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Table of Contents
- 1 Interacting and Programming
- 2 Overview of the Status Indicators
- 3 Creating a Task in Desk
- 4 Desk Overview
- 5 Groups
- 6 Guiding Mode
- 7 Configuring Apps
- 8 Teaching
- 9 Executing the Task
- 10 Testing the Settings
- 11 Speed
- 12 Activating/De-Activating Apps
- 13 Manual Unlocking of Arm and Hand in Case of Emergency
- 14 Moving the Fingers of the Hand Without a Power Supply
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Table of Contents
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Summary of Contents for Franka Emika Panda
- Page 1 USER HANDBOOK PANDA October 2018 Franka Emika GmbH ©...
- Page 2 Direct human-robot interaction • Creating a task in Desk - Desk overview - An app for everything - Configuring apps • Executing the task - Manual unlocking of Arm and Hand in cases of emergency Franka Emika GmbH © October 2018...
- Page 3 October 2018 Franka Emika GmbH ©...
- Page 4 Arm can no longer be moved. Note: The left button is a three-stage enabling button and needs to be half-pres- sed for guiding. When pressed all the way Panda will stop the guiding mode and make the Arm immovable.
- Page 5 Desk is the software used for progamming and operating Panda. When the guiding button and the enabling button are pressed on the grip, Panda Guiding is in guiding mode and can be moved manually. Once the buttons are released, guiding mode is deactivated and Panda can no longer be moved.
- Page 6 You can simply drag them onto the timeline via Drag-and-Drop, in order to configure them for the next step. In the side bar you can see which guiding mode Panda is in. In other words, whether, for example, translational or rotational movements are enabled in guiding Panda.
- Page 7 Desk mode: using the direction buttons on the disc of the Pilot you can navigate in Desk and the context menus of Apps in the timeline. October 2018 Franka Emika GmbH ©...
- Page 8 Free: the Arm can be moved completely freely, all 7 joints can be moved freely • User: the user can freely define the guiding behavior in this mode, meaning that it is possible to define for each Cartesian translation and rotation axis if it is movable or immovable Franka Emika GmbH © October 2018...
- Page 9 After creating a Task in Desk, all Apps need to be taught, this means that all Teaching necessary parameters of the Apps need to be configured so that Panda knows how to execute the App. If not all Apps of a Task have not yet been fully parametrized.
- Page 10 INTERACTING & PROGRAMMING Executing the task • Before letting Panda execute a task by way of trial, take note of the safety instructions in chapter: Safety concept/ (in particular: Step Back and check). • In addition, the unlocking tool must be within immediate reach of the Arm.
- Page 11 • Never carry out an emergency unlock when the Arm is switched on – Panda must always be safely disconnected from the power supply before an emergency unlock There are several possibilities to move the Arm even without a power supply in Manually moving the Arm case of emergency.
- Page 12 • Never carry out an emergency unlock when the Arm is switched on – Panda must always be safely disconnected from the power supply before an emergency unlock. Moving the fingers of the Hand When the device is turned off, the Hand is not supplied with power either. A...
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