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Summary of Contents for Franka Emika HAND
- Page 1 ABOUT FRANKA EMIKA 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 Franka Hand product manual are: • Connecting the Franka Hand guide (Document number: 220030) Documentation number: 220010 Release Version: 1.2 (Dec.
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Page 3: Table Of Contents
TECHNICAL SPECIFICATIONS ..........................10 Mechanical Data ..............................10 Technical drawings ............................. 11 5.2.1 Outer dimensions ............................11 5.2.2 Interface flange of Franka Hand ......................... 11 5.2.3 Travel range ..............................12 5.2.4 Franka Hand to fingers interface........................ 12 5.2.5 Finger to fingertips interface ........................13 5.2.6... -
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
This is Franka Hand an electrical two-finger parallel gripper produced by Franka Emika. No external cabling is needed. Communication and power supply for the Franka Hand is established via the flange connector of the Arm. Figure 2.1: Overview Franka Hand... -
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. 220010/1.2/EN Franka Emika GmbH ©... -
Page 8: Notice Of Liability
Use outside of the specified operating limits Modifications to the Franka 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 following: •... -
Page 9: General Possible Dangers And Safety Measures When Working With Robots
Enwrapping the robotic structure It is prohibited to open the Franka 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
[mm] Travel Speed (per finger) [mm/s] Moment of Inertia [kgm Transformation matrix of end effector flange to Franka Hand (e.g., to center point of fingertips when closed, as illustrated in the figure below) Figure 5.1: Center of Gravity 220010/1.2/EN Franka Emika GmbH ©... -
Page 11: Technical Drawings
TECHNICAL SPECIFICATIONS 5.2 Technical drawings 5.2.1 Outer dimensions Figure 5.2: Outer dimensions 5.2.2 Interface flange of Franka Hand Figure 5.3: Dimensions of Flange 220010/1.2/EN Franka Emika GmbH ©... -
Page 12: Travel Range
TECHNICAL SPECIFICATIONS 5.2.3 Travel range Figure 5.4: Travel range 5.2.4 Franka Hand to fingers interface • Recommended screws: 4x M4x12 • Tightening torque: 2.25 Nm. Figure 5.5: Franka Hand to finger interface 220010/1.2/EN Franka Emika GmbH ©... -
Page 13: Finger To Fingertips Interface
Carry out a risk assessment and implement the measures resulting from it. Gripping of an object at a distance of the finger to the Franka Hand will lead to tilting loads. The Franka Hand is designed and tested for a finger length of 54 mm. -
Page 14: Scope Of Delivery
Figure 6.1: Franka Hand Also included: 1 set of fingertips 2 x DIN7984 M6x12 ST 8.8 screws 1 x ISO2338B Ø6x10 h8 A2 cylindrical pin Connecting the Franka Hand Guide Figure 6.2: additional material Additional required equipment: • Hex key size 4 •... -
Page 15: 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 air •... -
Page 16: Mounting The Franka Hand
Objects or tools could fall at any time (e.g., due to loose couplings, malfunctions that can cause the Franka Hand to open or when a compatible Franka Emika robot is switched off, or the power to the robot system is cut) which could lead to injury to fingers, Franka Hands, toes, and feet. -
Page 17: Figure 7.1: Mounting Of Franka Hand
Figure 7.1: Mounting of Franka Hand If desired, insert the cylindrical pin in the Ø6H7 fit of the flange of the Franka Hand. Should you not use the cylindrical pin, make sure that the side of the Franka Hand with the cable is attached on the side of the Pilot-Grip where the connector is located. - Page 18 Connecting or disconnecting live cables or connectors during operation may lead to damaging the Arm or the Franka Hand. • Do not connect or disconnect the Franka Hand while a compatible Franka Emika robot is not safely disconnected from the mains power supply. NOTICE Using the above-mentioned screws, the screw-in depth is 8mm.
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Page 19: Configuration
When first starting compatible Franka Emika robots – by means of the initial configuration – or at a later point in time by accessing the end effector settings, the Franka Hand can be selected from a dedicated dropdown menu. -
Page 20: Figure 7.4: Screenshot Default Settings
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 Franka Hand and flange and therefore require a longer connection cable, see chapter ADDITIONAL INFORMATION. -
Page 21: Maintenance
Do not use liquid cleaning agents for cleaning the end effector. 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. -
Page 22: 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 23: Product Conformity
PRODUCT CONFORMITY 10 PRODUCT CONFORMITY 10.1 Declaration of Conformity Figure 10.1: Declaration of Conformity 220010/1.2/EN Franka Emika GmbH ©... -
Page 24: Further Statements
08.04.2022 Franka Hand Restriction of Hazardous Substances (RoHS): The product Franka 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 25: Using The Franka Hand
Objects or tools could fall at any time (e.g., due to loose couplings), malfunctions that can cause the Franka 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, Franka Hands, toes, and feet. - Page 26 When the device is turned off, the Franka Hand is not supplied with power either. If the fingers of the Franka Hand are jammed, they can be loosened by simply pulling the fingers open. 220010/1.2/EN Franka Emika GmbH ©...
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Page 27: Customizing
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. -
Page 28: Troubleshooting
If the Franka Hand is still disconnected: Shut down the robot. Check if the Franka Hand is connected properly or if any damages on the pins of the connector can be seen. Also check the connecting cable between Control and Arm for damaged pins or insufficient mounting. -
Page 29: 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 30: Table Of Figures
Figure 5.2: Outer dimensions ............................11 Figure 5.3: Dimensions of Flange ........................... 11 Figure 5.4: Travel range ..............................12 Figure 5.5: Franka Hand to finger interface ......................... 12 Figure 5.6 Fingertips interface ............................13 Figure 5.7: Dimensions fingertips ........................... 13 Figure 6.1: Franka Hand .............................. -
Page 31: Index
SEEPO............9, 16, 25, 29 Franka Emika GmbH...........2, 24 Service ............... 22 Franka UI ............6, 28, 29 Technical specifications ......... 11 Guiding / Hand guiding .......... 28 Temperature ............. 15 Guiding Mode ............20 Tightening torque ............ 12 Installation ..............15 Troubleshooting ............ - Page 32 Franka Emika GmbH Frei-Otto-Straße 20 80797 Munich Germany...
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