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Franka Emika RESEARCH 3 Product Manual

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FRANKA RESEARCH 3
Product Manual
April 2022
Franka Emika GmbH ©
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Summary of Contents for Franka Emika RESEARCH 3

  • Page 1 FRANKA RESEARCH 3 Product Manual April 2022 Franka Emika GmbH ©...
  • Page 2 Drilling template (Document number: 110050) Document name: Product Manual Franka Research 3 Document number: 120010 Release Version: 1.0 (Sept. 2023), valid for Franka Research 3 with system version 5.3.1 Change Log: Release Version Release Date Changes Sept. 2023 First Release...

  • Page 3: Table Of Contents

    TABLE OF CONTENTS ABOUT FRANKA EMIKA ............................7 RIGHTS OF USE AND PROPERTY RIGHTS ......................8 General..................................8 Identification ................................8 DECLARATION OF INCORPORATION AND CERTIFICATES ................9 Declaration of Incorporation ..........................9 Certificates ................................11 Further Statements ............................11 3.3.1...
  • Page 4 Connecting the functional earth ......................... 73 10.6.4 Wiring ................................74 10.7 Mounting End Effectors ..........................79 10.8 Practical Tips for Usage and Positioning of Franka Research 3 ............81 10.8.1 Energy consumption ............................. 81 10.8.2 ESD limits ................................ 81 10.8.3 Design of the workspace ..........................
  • Page 5 12.5 Creating and editing rules ......................... 115 12.5.1 Structure of a rule............................116 12.6 Validate ................................. 119 WORKING WITH FRANKA RESEARCH 3 ....................123 13.1 Robotic Basics ............................. 123 13.2 Single Point of Control ..........................124 13.3 Operating Modes ............................127 13.3.1...
  • Page 6 Joint 2 ................................188 17.3.3 Joint 3 ................................190 17.3.4 Joint 4 ................................192 17.4 Response times ............................194 17.5 Safe Position Accuracy ..........................194 GLOSSARY ................................ 195 INDEX ................................200 TABLE OF FIGURES ............................203 120010/1.0/EN Franka Emika GmbH ©...

  • Page 7: About Franka Emika

    1 ABOUT FRANKA EMIKA Enabling industrial automation Franka Emika (FE) is a German-based tactile cobot supplier and robotics platform company. Our mission is to provide robotics, products and solutions that are effortless to implement in Research and research, making them intuitive and universally accessible for everyone. With this mission in mind, we redefined robotics with unique robots that are incredibly easy to use, providing the fastest return on investment and lowest total cost of ownership for both industrial automation and robotics / AI research.

  • Page 8: 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 Franka Research 3 can be accessed via the Settings menu of the Franka UI. 2.2 Identification...

  • Page 9: Declaration Of Incorporation And Certificates

    DECLARATION OF INCORPORATION AND CERTIFICATES 3 DECLARATION OF INCORPORATION AND CERTIFICATES 3.1 Declaration of Incorporation 120010/1.0/EN Franka Emika GmbH ©...
  • Page 10 DECLARATION OF INCORPORATION AND CERTIFICATES 120010/1.0/EN Franka Emika GmbH ©...

  • Page 11: Certificates

    REACH: FRANKA EMIKA GmbH is a "downstream user" as defined in REACH. Our products are exclusively non-chemical products (manufactured items). In addition, no substances are released under normal conditions of use and conditions that can reasonably be predicted (Article 7, REACH).

  • Page 12: China Rohs 2

    X: indicates that said hazardous substance contained in at least one of the homogenous materials used for this part is above the limit requirement of GB/T 26572-2011 X: 表示本试验用同质材料中至少有一种所含的有害物质高于GB/T 26572-2011的限量要求。 (Enterprises may further provide in this box technical explanation for marking “X” based on their actual circumstances) (企业可根据自己的实际情况，在此框中进一步提供标示 "X "的技术解释) 120010/1.0/EN Franka Emika GmbH ©...

  • Page 13: Labeling On The Equipment

    Do not place body parts (especially hands, fingers) between links of the Arm, the end effector, or stationary objects. • Do not use the Emergency Unlocking Tool while the Arm is powered. • Only use the supplied Emergency Unlocking Tool. • Store Emergency Unlocking Tool near the Arm. 120010/1.0/EN Franka Emika GmbH ©...

  • Page 14: Fig. 3.3: Hot Surface Label

    Fig. 3.4: Functional earth label Lifting position label The lifting position label indicates the points at which the Arm may be lifted. Fig. 3.5: Lifting position label Control Type label Fig. 3.6: Type label control 120010/1.0/EN Franka Emika GmbH ©...

  • Page 15: Fig. 3.7: Type Label External Device

    DECLARATION OF INCORPORATION AND CERTIFICATES External Enabling Device Type label Fig. 3.7: Type label external device Emergency Stop Device Type label Fig. 3.8: Type label emergency stop device 120010/1.0/EN Franka Emika GmbH ©...

  • Page 16: 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. 120010/1.0/EN Franka Emika GmbH ©...

  • Page 17: Notice Of Liability

    SAFETY 4.2 Notice of Liability Franka Research 3 has been developed according to the relevant quality standards. A hazard and risk assessment according to EN ISO 12100 has been carried out through the course of development and is the basis for Franka Research 3 and this manual.

  • Page 18: General Possible Dangers And Safety Measures When Working With Robots

    Use outside of the specified operating limits Modifications to Franka Research 3 that Franka Emika does not explicitly permit 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 19 Too many devices connected to the power supply system may lead to an overload of the electrical installation and may result in smoldering fires, which may cause death or severe damage to persons. • Connect the Franka Research 3 accordingly to avoid an overload of the electrical installation. • Install the overload protection devices accordingly.

  • Page 20: Application Related Possible Dangers And Safety Measures

    Functionalities and features of various safety levels Franka Research 3 offers functionalities and features of various safety levels. All safety functions and their corresponding safety ratings are described in section Safety Functions in chapter 4.11 “Safety Functionalities“.
  • Page 21 Single Point of Control Franka Research 3 can be controlled via a single Franka UI connection or field bus. Single Point of Control (SPoC) mechanisms ensure control by one source only. Field buses are covered by SPoC as well. For more information about SPoC, refer to chapter 13.2 “Single Point of Control”.
  • Page 22 Handling of the Arm's metal or plastic segments for a prolonged time after intense task execution may cause thermal burns. • Do not touch the Arm’s segments for more than 60 seconds after stopping the Franka Research 3 after an intense task execution at maximum payload and extended temperature. WARNING Hot Surfaces and Guiding At ambient temperatures above 30 °C the robot surface can become too hot to touch.

  • Page 23: Installation Of Safety Peripherals

    European standards EN 60204 and related. The Emergency Stop Device provided by Franka Emika needs to be connected to the X3.1 port. Other devices than the Emergency Stop Device provided by Franka Emika may also be connected to the X3 port.

  • Page 24: Fail-Safe Locking System

    • Unscrew the Arm base from its mounting place. • Manually move the Arm. In case of non-acute danger and jamming of the Arm, use the Emergency Unlocking Tool. 120010/1.0/EN Franka Emika GmbH ©...

  • Page 25: Fig. 4.2: Emergency Unlock

    The Arm segment can now be moved manually. Fig. 4.2: Emergency unlock NOTICE Be aware that as soon as the unlocking tool is inserted, the Arm segment towards the wrist of the Arm can fall down with gravity. 120010/1.0/EN Franka Emika GmbH ©...

  • Page 26: Safety Concept

    The Arm should only be manually pulled or pushed away in safety-critical situations. 4.10 Safety Concept The safety concept of Franka Research 3 provides a simple approach to making the robotic system safe within its target application. The system provides a set of safety functions compliant with EN ISO 13849-1. For more information on safety functions, see chapter 4.11”Safety Functionalities“.
  • Page 27 With the safety setup and the safety scenarios, the safety operator can set up the safety system according to the needs revealed by the risk analysis. Franka Research 3 comes with a predefined and prevalidated set of scenarios. If they are suitable to cover the needs revealed by the risk analysis, this setup can be used out- of-the-box.

