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Franka Emika FRANKA PRODUCTION 3 Product Manual

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

  • Page 1 Product Manual April 2022 Franka Emika GmbH ©...
  • Page 2 Drilling template (Document number: 110050) Document name: Product Manual Franka Production 3 Document number: 110010 Release Version: 1.6 (June 2023), valid for Franka Production 3 with system version 5.3.1 Change Log: Release Version Release Date Changes April. 2022 First Release April 2022 Inserting feedback from TüV...

  • 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 ......................... 75 10.6.4 Wiring ................................76 10.7 Mounting End Effectors ..........................81 10.8 Practical Tips for Usage and Positioning of Franka Production 3 ............83 10.8.1 Energy consumption ............................. 83 10.8.2 ESD limits ................................ 83 10.8.3 Design of the workspace ..........................
  • Page 5 Test & Jog ..............................139 13.8 Work ................................141 13.9 Assist ................................143 13.10 Troubleshooting ............................145 MANAGING FRANKA PRODUCTION 3 ....................152 14.1 Franka World ............................... 152 14.2 Managing Apps and Updates ........................152 14.3 Hub ................................153 14.4 Updates ................................
  • Page 6 Joint 2 ................................178 17.3.3 Joint 3 ................................180 17.3.4 Joint 4 ................................182 17.4 Response times ............................184 17.5 Safe Position Accuracy ..........................184 GLOSSARY ................................ 185 INDEX ................................190 TABLE OF FIGURES ............................192 110010/1.6/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 production 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 Production 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 110010/1.6/EN Franka Emika GmbH ©...
  • Page 10 DECLARATION OF INCORPORATION AND CERTIFICATES 110010/1.6/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) 110010/1.6/EN Franka Emika GmbH ©...

  • Page 13: Labeling On The Equipment

    Three Emergency Unlock Labels on the Arm point to the spots where the Emergency Unlocking Tool needs to be inserted to manually unlock the Fail-safe Locking System in case of an emergency. Fig. 3.2: Emergency unlock label 110010/1.6/EN Franka Emika GmbH ©...

  • Page 14: Fig. 3.3: Hot Surface Label

    Functional earth label The functional earth label points to the spot where functional earth can be connected to the base of the Arm. Fig. 3.4: Functional earth label Grasping position label Fig. 3.5: Grasping position label 110010/1.6/EN Franka Emika GmbH ©...

  • Page 15: Fig. 3.6: Type Label Control

    DECLARATION OF INCORPORATION AND CERTIFICATES Control Type label Fig. 3.6: Type label control 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 110010/1.6/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. 110010/1.6/EN Franka Emika GmbH ©...

  • Page 17: Notice Of Liability

    (e.g., Annex I of Machinery Directive 2006/42/EC). 4.3 Intended Use Franka Production 3 is exclusively intended for industrial use. The system may be applied only in the ambient and operating conditions described in this document for the tasks of, e.g., testing and inspection, handling, or mounting.
  • Page 18 Use outside of the specified operating limits Modifications to Franka Production 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...

  • Page 19: General Possible Dangers And Safety Measures When Working With Robots

    An extensive but not definitive list of dangers that generally may be presented by a robot system can be found under EN ISO 10218-1:2011 ANNEX A. Special attention is drawn here to the following dangers that the Franka Production 3 may present: DANGER...
  • Page 20 Contact with leaking oil may cause eye or skin irritation. Electrical risks may lead to severe injury. • Only use Franka Production 3 in sound technical condition. • Do not use damaged cables, plugs, and mechanical housing for operation. In cases of doubt, contact Franka Emika.
  • Page 21 An offline overload in all the robot's joints may lead to material damage to the robot. • Perform a risk assessment with foreseeable misuse in mind. • Adhere to the system’s warning to take the robot out of operation. 110010/1.6/EN Franka Emika GmbH ©...

  • Page 22: Application Related Possible Dangers And Safety Measures

    Please see section Emergency unlock in chapter 4.9 “Manually Moving the Arm” for more information. Wiring of end effectors NOTICE If an end effector is used with Franka Production 3, the maximum attachable payload is reduced by the weight of the end effector and its external wiring. NOTICE External wiring adds additional loads and torques to the Arm which may influence Franka Production 3‘s...
  • Page 23 Please see section Initiating Motion in chapter 13.7 “Test & Jog” for more information. Single Point of Control Franka Production 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. For more information, see chapter 13.5 “Single Point of Control”.

  • Page 24: Installation Of Safety Peripherals

    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 Production 3 after an intense task execution at maximum payload and extended temperature. WARNING Hot Surfaces and Handguiding At ambient temperatures above 30 °C the robot surface can become too hot to touch.

