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Table of Contents
Related Manuals for Franka Emika HAND
Summary of Contents for Franka Emika HAND
- Page 1 FRANKA HAND Product Manual April 2022 Franka Emika GmbH ©...
- Page 2 We are always grateful for your suggestions and comments at documentation@franka.de. The English documentation is the ORIGINAL DOCUMENTATION. Other languages are translations of this original document. Complementary documents to this Hand product manual are: • Connecting the Hand guide (Document number:220030) Documentation number: 220010 Release Version: 1.0 (2022)
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Page 3: Table Of Contents
TABLE OF CONTENTS ABOUT FRANKA EMIKA ............................4 ABOUT FRANKA HAND ............................5 RIGHTS OF USE AND PROPERTY RIGHTS ......................6 General..................................6 Identification ................................6 SAFETY ..................................7 Safety Instructions and General Indications ....................7 Notice of Liability..............................8 Intended Use ................................. -
Page 4: About Franka Emika
1 ABOUT FRANKA EMIKA Enabling industrial automation Franka Emika (FE) is a German tactile robotics platform company. Our mission is to provide robotics as production services, making it intuitive and universally accessible for everyone. With this mission in mind, we redefined robotics with cost-efficient and the most easy-to-use robot for industrial automation –... -
Page 5: About Franka Hand
2 ABOUT FRANKA HAND This is Franka Hand is an electrical two-finger parallel gripper produced by Franka Emika. No external cabling is needed. Communication and power supply for the Hand is established via the flange connector of the Arm. Figure 2.1 Finger... -
Page 6: Rights Of Use And Property Rights
The responsible person is not granted any rights or claims to the trademark, logo, or trade names of Franka Emika. Use of open-source codes A complete list of all open-source licenses used by compatible Franka Emika robots can be accessed via the settings menu of the Franka UI. 3.2 Identification... -
Page 7: Safety
CAUTION indicates a hazardous situation that, if not avoided, could result in minor or moderate injury. NOTICE NOTICE indicates information considered important but not hazard related. SAFETY- INSTRUCTION SAFETY INSTRUCTION indicates processes that need to be strictly observed. Indications Indicates where further information can be obtained. April 2022 Franka Emika GmbH ©... -
Page 8: Notice Of Liability
Use outside of the specified operating limits Modifications to the Hand that are not explicitly permitted by Franka Emika are not allowed and will lead to loss of warranty and liability claims. Not permitted modifications include, but are not limited to, the... -
Page 9: General Possible Dangers And Safety Measures When Working With Robots
Enwrapping the robotic structure It is prohibited to open the Hand enclosure and other equipment. Franka Emika is not liable for damages caused by mounted, grasped or lost equipment or damages caused by misuse. 4.5 General Possible Dangers and Safety Measures when... -
Page 10: Technical Specifications
5 TECHNICAL SPECIFICATIONS Technical drawings Interface flange of Hand (tightening torque for fastening the Hand to the robot: M6, quality 8.8: 9.8 Nm) Figure 5.1 Hand to fingers interface • Hand to fingers screws: 4x M4x12 • Thread diameter: 4 mm •... - Page 11 Figure 5.2 Finger to fingertips interface Figure 5.3 April 2022 Franka Emika GmbH ©...
- Page 12 Carry out a risk assessment and implement the measures resulting from it. Gripping of an object at a distance of the finger to the Hand will lead to tilting loads. The Hand is designed and tested for a finger length of 54 mm.
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Page 13: Scope Of Delivery
2 x DIN7984 M6x12 ST 8.8 screws • 1 x ISO2338B 6x10 h8 A2 cylindrical pin • Connecting the Hand Guide Figure 6.2 Additional required equipment: • Hex key size 4 • A compatible Franka Emika robot system April 2022 Franka Emika GmbH ©... -
Page 14: Mounting And Installation
• External magnetic fields are allowed in the magnitude of the earth’s magnetic field only Type of installation • Screwing connection to a compatible Franka Emika robot’s end effector flange Protection class • IP 20 (according to EN 60529:1991) Ambient medium •... -
Page 15: Mounting The Hand
Position the Hand with its flange on the end effector flange on the Arm. Should you not use the cylindrical pin, make sure that the side of the Hand with the cable is attached on the side of the Pilot-Grip where the connector is located. - Page 16 Figure 7.1 NOTICE Material damage to the Hand Using other screws and a higher torque than mentioned in the manual may lead to damage to the Hand. • To fix the hand, only use 2x M6x12 screws. • Only use 5 Nm of torque.