  • Page 28: Fig. 4.4: States During Normal Operation

    Recovery (position error, joint limit violation, or space violation) (read-only) This state is active while the robot is recovering from a violated safety function or an error. Safe activation signal: Depending on the type of violation or error. Fig. 4.4: States during normal operation 120010/1.0/EN Franka Emika GmbH ©...

  • Page 29: Safety Functionalities

    • Wearing heat resistant safety gloves for this procedure is advised. NOTICE Franka Research 3 distinguishes between two kinds of safety functions: monitoring functions and stopping functions. Monitoring functions guarantee that limits are not breached, e.g. speed (SLS-J), position (SLP-C)…...
  • Page 30 E.g., it can be configured that SEEPO switches off the power when an emergency stop is triggered. Parameterization: • General configuration, whether SEEPO is active or not • Switch-off triggers of SEEPO 120010/1.0/EN Franka Emika GmbH ©...
  • Page 31 Switch the power provided to the end effector (48 V power line) off. PL b / Cat.b Power Off Further safety ratings The 3-stage Enabling Button near the robot's flange is realized in compliance with IEC 60204-1:2016 and IEC 60947-5-8:2006. 120010/1.0/EN Franka Emika GmbH ©...

  • Page 32: Additional Information For Planning And Initial Installation Of A Robot System

    SAFETY The 3-stage External Enabling Device provided by Franka Emika is realized in compliance with IEC 60204- 1:2016 and IEC 60947-5-8. The Emergency Stop provided by Franka Emika complies with IEC 60204-1:2016 and EN ISO 13850:2015. Other safety-related recoveries (in case of safety errors) Joint position error recovery Only Safety Operators can recover joint position errors.
  • Page 33 Electro-sensitive protective equipment ➢ Fencing and/or physical barriers ➢ Marked areas ➢ Signs ➢ Emergency stop buttons ➢ Indicating elements ➢ Control system safety devices ➢ Robot internal safety functionalities (see chapter 4.11 “Safety Functionalities”) ➢ 120010/1.0/EN Franka Emika GmbH ©...
  • Page 34 SAFETY Due to the different possible applications of a robot, Franka Emika cannot provide a uniform guideline for determining the required protective devices when integrating a robot system. The responsibility for the safe realization of the robot system lies with the integrator / operator.
  • Page 35 Thus, the decisive factor is whether the system has a temporary use (e.g., a one-time experiment that will be dismantled afterwards - no CE - or a permanent use as equipment in the laboratory - CE required ). 120010/1.0/EN Franka Emika GmbH ©...

  • Page 36: Roles And Personnel

    The responsible person must fulfill the monitoring obligations. • The responsible person must ensure that all staff members working with Franka Research 3 are suitably qualified to do so and have been informed about the possible dangers Franka Research 3 may present. •...

  • Page 37: User Roles

    5.2 User Roles Operator An operator can access Franka Research 3 and utilize Franka UI to use Franka Research 3 within the limits defined by the responsible person, the administrator, and the safety operator. The operator can utilize the user interface Franka UI as follows: •...
  • Page 38 There must always be at least one user with the Administrator role defined. This means that the last administrator cannot be deleted. Every user must be assigned a role, and several users can have the same role. Franka Research 3 supports the roles described above. Procedure Log into the Franka UI.

  • Page 39: Equipment Overview

    Fig. 6.1: Equipment overview Power cable Emergency Stop Device Mains power outlet Connecting cable Interface device (not included) with Franka UI Control External Enabling Device Ethernet (Network) Emergency Unlocking Tool Power switch Connection to functional earth 120010/1.0/EN Franka Emika GmbH ©...

  • Page 40: The Arm

    The Arm has the following components: Fig. 6.2: Overview Arm Pilot Elbow Pilot-Grip Soft protector Pilot-Disc Shoulder X6 - End effector connector Holder for Emergency Unlocking Tool Flange for end effector Status light Wrist Base 120010/1.0/EN Franka Emika GmbH ©...

  • Page 41: Fig 6.3: Pilot

    Button, an Enabling Button, and a Guiding-Mode Button. Pilot-Mode button (1) By pressing the Pilot-Mode button (1), the user switches between using the arrow keys of the Pilot-Disc to navigate Desk or to control the integrated end effectors (e.g., Franka Hand). 120010/1.0/EN Franka Emika GmbH ©...

  • Page 42: Fig. 6.4: Switching Status Enabling Button

    Enabling Button. After stopping, release it first completely and then press it again to its middle position to re-enable the robot. Fig. 6.4: switching status Enabling Button Fig. 6.5: Enabling Button 120010/1.0/EN Franka Emika GmbH ©...

  • Page 43: Fig. 6.6: Guiding Mode Button

    Fig. 6.7: Guiding Mode Button Guiding Button (9) Fig. 6.8: Guiding Button The Guiding Button is located on the right of the Pilot-Grip. Press the Guiding Button while half-pressing the Enabling Button (7) simultaneously to move the robot. 120010/1.0/EN Franka Emika GmbH ©...

  • Page 44: Fig. 6.9: Guiding Button

    The connection carries two non-safe digital inputs and outputs. The inputs and outputs and the 24 V power supply are galvanically isolated from the robot system and other interfaces of the robot. The functionality of the physical ports depends on the particular software version. 120010/1.0/EN Franka Emika GmbH ©...
  • Page 45 Chapter 12 “Safety configuration / Watchman”. X4 - External Enabling The 3-position External Enabling Device enable “Test & Jog” when the system is in Programming mode. It allows Franka Research 3 to move. Programs can be started via Desk. • X5 - Robot network The interface device running the browser-based Franka UI can be connected to the X5 Ethernet port.

  • Page 46: Control

    The operation of the Arm is only permitted with the Control provided by Franka Emika. The Control is the main control unit and is part of Franka Research 3. The main control unit realizes monitoring and control of the mechanical structure of the robot.
  • Page 47 Equipment Overview Fig. 6:.13 C3 – Power connector Power switch Installation The Control fits in a 2RU 19” rack. 120010/1.0/EN Franka Emika GmbH ©...

  • Page 48: Scope Of Delivery And Additional Equipment

    Fig. 7.1: scope of delivery Arm Control • 1x Control • 1x country-specific power cable Fig. 7.2: scope of delivery Control Devices • 1x External Enabling Device • 1x Emergency Stop Device Fig. 7.3: Scope of delivery devices 120010/1.0/EN Franka Emika GmbH ©...

  • Page 49: Not Included In The Box

    Ethernet cable with RJ 45 connector for optional connection of the Control to the company network or PC workstation Mounting accessories (recommended by Franka Emika): 2x 6 mm h8 pins for precise mounting of the Arm, if applicable Baseplate to mount the Arm (depending on the baseplate, different screws and washers may be needed, see table in chapter 10.4“Mounting the Arm”)

  • Page 50: Technical Specifications

    1 The above values refer to a workspace of 0.4 x 0.4 x 0.4 m with [0.498/0.0/0.226]m measured as the center point, with the Z-axis of the flange oriented parallel to the earth's gravity and the elbow pointing upward (based on ISO 9283, Appendix A). 120010/1.0/EN Franka Emika GmbH ©...
  • Page 51 Safety values according to EN ISO 13849-1 PFH of PLd / Cat. 3 safety functions (Probability of Failures per Hour) < 1 x 10 PFH of PLb / Cat. b safety functions (Probability of Failures per Hour) < 1 x 10 120010/1.0/EN Franka Emika GmbH ©...
  • Page 52 TECHNICAL SPECIFICATIONS DIMENSIONS & WORKSPACE Alignment axis 7 without end effector Alignment axis 7 with Franka Hand Axes names with link distances [mm] Workspace | side view [mm] Workspace | top view [mm] 120010/1.0/EN Franka Emika GmbH ©...
  • Page 53 If the system probability of failure per hour values are used for calculation, take the temperature into account. For more information on the probability of failure per hour, contact Franka Emika at support@franka.de. 120010/1.0/EN Franka Emika GmbH ©...

  • Page 54: Transport And Handling

    Sensitive electromechanical components in the Arm and end effectors may be damaged if end effectors are connected to the Arm while bringing it into transport position. • Dismount any end effector before bringing the Arm into transport position. • Do not leave loose objects in the maximum workspace. 120010/1.0/EN Franka Emika GmbH ©...