  • Page 25: Fail-Safe Locking System

    The locking bolts lock with an audible click, causing the Arm to lower a few centimeters, particularly those joints in which gravitational force comes into effect. Unlocking the safety locking system Each axis will move slightly as soon as the safety locking system unlocks. 110010/1.6/EN Franka Emika GmbH ©...

  • Page 26: Manually Moving The Arm

    Insert the unlocking tool in the respective trapezoidal openings and unlock one or more joints one after another. The openings are marked with the “Emergency Unlock” label. The Arm segment can now be moved manually. 110010/1.6/EN Franka Emika GmbH ©...

  • Page 27: Fig. 4.2: Emergency Unlock

    In case of acute mortal danger: Press the emergency stop device to stop the robot from operating. Pull or push the Arm out of the dangerous position manually. Secure the robot arm from falling down. 110010/1.6/EN Franka Emika GmbH ©...

  • Page 28: Safety Concept

    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 Production 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 29 Monitored Standstill. The safety operator can customize the velocity limit for this mode and/or add custom rules. Opening/closing brakes (read-only) Active while the brakes are opened or closed. Extend of motion and speed is safely limited. 110010/1.6/EN Franka Emika GmbH ©...

  • Page 30: Safety Functionalities

    • Before recovery, surface temperatures must be evaluated to be below touchable limits. Cooldown times depend on previously executed motion and ambient temperatures. • Wearing of heat resistant safety gloves for this procedure is advised. 110010/1.6/EN Franka Emika GmbH ©...
  • Page 31 SAFETY NOTICE Franka Production 3 distinguishes between two safety functions: limiting functions and monitoring functions. Limiting functions guarantee that limits are not breached, e.g., stopping times, distances, and tolerances. Monitoring functions are only triggered upon a violation. It is the safety integrator’s obligation to consider stopping times, distances, and tolerances.
  • Page 32 PL d / A violation dialog is shown in the standstill Cartesian space of certain points on Cat.3 Franka UI. the robot structure. The following • Confirm violation by pressing points are monitored: the button. • Flange 110010/1.6/EN Franka Emika GmbH ©...
  • Page 33 1. Confirm violation by pressing the button. distance permitted position No further recovery procedure is necessary. window. This internal safety function is used, e.g., to prevent excessive motion during the brake opening procedure. This is a monitoring function. 110010/1.6/EN Franka Emika GmbH ©...
  • Page 34 The 3-position Enabling Button near the robot's flange is realized in compliance with IEC 60204-1:2016 and IEC 60947-5-8:2006. The 3-position External Enabling Device provided by Franka Emika is realized in compliance with IEC 60204- 1:2016 and [60947-5-8]. The emergency stop provided by Franka Emika complies with IEC 60204-1:2016 and EN ISO 13850:2015.

  • Page 35: Assistance For Planning And Initial Installation Of A Robot System

    Safety of machinery — Integrated manufacturing systems — Basic requirements IEC 60204-1 Safety of machinery - Electrical equipment of machines - Part 1: General requirements ISO 13849-1 Safety of machinery — Safety-related parts of control systems — Part 1: General principles for design 110010/1.6/EN Franka Emika GmbH ©...
  • Page 36 Robot internal safety functionalities (see chapter 4.11 “Safety Functionalities”) ➢ 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 37 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 ). 110010/1.6/EN Franka Emika GmbH ©...

  • Page 38: Roles And Personae

    Intoxicated personnel Intoxicated personnel may cause material damage to machinery and equipment. • Do not operate Franka Production 3 under the influence of drugs, alcohol, or medication impacting reactions. NOTICE User roles should only be assumed by qualified or sufficiently trained personnel. They should be instructed on the conduct in emergency or abnormal situations.
  • Page 39 The responsible person must ensure that all staff members working with Franka Production 3 are suitably qualified to do so and have been informed about the possible dangers Franka Production 3 may present. The responsible person must provide training and instructions in given intervals to create and consolidate risk awareness.
  • Page 40 ROLES AND PERSONAE Operator An operator can access Franka Production 3 and utilize the user interface Franka UI to use Franka Production 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 41: 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 System Power switch Connection to functional earth 110010/1.6/EN Franka Emika GmbH ©...

  • Page 42: 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 110010/1.6/EN Franka Emika GmbH ©...

  • Page 43: 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). 110010/1.6/EN Franka Emika GmbH ©...

  • Page 44: 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 110010/1.6/EN Franka Emika GmbH ©...

  • Page 45: 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. 110010/1.6/EN Franka Emika GmbH ©...

  • Page 46: Fig. 6.9: Guiding Button

    The Data Input-Output carries two non-safe digital inputs and outputs each. The inputs and outputs and the 24 V power supply are galvanically isolated from the robot system and other interfaces at the robot. The functionality of the physical ports depends on the particular software version. 110010/1.6/EN Franka Emika GmbH ©...
  • Page 47 X4 - External enabling The 3-position External Enabling Device will enable “Test & Jog” when the system is in Programming mode. It allows Franka Production 3 to move. Programs can be started via Desk. X5 - Robot network The interface device running the browser-based Franka UI is connected to the X5 Ethernet port.