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Page 17: Configuration
Hand can be selected from a dedicated dropdown menu. Figure 7.2 If you want to use another gripper or adjust the configuration of the Hand, select “User Defined” from the drop-down menu and enter the corresponding values into the text fields. April 2022... - Page 18 The tracking behavior may be affected. For further information, refer to the Franka Production product manual. If you are looking to attach additional tools between the Hand and flange and therefore require a longer connection cable, see chapter ADDITIONAL INFORMATION.
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Page 19: Disposal
• Cleaning may only be carried out by qualified persons. • Cleaning of components is only permissible when compatible Franka Emika robots are safely disconnected from the power supply (Control disconnected from the mains). • Switching off and unplugging the device is to be carried out by qualified •... -
Page 20: Disposal
8.2 Disposal Disposal Disposal of Franka Hand may only take place according to the relevant country-specific laws, standards, and regulations. Return of packaging waste Please contact Franka Emika to process any returns of packaging waste. April 2022 Franka Emika GmbH ©... -
Page 21: Service And Support
9 SERVICE AND SUPPORT NOTICE If you have purchased your compatible Franka Emika robot at one of our sales partners or if you have cooperated with a service provider, please get in contact with them first. Our partners can consolidate information on our products and reach out to Franka Emika for troubleshooting and further support. -
Page 22: Product Conformity
10 PRODUCT CONFORMITY 10.1 Declaration of Conformity Figure 10.1 April 2022 Franka Emika GmbH ©... -
Page 23: Further Statements
10.2 Further Statements Further Information status: 08.04.2022 Franka Hand Restriction of Hazardous Substances (RoHS): The product Hand does not fall within the scope of EU RoHS Directive 2011/65/EU, but still meets the requirements of the restricted substances and maximum concentration values that are allowed in homogenous materials: •... -
Page 24: Using The Hand
Objects or tools could fall at any time (e.g., due to loose couplings, malfunctions that can cause the Hand to open or when a compatible Franka Emika robot is switched off, or the power to robot system is cut) which could lead to injury to fingers, hands, toes, and feet. - Page 25 Make sure that Hand has been removed before bringing the Arm into the transport position. When the device is turned off, the Hand is not supplied with power either. If the fingers of the Hand are jammed, they can be loosened by simply pulling the fingers open. April 2022...
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Page 26: Customizing
12 CUSTOMIZING Use Franka Emika´s 3D Lab to customize fingertips. 3D Lab is a web-based user interface to design 3D- printable fingertips, for an ideal, ad hoc object grip with your Franka Hand. Access Franka Emika´s 3D Lab from https://world.franka.de/fingertip-configurator April 2022 Franka Emika GmbH ©... -
Page 27: Troubleshooting
If you cannot move the fingertips by Pilot-Disc buttons or command or if they get stuck, please check if the fingers can be moved by hand (to exclude physical damage). If so, please check the apps or commands you are using. Reboot the robot if necessary. -
Page 28: Additional Information
Make sure the power to the end effector is applied by checking the SEEPO options of your compatible Franka Emika robot system in the safety setup in Watchman (Franka UI). SEEPO settings are to be derived from the above-mentioned application-specific risk assessment and may exemplarily be chosen as illustrated in picture. -
Page 29: Index
Finger ..................................5, 11, 25 Fingertips ..................................5, 27 Flange/interface ................................... 6 Franka Emika GmbH..............................2, 4, 24 Franka UI ................................. 7, 28, 29 Guiding / Hand guiding ..............................28 Guiding Mode ..................................19 Installation ................................... 15 Intended use ..................................9 Labeling ....................................24 Mechanical data ................................. - Page 30 Protection class .................................. 15 Rights of use ..................................7 Safety...................................... 8 Intended use ..................................9 Misuse ....................................9 Notice of liability ................................9 Scope of delivery................................14 SEEPO ................................10, 16, 25, 29 Service ....................................22 Technical specifications ..............................11 Temperature ..................................
- Page 31 Franka Emika GmbH Frei-Otto-Straße 20 80797 Munich Germany...
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