placeholder have been excluded from this listing. Ranges are measurement ratings, not robot payload or lifting capacity; the source does not provide a signed± convention.
Shared Supplier Specifications
| Diameter | 56mm |
|---|---|
| Height | 22.5mm |
| Mass | ≤0.3kg |
| Material | Aluminum alloy |
| Overload | 300%FS |
| Resolution | <0.03%FS |
| Accuracy | 0.5%FS |
| Repeatability | 0.1%FS |
| Sampling rate | 150–1000Hz, supplier customization range |
| Supply | 12–36VDC |
| Interface capabilities | RS485 / CAN-FD / EtherCAT, configuration dependent |
FS means full scale. Figures are supplier specifications. The source describes an integrated forged elastic element, laser spot-welded strain gauges and symmetric mechanical structure designed to reduce assembly stress.
Communication and Integration
A communication graphic additionally names CAN2.0 and illustrates150,250,500 and100Hz output rates, with115200,460800 and1000000bps examples. Its100Hz example differs from the specification table's150–1000Hz range. These examples do not establish a fixed rate/interface pairing or guarantee all modes on every unit; confirm delivered firmware, protocol and settings. A USB adapter does not change the sensor's own protocol.
Mounting and Package Contents
The supplier shows pre-installed fasteners and a standard90cm flexible cable. Check flange dimensions, bolt pattern, power and wiring documentation for your robot. Mounting features are intended to support alignment and reduce stress; verify zero and calibration after installation.
- Sensor selections: one selected HKVL-56 sensor; the source illustrates an attached cable. External supply and USB adapter are not listed as included.
- Adapter selections: one PC communication adapter of the selected RS485 or CAN type; no sensor or robot included.
Visual Details