  • Page 55: Ambient Conditions For Delivery And Transport

    The Arm is to be handled gently even when set-up and switched on or off. NOTICE Do not step or lean on the Arm. NOTICE Pay attention to the weight. The weight of the Arm is approx. 17,8 kg 120010/1.0/EN Franka Emika GmbH ©...

  • Page 56: Mounting And Installation

    External Enabling 2x Digital Inputs 2x Digital Outputs e.g. Franka Hand Device Device (not available yet) (not available yet) other third-party + 2 configurable Safe Inputs end effectors (configurable in Watchman) Fig. 10.1: Overview of interfaces 120010/1.0/EN Franka Emika GmbH ©...

  • Page 57: Unpacking The Equipment

    MOUNTING AND INSTALLATION 10.1 Unpacking the Equipment Fig. 10.2: Packing Emergency Stop Device & External Enabling Device Control Optional (e.g. Franka Hand) Connecting cable NOTICE Always keep the original packaging in case of relocating the robot. 120010/1.0/EN Franka Emika GmbH ©...

  • Page 58: Fig. 10.3: Unpack Main Carton

    Lift the top inner boxes and put them aside. Picture will be substituted with graphic before release. Fig. 10.4: Removal of individual cartons Pull the outer box apart to access the bottom inner box. Fig. 10.5: Inner cartons 120010/1.0/EN Franka Emika GmbH ©...

  • Page 59: Fig. 10.6: Open Box From Arm

    Remove the middle protective layer. Fig. 10.7: Unpack arm Grasp the Arm at the indicated lifting positions carefully, lift it out of the bottom protective layer, and set it aside. Fig. 10.8: Lift out arm 120010/1.0/EN Franka Emika GmbH ©...

  • Page 60: Fig. 10.9: Open Box Of Control

    Remove the top protective layer. Fig. 10.10: Removal packaging Grasp the Control at the indicated lifting positions, carefully lift it out of the bottom protective layer, and set it aside. Fig. 10.11: Lift out control 120010/1.0/EN Franka Emika GmbH ©...

  • Page 61: Correct Installation Site

    Arm. Monitoring functions are only triggered upon violation. The safety integrator must consider stopping times, distances, and tolerances. NOTICE Application-specific risk analysis may define a hazardous zone larger than the maximum workspace in some applications. 120010/1.0/EN Franka Emika GmbH ©...

  • Page 62: Ambient Conditions: Arm

    Environment conditions must adhere to general industrial equipment according to EN 61000-6-4 as the system is designed for respective emission tolerance according to EN 61000-6-2 NOTICE In order not to endanger the safety functionality of the system, ensure pollution degree 2 according to EN 60664. 120010/1.0/EN Franka Emika GmbH ©...

  • Page 63: Ambient Conditions: Control

    Magnetic fields are only permissible in the stated specification range. See chapter 4.2 “Notice of Liability” • Enclosure needs a minimum degree of protection corresponding to IP4X or IPXXD if located in places open to all persons 120010/1.0/EN Franka Emika GmbH ©...

  • Page 64: Preparing The Installation Site

    Only switch on the robot when the Arm is properly installed on the platform. • Only install the Arm on even, unmoving, and stable platforms. Accelerations and vibrations induced by the platform are not permissible. 120010/1.0/EN Franka Emika GmbH ©...

  • Page 65: Arm

    10.3.1 Arm Derating When operating Franka Research 3 within the extended temperature range, the user may need to reduce the dynamic parameters (acceleration, maximum velocity, etc.) to avoid overheating the system and its components. Otherwise, Franka Research 3 stops its operation.

  • Page 66: Control

    Do not expose the Control to direct sunlight. • Place the Control at a sufficient distance between the front/back fans and covering components (40 mm on both sides). • Make sure that the Control's fans are not covered with dirt. 120010/1.0/EN Franka Emika GmbH ©...

  • Page 67: Mounting The Arm

    The Arm is to be handled gently even when set up and switched on or off. NOTICE Make sure that the maximum forces and torques are supported during static and dynamic operation. For more information, see section Stable platform in 10.3 “Preparing the Installation Site”. 120010/1.0/EN Franka Emika GmbH ©...

  • Page 68: Fig. 10.15: Mounting Of The Arm

    Fig. 10.15: Mounting of the arm Connect the functional earth to the base of the Arm. The Arm is successfully mounted to the baseplate. NOTICE The Arm should not be powered until correct mounting is validated again. 120010/1.0/EN Franka Emika GmbH ©...

  • Page 69: Positioning The Control

    Place the Control horizontally in its designated position and ensure that proper ventilation is provided. Alternative option: Attach the Control in a rack designed for 19-inch units. For more information, see chapter 10.2 “Correct Installation Site”. 120010/1.0/EN Franka Emika GmbH ©...

  • Page 70: Wiring And Electrical Installation

    Damaged wires or inadequate electrical installation Risk of personal injury by electric shock, as well as material damage • Only use Franka Research 3 in sound technical condition. • Only install the emergency stop and safety peripherals system with qualified personnel.

  • Page 71: Connection Diagram

    24 V input according to IEC 61131-2 type 3 • 15 kHz low-pass input filter • Sampling frequency 1 kHz Output characteristics • Output high level 24 V DC; Output current per output max. 250 mA • Update frequency 1 kHz 120010/1.0/EN Franka Emika GmbH ©...

  • Page 72: Fig. 10.17: X2 Interface

    If possible, always use the external enabling device supplied. Notice If a separate external enabling device is to be used, the external enabling device must comply with IEC 60204 1 and DIN EN 60947 5 8. 120010/1.0/EN Franka Emika GmbH ©...

  • Page 73: Connecting The Functional Earth

    It is required to connect the functional earth to meet the stated EMC levels. Required material • M5 screw thread • 1x tooth washer M5 • Functional earth cable We recommend using a minimum 1.5 mm section Cu cable, with a maximum length of 5 m. 120010/1.0/EN Franka Emika GmbH ©...

  • Page 74: Wiring

    Mechanical handling and dragging across rough surfaces (abrasion) • Operation without guides (kinking) • Guide rollers and forced guiding, being wound and re-wound on cable drums (stress) • High tensile stress, small radii, bending into another plane and/or frequent duty cycles 120010/1.0/EN Franka Emika GmbH ©...

  • Page 75: Fig. 10.21: Connection Of Connecting Cable The Arm

    Required material: • Connecting cable NOTICE Only connecting cables provided by Franka Emika shall be used for electrical connection between Arm and Control. Procedure Carefully place the connector port (female site) onto the connector X1 and ensure that the triangular marking points upward.

  • Page 76: Fig. 10.23: Connection Of External Enabeling

    Interface device ( see chapter 11.3 “Initial configuration”) • Ethernet cable with RJ 45 connector (not included) Procedure • Connect your interface device and the connector X5 at the Arm base with the Ethernet cable. Fig. 10.24: Connection of operating device 120010/1.0/EN Franka Emika GmbH ©...
  • Page 77 Material damage Connecting external devices with a separate power supply may cause system damage if not adhering to electrical ratings. • Voltages in connected devices must either be SELV or suitably isolated to system-connected signals. 120010/1.0/EN Franka Emika GmbH ©...

  • Page 78: Fig. 10.25: Connection Of The Protective Device (Here Emergency Stop Command Device)

    Unsafe connection or disconnection of live cables or end effectors during operation leads to equipment damage. • Do not connect or disconnect cables when Franka Research 3 is connected to the power supply. • Do not connect or disconnect end effectors when Franka Research 3 is connected to the power supply.

  • Page 79: Mounting End Effectors

    The arm has a flange for the mechanical connection of an end effector. The information on the end effector flange can be found in chapter 10.3.1 “Arm”. NOTICE that the pilot grip has a 45° twist to the end effector flange. 120010/1.0/EN Franka Emika GmbH ©...
  • Page 80 Evaluation of power-loss of the end effector and its functions • Control failures leading to unexpectedly opening/closing of the end effector For information on mounting and de-mounting the end effector, please see the respective end effector manual. 120010/1.0/EN Franka Emika GmbH ©...

  • Page 81: Practical Tips For Usage And Positioning Of Franka Research 3

    600 W can be drawn from the power supply. NOTICE In case of an unexpected power loss, Franka Research 3 attempts a Cat. 1 Stop. If the stored energy does not suffice, a Cat. 0 Stop will be performed.

  • Page 82: Design Of The Workspace

    It is therefore recommended to consider the position shown below in the setup planning so that the robot can reach the reference position if needed. Fig. 10.28: Joint reference position of the arm 120010/1.0/EN Franka Emika GmbH ©...

  • Page 83: Personal Safety And Ergonomics

    Press the Emergency Stop Device to stop the robot from operating. Pull or push the Arm out of the dangerous position manually. Fig. 10.29: Distance to arm bumping the head Fig. 10.30: Distance to arm bumping 120010/1.0/EN Franka Emika GmbH ©...

  • Page 84: Fig. 10.31: Distance To Arm Squeezing The Hand

    NOTICE The following information is practical and may not be exhaustive when it comes to preventing rust. In the event of rust, Franka Emika assumes no warranty or liability, since rust does not impair the function. • Ensure compliance with humidity and temperature ranges during use, transport, and storage.

  • Page 85: Re-Packing The Arm

    • Always store and transport the devices in their original packing, even inside buildings. Transportation pose of the Arm To bring Franka Research 3 into transport mode, use the Move to pack pose function in Settings in Franka Precondition •...

  • Page 86: Fig. 10.33: Lifting The Arm

    The robot needs to be in the transport pose. Procedure Open the box. Grasp the Arm at the indicated lifting positions in twos and carefully put it inside the bottom protective layer. Fig. 10.33: Lifting the arm 120010/1.0/EN Franka Emika GmbH ©...

  • Page 87: Fig. 10.34: Packing The Arm

    Fig. 10.34: Packing the arm Insert the top protective layer. Picture will be substituted with graphic before release. Fig. 10.35: Closing the box Close the foil coating. Close the box by sealing it with adhesive strips 120010/1.0/EN Franka Emika GmbH ©...

  • Page 88: Operation

    • Cables need to be plugged in correctly. • The external power supply must be connected. • Leave the maximum workspace. Procedure Switch on Control. Fig. 11.1: Switching on Control Control is now switched on. 120010/1.0/EN Franka Emika GmbH ©...

  • Page 89: Fig. 11.2: Blue Status Lights On Arm

    Pilot are only active during programming. When switching on the robot, always check the functionality of the indicators and their visibility from the operator’s perspective. The following colour schemes represent the following states: 120010/1.0/EN Franka Emika GmbH ©...
  • Page 90 Explanation Approaching the robot* White Not active; ready Franka Research 3 is running but not in an active The robot is inactive and can be to start execution state (either in TEACH or IDLE). It is ready to start approached.

  • Page 91: Safety Relevant Tests Of Franka Research 3

    OPERATION 11.2 Safety Relevant Tests of Franka Research 3 11.2.1 Self-test of the robotic system The self-tests of Control are executed while the system is running. The Arm is power cycled once to execute the self-tests of the Arm. WARNING Risk of injury due to falling objects During the power cycle of the Arm, the power to the end effector is removed.

  • Page 92: Regular Testing Of Safety Functions

    Store the Emergency Stop Device in a safe place. NOTICE Material damage The end effector, workpieces, or the surroundings can be damaged, when the device is stopped at an unfavorable point in the process. • Only use the emergency stop in safety-critical situations. 120010/1.0/EN Franka Emika GmbH ©...

  • Page 93: Initial Configuration

    After an emergency stop, the Arm could have lost calibration or been damaged. If malfunctions are detected at the next start-up, the user will be informed. NOTICE Take other installed devices apart from Franka Research 3 into account that will be switched off by the emergency stop as well. SAFETY-...

  • Page 94: Initial Configuration „First Start

    To automatically obtain the IP address via DHCP, make sure that your interface device has activated the DHCP client. The IP address will automatically be assigned once Franka Research 3 has been switched on. Go to your preferred web browser.

  • Page 95: Fig. 11.4: Network Initial Configuration

    This page is used to register the robot in Franka World and to manage updates and Apps. When the Control is connected to the Internet, the robot is automatically registered in Franka World and checked for the availability of the latest system updates or application software (Apps). 120010/1.0/EN Franka Emika GmbH ©...

  • Page 96: Fig. 11.6: Creating Administrator

    This user can continue the configuration later and create additional system users. For more information on roles, see the section "Creating an administrator" in Chapter 5 “ROLES AND PERSON". Confirm the input by clicking on „Next“. The web interface for configuring the end effector is opened.  120010/1.0/EN Franka Emika GmbH ©...

  • Page 97: Fig. 11.7: End Effector Settings

    • Always check the configuration of the end effector. • When copying an already parametrized App or Task to another Franka Research 3 system, ensure that the end effector configuration remains identical to the original one. CAUTION Falling objects from end effectors during initial installation Objects falling from the gripper lead to injuries to hands, fingers, feet, and toes.

  • Page 98: Setup Of Franka Control Interface (Fci)

    To operate and control the robot via the FCI interface, an external operating device in the form of a PC or laptop with a Linux operating system (e.g. Ubuntu) is recommended. Hardware recommendation: • Commercially available PC, laptop with Linux • Ethernet interface 120010/1.0/EN Franka Emika GmbH ©...

  • Page 99: Fig. 11.9 Network Settings

    Linux still have to be adjusted. Configuration of operating device This section describes how to set up a static IP address on Ubuntu 20.04 using the GUI. Follow the official Ubuntu guide if you prefer to use the command line. 120010/1.0/EN Franka Emika GmbH ©...

  • Page 100: Fig. 11.10 Ubuntu - Ethernet Configuration

    To verify network quality, perform a communication test of network bandwidth, delay, and jitter after completing the FCI configuration of the system. From now on, you can also access Franka UI through this address <fci-ip> in your browser. 120010/1.0/EN Franka Emika GmbH ©...

  • Page 101: Setup Of Libfranka On A Linux Workstation

    We recommend choosing the version closest to the one you currently use. The version tested by Franka Emika is the 5.9.1 for Ubuntu 20.04, on which the following installation steps are based. Use the command lines below to download the source files.
  • Page 102 Now you can use this configuration as the default for configuring the build. To do this, eonter the following cmmands: make olddefconfig make menuconfig The second command opens a terminal interface (TUI) where you can configure the preemption model. 120010/1.0/EN Franka Emika GmbH ©...

  • Page 103: Fig. 11.12 Tui-Interface

    To see which kernel will be used after the boot, look at the output of the following command: uname -a should contain string PREEMPT_RT version number chose. Additionally, /sys/kernel/realtime should exist and contain the the number „1“. 120010/1.0/EN Franka Emika GmbH ©...
  • Page 104 Before building the new libfranka from source, please uninstall existing installations of libfranka franka_ros to avoid conflicts. To do this, run the following command in the terminal: sudo apt remove "*libfranka*" 120010/1.0/EN Franka Emika GmbH ©...

  • Page 105: Verification Of Communication

    -0.016294, -0.999017,0,0.305468,-0.00814133,0.483198,1], "O_T_EE_d": [0.998582,0.0329548,-0.041575,0,0.0336027,-0.999313,0.0149824,0,-0.0410535, -0.0163585,-0.999023,0,0.305444,-0.00810967,0.483251,1], "F_T_EE": [0.7071,-0.7071,0,0,0.7071,0.7071,0,0,0,0,1,0,0,0,0.1034,1], "EE_T_K": [1,0,0,0,0,1,0,0,0,0,1,0,0,0,0,1], "m_ee": 0.73, "F_x_Cee": [-0.01,0,0.03], "I_ee": [0.001,0,0,0,0.0025,0,0,0,0.0017], "m_load": 0, "F_x_Cload": [0,0,0], "I_load": [0,0,0,0,0,0,0,0,0], "m_total": 0.73, "F_x_Ctotal": [-0.01,0,0.03], "I_total": [0.001,0,0,0,0.0025,0,0,0,0.0017], "elbow": [-0.0207622,-1], "elbow_d": [-0.0206678,-1], "tau_J": [-0.00359774,-5.08582,0.105732,21.8135,0.63253,2.18121,-0.0481953], "tau_J_d": [0,0,0,0,0,0,0], 120010/1.0/EN Franka Emika GmbH ©...

  • Page 106: Typical Usage

    X5 – Robot network on the robot base, via robot.franka.de. The Franka Research 3 can now be controlled in two different ways. If you want to control and program the robot by using Apps, you can now do this in the open Franka Further explanations and operating instructions can be found in Chapter 13.6.2 "Franka UI".

  • Page 107: Switching Off And Restarting

    Turn off the system in Desk and wait for the fans to power down. Switch off the power switch on the Control. Wait one minute before restarting Franka Research 3 again. To restart Franka Research 3, switch on the power switch on the back of the Control. Franka Research 3 will start to reboot again.
  • Page 108 OPERATION NOTICE To avoid unintentional restarting of the system, stow the power cord in a safe place. Franka Research 3 is disconnected from the power supply. 120010/1.0/EN Franka Emika GmbH ©...

  • Page 109: Safety Configuration / Watchman

    ISO 10218-1 standard. If the risk analysis shows that these are sufficient, the Franka Research 3 can be integrated and used in the planned working environment of the robot without further changes to the safety configuration after appropriate electrical integration.
  • Page 110 "Test & Jog" and "Teach" scenarios, only adjustments to the existing rules can be made. The factory settings of the Franka Research 3 have a predefined and prepared set of scenarios. If these are suitable for the requirements identified in doing the risk analysis, they can be used immediately.

  • Page 111: Editing Of The Safety Configuration

    Watchman interface. cFig. 12.2: Validated rules Switch to "Draft" mode and start editing. Fig. 12.3: Switch to “Draft” mode After opening a validated safety concept in "Draft" mode, all validation markers are shown in green. 120010/1.0/EN Franka Emika GmbH ©...

  • Page 112: Fig. 12.4: Draft Mode

    Parameters, rules and scenarios that are not affected remain validated and thus green. Fig. 12.5: Validation markers After completing the safety configuration, the overall concept must be validated. The procedure is described in the chapter 12.6 “Validate”. 120010/1.0/EN Franka Emika GmbH ©...

  • Page 113: Safety Setup

    The safety behavior of the connected end effector is defined via the "End Effector Configuration". The following fields can be set: • Description: Free editable description of the end effector • SEEPO Behavior: Determination of when and for which safety shutdowns the end effector is to be switched off. 120010/1.0/EN Franka Emika GmbH ©...

  • Page 114: Creation Of Spheres For Modelling An End Effector Envelope

    It should be noticed that spheres placed far from the end effector flange can be very sensitive to velocity monitoring due to the lever consideration. Fig. 12.8: Configuration of spheres 120010/1.0/EN Franka Emika GmbH ©...

  • Page 115: Creating And Editing Rules

    Up to 16 rules can be created in each of the "Work" and "Assist" scenarios. By clicking on "Create Rule" below the last rule displayed, a new rule is inserted. By clicking on the "Delete" symbol within a rule, it can be deleted. 120010/1.0/EN Franka Emika GmbH ©...

  • Page 116: Structure Of A Rule

    Always violated no safety function is executed. If "Always violated" is selected, the rule is permanently violated if the rule becomes active. Inside/Outside Area a violation is triggered if the robot is inside or 120010/1.0/EN Franka Emika GmbH ©...

  • Page 117: Fig. 12.12: Configuration Of "Activation Space

    With the selection field "Type of area" you can determine whether the robot is not allowed to leave the cuboid area (stay inside area) or not allowed to enter the cuboid area (stay outside area). The tool, flange, wrist and elbow are monitored here. 120010/1.0/EN Franka Emika GmbH ©...

  • Page 118: Fig. 12.13: Monitoring

    If "Maximum Velocity" is selected in the "Safety Function" field of a rule, this area must be configured by clicking on the "Configure" button that appears. The following view opens. 120010/1.0/EN Franka Emika GmbH ©...

  • Page 119: Validate

    After changes have been made to the settings in Watchman, validation must take place. The structure of Watchman is such that rules only need to be validated if an included parameter has been changed and a scenario only if an included rule has been changed. Fig. 12.16: Validation structure 120010/1.0/EN Franka Emika GmbH ©...

  • Page 120: Fig. 12.17: Validating

    Guide the robot in Programming mode so that the defined rules are violated. • Check that the violation state displayed next to the safety function in the Watchman UI changes when the rules are violated at the expected positions/orientations. 120010/1.0/EN Franka Emika GmbH ©...

  • Page 121: Fig. 12.19: Validating Watchman

    Click on "Report & Commit". The security report opens, which is generated from Watchman settings. This report contains all the relevant information for documenting the security functions, including the generated checksum. The report must now be printed and signed. 120010/1.0/EN Franka Emika GmbH ©...

  • Page 122: Fig. 12.20 Safety Report

    The security configuration is now saved and accepted in the system. The validation symbol next to the slide switch is now displayed in green and shows the validated state. By clicking on the validation symbol next to the slide switch, the current checksum of the security configuration is displayed. 120010/1.0/EN Franka Emika GmbH ©...

  • Page 123: Working With Franka Research 3

    The changing of position is called translation, while the changing of orientation is called rotation. The Cartesian motion of a robot always depends on the reference coordinate system, which can be configured for Franka Research 3 via the configuration of the end effector in the administration’s settings of Franka UI. Redundancy As Franka Research 3 has seven joints, the Arm can reach a certain Cartesian pose with various joint configurations.

  • Page 124: Single Point Of Control

    WORKING WITH FRANKA RESEARCH 3 Generating forces The Arm is in intended contact with its surroundings. With the help of the torque sensor signals, a defined force on the point of contact can be generated by the motors. To achieve this, suitable apps or programming are required.

  • Page 125: Fig. 13.1: Control Request

    WORKING WITH FRANKA RESEARCH 3 A user requests control: Fig. 13.1: Control request Fig. 13.2: User management waiting for approval The user who has the SPoC token receives the control request: Fig. 13.3: User request Enforce control It is possible to enforce control if the user has physical access to the robot. Instead of requesting control, the user chooses to enforce control in the dialog displayed after login.

  • Page 126: Fig. 13.4: Enforce Control

    Fieldbus interfaces. The required functionalities are provided for the supported Fieldbus protocols but must be considered during connection implementation. Data access and uncritical actions are possible via Fieldbuses regardless of the token status. Franka Research 3 implements OPC UA server functionality. NOTICE All Fieldbuses have the same rights as the operator role.

  • Page 127: Operating Modes

    Idle Stop (default) Assist Test & Jog (optional) Fig. 13.5: Overview operating modes Franka Research 3 offers the following operating modes: Programming • Idle (default) • Teach a Task (Enabling Button, Guiding Button) • Test & Jog (External Enabling Device, Hold-to-run button in Desk) Execution •...

  • Page 128: Programming

    Step out of the maximum workspace and check whether the taught Task is correctly executed. For this, the velocity can be limited, and the execution can be stopped at any time. Run a Task (3) Once the Task has been taught, Franka Research 3 executes the Task automatically. 120010/1.0/EN Franka Emika GmbH ©...

  • Page 129: Execution

    Franka Research 3 requires attention, or when the user enters values. The lights are lit in the corresponding color of the Franka Research 3 status during other processes. A circular status light in the middle of the Pilot-Disc indicates Franka Research 3’s status as well.

  • Page 130: Step-By-Step Overview Of Operating Modes And Corresponding Status Indicators

    During unlocking, lights are slowly flashing blue. After unlocking, the lights are again blue continuously. The Desk sidebar shows “joints unlocked.” Franka Research 3 is in Work mode. Switch to “Programming” mode in Desk. Franka Research 3 is in “idle” mode.

  • Page 131: Work

    Research 3 enters “monitored stop mode.” 10. Press the Guiding Button and the Enabling Button. Franka Research 3 goes into “Assist” mode and can be guided as part of the Task. 13.4 Work In Work mode, the robot executes its task autonomously. Compared to Test & Jog, there is no External Enabling Device as a safeguard, i.e., the operator needs to be safely separated from dangers presented by the...

  • Page 132: Fig. 13.9: Work Operation

    WORKING WITH FRANKA RESEARCH 3 Maximum workspace Perimeter safeguarding Safeguarded space Precondition • A Task has been created in Teach a Task • The Task has been successfully tested in Test & Jog. • The safety system is running without violations and errors.

  • Page 133: Assist

    WORKING WITH FRANKA RESEARCH 3 NOTICE Any error message is displayed in the sidebar. There, information on the error and how to eliminate it can be viewed. To continue with the execution, press the Play button for one of the Apps.

  • Page 134: Fig. 13.11: Conditions For Motion Enabling In

    WORKING WITH FRANKA RESEARCH 3 In this mode, the operator can move the robot in manual control by pressing the Enabling Button on the robot's Pilot-Grip. Safe Monitored Stand Still (SMSS) Fig. 13.11: Conditions for motion enabling in Assist Mode...

  • Page 135: Franka Ui

    13.6 Franka UI Franka UI is the user interface of the Franka Emika robots. It can be used to program and operate the robot in Desk. General settings can be made via Settings and the necessary safety adjustments are configured via Watchman.

  • Page 136: Fig. 13.13: Download User Manual

    In Desk, you can create Tasks. Tasks are chronological sequences of Apps. Apps, in turn, are the building blocks of a Task and outline the basic abilities of Franka Research 3, e.g. "Grasp", "Put down" or "Press button".
  • Page 137 You can also create, download, clone, rename, or delete tasks. Import a Task by dragging and dropping a Task file downloaded from the current or another robot into the Tasks area. Tasks from an older generation Franka Emika robot system are not supported by Franka Research 3. NOTICE Make sure you always back up system logs, security logs, and created tasks.

  • Page 138: Fig. 13.15: Desk Sidebar

    WORKING WITH FRANKA RESEARCH 3 Pilot Mode: Switching between desk control and end effector control Guiding Mode: Translation Rotation Free User defined Locking Joints: Lock Unlock Activate End Effector: Switch On Switch Off Status indication Robot Status and Messages Status bar Colored display of the robot status, see color table in Chapter 11.1 "Switching On“...

  • Page 139: Fig. 13.16: Watchman

    WORKING WITH FRANKA RESEARCH 3 Watchman With the Watchman web application, only a “Safety Operator” user can edit, validate, and integrate safety settings. However, any user is authorized to view the current safety settings in Watchman. To view the current safety settings in Watchman, click "WATCHMAN" in the top menu bar or go to https://robot.franka.de/watchman in the browser.
  • Page 140 WORKING WITH FRANKA RESEARCH 3 System Overview Modbus TCP Settings Network Settings System Settings User Management Franka World Synchronisation End Effector configuration Safety Overview of the system status System information about the control System information about the arm Network information of the connected networks...

  • Page 141: Apps

    For more information, read chapter 10.8 “Practical Tips for Usage and Positioning of Franka Research 3”. NOTICE Before executing any Task with Franka Research 3, make sure to read chapter 11 “OPERATION” first. 13.6.3 Creating a Task Procedure To create and select a new Task, click on the “+”-symbol in Tasks and assign a name.

  • Page 142: Task Settings

    WORKING WITH FRANKA RESEARCH 3 13.6.4 Task settings Procedure Click on the Task’s name in the top left corner of Desk. Set the parameters for robot speed, compliance/stiffness, and sensitivity thresholds. NOTICE Navigation and parameterization can also be done via buttons on the Pilot.

  • Page 143: Pose Teaching

    WORKING WITH FRANKA RESEARCH 3 Fig. 13.18: App parameterization NOTICE The Pilot (buttons) can also be used for navigation and parameterization. 13.6.6 Pose teaching CAUTION Unexpected movement of Arm Incorrect set mass and center of gravity values may lead to injuries, such as crushing.

  • Page 144: Pose Fine Adjustment

    WORKING WITH FRANKA RESEARCH 3 Fig. 13.19: App interface Click on necessary Step in the App Guide the Arm as described in chapter 13.6.9 “Guiding” Stop guiding the Arm. Release the buttons when the correct pose is reached. Confirm the pose by pressing the Teach button.

  • Page 145: Guiding Configurations

    WORKING WITH FRANKA RESEARCH 3 Fig. 13.20: Pose fine adjustment 13.6.8 Guiding configurations In Guiding mode, the motion of the Arm follows the corresponding guiding configuration, which is displayed in the sidebar. The guiding configuration can be changed by pressing the Guiding-Mode Button on top of the Pilot-Grip.

  • Page 146: Fig. 13.21: Overview Of Switching Between Hand-Guiding-Modes

    WORKING WITH FRANKA RESEARCH 3 Translation Rotation Free User Fig. 13.21: Overview of switching between Hand-Guiding-Modes Fig. 13.22: Illustration of Hand Guiding If “User mode” is selected, the user can select constraints for guiding: Fig. 13.23: Settings, if “User mode” is selected Necessary guiding components To guide the Arm, use the Pilot.

  • Page 147: Guiding

    Step back into the maximum workspace to start the guiding. For more information on the Pilot, see chapter 6.1 ”The Arm”. For more information, see chapter 10.8 “Practical Tips for Usage and Positioning of Franka Research 3”. 13.6.9 Guiding CAUTION Unexpected movement of Arm Incorrect set mass and center of gravity values may lead to injuries, such as crushing.

  • Page 148: Editing End Effector Settings

    DIN EN 1032:2009-02. 13.6.10 Editing end effector settings A correct configuration is essential for operating Franka Research 3. When configuration is incorrectly, gravitational forces are not entirely compensated, and the Arm controls to the wrong target values. Procedure Go to Franka UI.

  • Page 149: Test & Jog

    WORKING WITH FRANKA RESEARCH 3 13.6.11 Test & Jog NOTICE Before executing any Task with Franka Research 3, make sure to read chapter 11 “OPERATION” first. Initiating motion An optional countdown for Task execution can be configured and edited in Settings.

  • Page 150: Franka Control Interface (Fci)

    WORKING WITH FRANKA RESEARCH 3 • The operator must check that all other persons have left the safety zone. • The operator must direct his full attention to the pending robotic motion. Procedure To enable the robot, press the button on the External Enabling Device.Optional: Select an appropriate execution speed in the “Operation”...

  • Page 151: Working In Principle With The Fci Interface

    Jacobian matrix of all robot joints. • Dynamics: inertia matrix, Coriolis and centrifugal vector and gravity vector. In addition, franka_ros and franka_ros2 connects Franka Emika Research robots with the entire ROS and ROS2 ecosystem. It integrates libfranka into Control. Additionally, it includes...
  • Page 152 Below you will find the source code of the example " generate_joint_position_motion.cpp " from libfranka to explain the structure of a script. // Copyright (c) 2017 Franka Emika GmbH // Use of this source code is governed by the Apache-2.0 license, see LICENSE #include <cmath>...
  • Page 153 As mentioned before, the control of the robot requires a profound knowledge of C++ programming. NOTICE To intercept the immediate start of the robot's movement, Franka Emika recommends to create a query procedure at the beginning of a script, which will execute the program only after active confirmation. Such queries can also be found in the sample scripts in libfranka.

  • Page 154: Troubleshooting

    X4 (External Enabling Device) are highlighted in pink in Desk. Franka Research 3 indicator is lit or flashes The system has identified a warning in the system. yellow The system might work with the active warning or not, depending on the type of warning.

  • Page 155: Fig. 13.26: Message "A Joint Limit Has Been

    Arm pulls strongly in one direction during teaching Immediately check the settings for the end effector and make sure that the correct end effector has been selected and configured. Make sure Franka Research 3 is mounted on a plain surface within the permitted tilt tolerance.

  • Page 156: Fig. 13.27: Message With Display Of The Faulty Joint

    WORKING WITH FRANKA RESEARCH 3 Fig. 13.27: Message with display of the faulty joint Now activate the External Enabling Device and click on "Move Joint Out Of Limit". Hold both until the following message appears: Fig. 13.28: Confirmation joint is back in the limit The joint is now inside the movement limit again.

  • Page 157: Fig. 13.30: Message With Display Of Failed Joints

    WORKING WITH FRANKA RESEARCH 3 Fig. 13.30: Message with display of failed joints Click on any joint that has been reported failed. The view for restoring the joint is displayed. Fig. 13.31: Joint recovery locked Now activate the External Enabling Device and keep it pressed until the recovery of the joint is completed.

  • Page 158: Fig. 13.32: Joint Recovery Ready For Movement

    WORKING WITH FRANKA RESEARCH 3 Fig. 13.32: Joint recovery ready for movement Then click on the "Move Joint To Ref. Position" button and keep it pressed until the reference position is reached on the robot. Alternatively, the "+ / -" keys can also be used to move the robot.

  • Page 159: Fig. 13.34: Confirmed Joint Recovery

    WORKING WITH FRANKA RESEARCH 3 Fig. 13.34: Confirmed Joint recovery Now carry out the described procedure for all other joints that are still indicated as failed. If you do not hold the buttons to move, the following message appears: Fig. 13.35: Message Button not held If you end the procedure before reaching the reference position, the following message appears: Fig.

  • Page 160: Fig. 13.38: Confirm The Complete Recovery

    Shut down the robot, unplug it from its power source, and remove the connecting cable between the Arm and Control. For information on how to safely shut down Franka Research 3, see section Disconnecting Franka Research 3 from the power supply in chapter 11.6 “Switching Off and Restarting”.

  • Page 161: Troubleshooting While Using Fci

    WORKING WITH FRANKA RESEARCH 3 If no damage can be observed, carefully but firmly reattach the cable and make sure it sits tight. Power up the robot. If the issue persists, contact your service partner or support@franka.de by providing the serial number of the Arm.

  • Page 162: Managing Franka Research 3

    Franka Emika’s products and services. Franka World provides tools for managing Franka Research 3, access to an online store that features a continuously growing portfolio of software and hardware products, and the possibility of becoming part of an active and passionate community.

  • Page 163: Hub

    To see all registered robots, click on Devices. 14.3 Hub Hub is the central knowledge section within Franka World. It provides access to documentation, tutorials, codes, and updates about our Franka Emika robot and its interfaces. Find more information on https://franka.world/. 120010/1.0/EN...

  • Page 164: Updates

    MANAGING FRANKA RESEARCH 3 14.4 Updates System updates Updates for the operating system can be downloaded conveniently via the "Franka World" tab in the Settings view. To do this, the robot must have online access to Franka World. The Control regularly checks for available updates to the operating system and displays them in the "Franka World"...

  • Page 165: Backup

    MANAGING FRANKA RESEARCH 3 14.5 Backup A Backup of the Control consists of several relevant categories of Control data. These are usually: Safety Configuration of the system, Network Settings, ModBus-Configuration, End effector configuration, User configuration, created Tasks. With the actual available firmware or previous versions of the Control, a system backup must be performed manually in five individual steps.

  • Page 166: Network Setting

    MANAGING FRANKA RESEARCH 3 14.5.2 Network Setting To save the network settings, proceed with the steps below: Open the „Settings“ on Desk ✓ Select „NETWORK“ tab ✓ Take a screenshot of this view and save it in the created backup directory.

  • Page 167: Saving Of The Created Tasks

    MANAGING FRANKA RESEARCH 3 14.5.5 Saving of the created Tasks The created Tasks can be downloaded individually in the „DESK“-View. To download a Task, proceed with the steps below: Open the „Settings“ on Desk ✓ Select the desired Tasks ✓...

  • Page 168: Maintenance And Disposal

    15 MAINTENANCE AND DISPOSAL 15.1 Maintenance The Arm and Control of the Franka Research 3 are designed for maintenance-free operation of approx. 20,000 hours under normal operating conditions. The normal operating conditions used as a basis were derived from various representative applications of the robot system and verified by analyses and tests. If a customer application deviates greatly from these underlying operating conditions, the duration may be extended or shortened under certain circumstances.

  • Page 169: Disposal

    Do not use liquid cleaning agents for cleaning the devices. 15.3 Disposal Disposal Disposal of Franka Research 3 must comply with the relevant country-specific laws, standards, and regulations. Battery The Control contains a coin cell battery. The cell battery must be disposed of separately according to the relevant country-specific laws, standards, and regulations.

  • Page 170: Service And Support

    16 SERVICE AND SUPPORT NOTICE If you have purchased your Franka Research 3 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 and reach out to Franka Emika for troubleshooting and further support.

  • Page 171: Fig. 16.1: Rescue System

    Rescue System and are not adopted in the main system after a restart. Fig. 16.2: Network System On this page you can start a download of the log-file or initiate the factory reset. 120010/1.0/EN Franka Emika GmbH ©...

  • Page 172: Fig. 16.3: Log Download And Factory Reset

    After successful installation and booting of the main system, all apps and features can be reinstalled in the main system via the Franka World page. However, previously created tasks can only be restored if they have been saved or backed up separately before. Fig. 16.4: Franka World 120010/1.0/EN Franka Emika GmbH ©...

  • Page 173: Hardware Exchange

    Switch to the "MANAGE" view in the menu bar. All Control units registered to you or your company are now listed here. Select the Control unit of concern. All system information of the robot as well as the features installed on the Control are displayed. 120010/1.0/EN Franka Emika GmbH ©...

  • Page 174: Fig. 16.6: Device Detail View

    Fig. 16.7: Sync-prompt After reading the update data, the "DISCARD" and "APPLY" buttons appear. To apply, click on "APPLY". 10. Depending on the change, the system may reboot. After completion, "Everything up-to-Date" appears in the view. 120010/1.0/EN Franka Emika GmbH ©...

  • Page 175: Fig. 16.8: Everything Up-To-Date

    15. switch to the MANAGE view and check whether the new Control is displayed. 16. Select the new Control and open the view by clicking on it. 17. You will now see the data of the new Control and all the features available in your account. 120010/1.0/EN Franka Emika GmbH ©...
  • Page 176 For the situation that the Control can no longer be started and thus synchronization with Franka World is no longer possible, the licenses of the old Control must be detached from the defective Control by the support of Franka Emika GmbH. To do this, send an e-mail with the following information to Support at: support@franka.de: •...

  • Page 177: Appendix

    The following diagram shows the stopping times and stopping distances of axes 1 to 4 according to the requirement from EN ISO 10218-1. The following table illustrates the joint positions for the different extension states of the Franka Research 3. Extension 100% Extension 66%...

  • Page 178: Stop Category 1

    [s] [rad] 0,803 0,735 0,798 0,682 0,684 0,534 0,455 0,418 17.2.1 Joint 1 Fig. 17.2: Distance; Stopp Cat 1; Joint 1, 33% Fig. 17.3: Time; Stopp Cat 1; Joint 1 33% 120010/1.0/EN Franka Emika GmbH ©...

  • Page 179: Fig. 17.4: Distance; Stopp Cat 1; Joint 1 66

    APPENDIX Fig. 17.4: Distance; Stopp Cat 1; Joint 1 66% Fig. 17.5: Time; Stopp Cat 1; Joint 1 66% Fig. 17.6: Distance; Stopp Cat 1; Joint 1 100% 120010/1.0/EN Franka Emika GmbH ©...

  • Page 180: Joint 2

    APPENDIX Fig. 17.7: Time; Stopp Cat 1; Joint 1 100% 17.2.2 Joint 2 Fig. 17.8: Distance; Stopp Cat 1; Joint 2 33% Fig. 17.9: Time; Stopp Cat 1; Joint 2 33% 120010/1.0/EN Franka Emika GmbH ©...

  • Page 181: Fig. 17.10: Distance; Stopp Cat 1; Joint 2 66

    APPENDIX Fig. 17.10: Distance; Stopp Cat 1; Joint 2 66% Fig. 17.11: Time; Stopp Cat 1; Joint 2 66% Fig. 17.12: Distance; Stopp Cat 1; Joint 2 100% 120010/1.0/EN Franka Emika GmbH ©...

  • Page 182: Joint 3

    APPENDIX Fig. 17.13: Time; Stopp Cat 1; Joint 2 100% 17.2.3 Joint 3 Fig. 17.14: Distance; Stopp Cat 1; Joint 3 33% Fig. 17.15: Time; Stopp Cat 1; Joint 3 33% 120010/1.0/EN Franka Emika GmbH ©...

  • Page 183: Fig. 17.16: Distance; Stopp Cat 1; Joint 3 66

    APPENDIX Fig. 17.16: Distance; Stopp Cat 1; Joint 3 66% Fig. 17.17: Time; Stopp Cat 1; Joint 3 66% Fig. 17.18: Distance; Stopp Cat 1; Joint 3 100% 120010/1.0/EN Franka Emika GmbH ©...

  • Page 184: Joint 4

    APPENDIX Fig. 17.19: Time; Stopp Cat 1; Joint 3 100% 17.2.4 Joint 4 Fig. 17.20: Distance; Stopp Cat 1; Joint 4 66% Fig. 17.21: Time; Stopp Cat 1; Joint 4 66% 120010/1.0/EN Franka Emika GmbH ©...

  • Page 185: Fig. 17.22: Distance; Stopp Cat 1; Joint 4 100

    APPENDIX Fig. 17.22: Distance; Stopp Cat 1; Joint 4 100% Fig. 17.23: Time; Stopp Cat 1; Joint 4 100% 120010/1.0/EN Franka Emika GmbH ©...

  • Page 186: Stop Category 2

    [s] [rad] 0,806 0,743 0,805 0,684 0,695 0,542 0,455 0,417 17.3.1 Joint 1 Fig. 17.24: Distance; Stopp Cat 2; Joint 1 33% Fig. 17.25: Time; Stopp Cat 2; Joint 1 33% 120010/1.0/EN Franka Emika GmbH ©...

  • Page 187: Fig. 17.26: Distance; Stopp Cat 2; Joint 1 66

    APPENDIX Fig. 17.26: Distance; Stopp Cat 2; Joint 1 66% Fig. 17.27: Time; Stopp Cat 2; Joint 1 66% Fig. 17.28: Distance; Stopp Cat 2; Joint 1 100% 120010/1.0/EN Franka Emika GmbH ©...

  • Page 188: Joint 2

    APPENDIX Fig. 17.29: Time; Stopp Cat 2; Joint 1 100% 17.3.2 Joint 2 Fig. 17.30: Distance; Stopp Cat 2; Joint 2 33% Fig. 17.31: Time; Stopp Cat 2; Joint 2 33% 120010/1.0/EN Franka Emika GmbH ©...

  • Page 189: Fig. 17.32: Distance; Stopp Cat 2; Joint 2 66

    APPENDIX Fig. 17.32: Distance; Stopp Cat 2; Joint 2 66% Fig. 17.33: Time; Stopp Cat 2; Joint 2 66% Fig. 17.34: Distance; Stopp Cat 2; Joint 2 100% 120010/1.0/EN Franka Emika GmbH ©...

  • Page 190: Joint 3

    APPENDIX Fig. 17.35: Time; Stopp Cat 2; Joint 2 100% 17.3.3 Joint 3 Fig. 17.36: Distance; Stopp Cat 2; Joint 3 41% Fig. 17.37: Time; Stopp Cat 2; Joint 3 41% 120010/1.0/EN Franka Emika GmbH ©...

  • Page 191: Fig. 17.38: Distance; Stopp Cat 2; Joint 3 66

    APPENDIX Fig. 17.38: Distance; Stopp Cat 2; Joint 3 66% Fig. 17.39: Time; Stopp Cat 2; Joint 3 66% Fig. 17.40: Distance; Stopp Cat 2; Joint 3 100% 120010/1.0/EN Franka Emika GmbH ©...

  • Page 192: Joint 4

    APPENDIX Fig. 17.41: Time; Stopp Cat 2; Joint 3 100% 17.3.4 Joint 4 Fig. 17.42: Distance; Stopp Cat 2; Joint 4 66% Fig. 17.43: Time; Stopp Cat 2; Joint 4 66% 120010/1.0/EN Franka Emika GmbH ©...

  • Page 193: Fig. 17.44: Distance; Stopp Cat 2; Joint 4 100

    APPENDIX Fig. 17.44: Distance; Stopp Cat 2; Joint 4 100% Fig. 17.45: Zeit; Stopp Cat 2; Joint 4 100% 120010/1.0/EN Franka Emika GmbH ©...

  • Page 194: Response Times

    Safe position accuracy needs to be considered while parameterizing the safety functions to be used in an application. How much of a margin needs to be used is highly dependent on the aforementioned factors, and therefore needs to be evaluated and validated individually. 120010/1.0/EN Franka Emika GmbH ©...

  • Page 195: Glossary

    The Emergency Stop Device must be connected to the system to stop Franka Research Stop Device 3 and execute a Cat. 1 Stop in case of an emergency. This will cause Franka Research 3 to brake at maximum capacity and the locking bolts to mechanically lock the Arm.
  • Page 196 CFR part 15 regulating radio, satellite, and cable communications. It regulates issues regarding the electromagnetic compatibility of devices. Franka Emika Franka Emika GmbH (abbreviated FE) is the company name. We have developed and now GmbH produce Franka Research 3. Franka...
  • Page 197 The integrator is responsible for the safety of the final application. Interaction Franka Research 3 is designed to be easily programmed and operated, and to learn and relearn new Tasks quickly. When Franka Research 3 is in “monitored stop” mode or is being guided (teaching mode), Franka Research 3’s base is white to indicate that the...
  • Page 198 The responsible person for Franka Research 3 includes but is not limited to the entrepreneur, the director of the institute, the employer, or a delegate responsible for the use of Franka Research 3.
  • Page 199 Watchman Watchman is a web browser accessible user interface to set and visually validate safety- related parameters of Franka Research 3, e.g., safety-related monitored speed or safety- related monitored spaces. It is part of the Franka UI. Web browser A software application running on an interface device, serving as the Franka UI connection.

  • Page 200: Index

    Franka Control Interface ....106, 150, 151 Apps ..........96, 141, 142, 162 FCI ............. 106, 150, 151 Arm .......... 13, 17, 40, 48, 56, 65 Franka Emika GmbH ..........7 Manually Moving the Arm ........ 24 Franka Store ............196 Unpacking the Equipment ......... 57 Franka UI ..........
  • Page 201 Safeguarded space ..........61 Creation of spheres for modelling an End Effector envelope ........114 Safety Concept ............ 26 Editing of the Safety Configuration ....111 Safety Functionalities......... 29 End effector configuration ......113 Safety rules ............26 120010/1.0/EN Franka Emika GmbH ©...
  • Page 202 INDEX General Safety Settings ........113 Safety Setup ............113 Safe Input Configuration .........113 Structure of a rule ..........116 Safety configuration .........109 Validate .............. 119 120010/1.0/EN Franka Emika GmbH ©...

  • Page 203: Table Of Figures

    Fig. 11.4: Network Initial Configuration ..... 95 Fig. 10.6: Open box from Arm......59 Fig. 11.5: Franka World registration....95 Fig. 10.7: Unpack arm ..........59 Fig. 11.6: Creating Administrator ......96 Fig. 10.8: Lift out arm ..........59 120010/1.0/EN Franka Emika GmbH ©...
  • Page 204 Fig. 13.11: Conditions for motion enabling in Fig. 16.1: Rescue System ........171 Assist Mode ............134 Fig. 16.2: Network ..........171 Fig. 13.12: Login Franka User interface ... 135 Fig. 16.3: Log Download and Factory Reset ... 172 120010/1.0/EN Franka Emika GmbH ©...
  • Page 205 Fig. 17.25: Time; Stopp Cat 2; Joint 1 33% ..186 Fig. 17.26: Distance; Stopp Cat 2; Joint 1 66% .................. 187 Fig. 17.27: Time; Stopp Cat 2; Joint 1 66% ..187 Fig. 17.28: Distance; Stopp Cat 2; Joint 1 100% .................. 187 120010/1.0/EN Franka Emika GmbH ©...
  • Page 206 TABLE OF FIGURES Franka Emika GmbH Frei-Otto-Straße 20 80797 Munich Germany 120010/1.0/EN Franka Emika GmbH ©...

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