  • Page 48: 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 Production 3. The main control unit allows monitoring and control of the mechanical structure of the robot.
  • Page 49 Equipment Overview Fig. 6:.13 C3 – Power connector Power switch Installation The Control fits in a 2RU 19” rack. 110010/1.6/EN Franka Emika GmbH ©...

  • Page 50: 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 Accessories 110010/1.6/EN Franka Emika GmbH ©...

  • Page 51: 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 52: Technical Specifications

    The above values refer to a working space 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). 110010/1.6/EN Franka Emika GmbH ©...
  • Page 53 Safety values according to EN ISO 13849-1 PFH for PLd / Cat. 3 safety function < 1 x 10 (Probability of Failures per Hour) PFH for PLb / Cat. b safety function < 1 x 10 (Probability of Failures per Hour) 110010/1.6/EN Franka Emika GmbH ©...
  • Page 54 TECHNICAL SPECIFICATIONS DIMENSIONS AND WORKSPACE Axes alignment without end effector Axes alignment with Franka Hand Axes names with joint lenghts [mm] Workspace side view [mm] Workspace top view [mm] 110010/1.6/EN Franka Emika GmbH ©...
  • Page 55 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. 110010/1.6/EN Franka Emika GmbH ©...

  • Page 56: 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 space. 110010/1.6/EN Franka Emika GmbH ©...

  • Page 57: 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 110010/1.6/EN Franka Emika GmbH ©...

  • Page 58: Mounting And Installation

    External Enabling 2x Digital Inputs e.g. Hand 2x Digital Outputs 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 110010/1.6/EN Franka Emika GmbH ©...

  • Page 59: Unpacking The Equipment

    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. NOTICE Franka Hand is not part of the certified machinery. 110010/1.6/EN Franka Emika GmbH ©...

  • Page 60: 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 110010/1.6/EN Franka Emika GmbH ©...

  • Page 61: Fig. 10.6: Open Box From Arm

    Remove the middle protective layer. Fig. 10.7: Unpack arm Grasp the Arm at the indicated grasping positions carefully, lift it out of the bottom protective layer, and set it aside. Fig. 10.8: Lift out arm 110010/1.6/EN Franka Emika GmbH ©...

  • Page 62: Fig. 10.9: Open Box Of Control

    Remove the top protective layer. Fig. 10.10: Removal packaging Grasp the Control at the indicated grasping positions, carefully lift it out of the bottom protective layer, and set it aside. Fig. 10.11: Lift out control 110010/1.6/EN Franka Emika GmbH ©...

  • Page 63: 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 space in some applications. 110010/1.6/EN Franka Emika GmbH ©...

  • Page 64: 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. 110010/1.6/EN Franka Emika GmbH ©...

  • Page 65: 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 110010/1.6/EN Franka Emika GmbH ©...

  • Page 66: Preparing The Installation Site

    Malfunctions and unexpected motions due to improper installation Risk of severe injury, such as crushing of fingers, hands, upper body, head. • Only switch on the robot when the Arm is properly installed on the platform. 110010/1.6/EN Franka Emika GmbH ©...

  • Page 67: Arm

    10.3.1 Arm Derating When operating Franka Production 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 Production 3 stops its operation.

  • Page 68: Control

    The heat produced by power electronic components and modules inside the Control is dissipated through an internal ventilation system. • Install the Control in an adequately ventilated place. • Do not expose the Control to direct sunlight. 110010/1.6/EN Franka Emika GmbH ©...

  • Page 69: Mounting The Arm

    Handle, lift, and transport the Arm only at the points indicated in this manual to avoid overstressing the joints of the Arm. • The Arm is to be handled gently even when set up and switched on or off. NOTICE 110010/1.6/EN Franka Emika GmbH ©...

  • Page 70: 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. 110010/1.6/EN Franka Emika GmbH ©...

  • Page 71: 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”. 110010/1.6/EN Franka Emika GmbH ©...

  • Page 72: 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 Production 3 in sound technical condition. • Only install the emergency stop and safety peripherals system with qualified personnel.

  • Page 73: 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 110010/1.6/EN Franka Emika GmbH ©...

  • Page 74: 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. 110010/1.6/EN Franka Emika GmbH ©...

  • Page 75: 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 washers M5 • Functional earth cable We recommend using a minimum 1.5 mm section Cu cable, with a maximum length of 5 m. 110010/1.6/EN Franka Emika GmbH ©...

  • Page 76: 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 110010/1.6/EN Franka Emika GmbH ©...

  • Page 77: 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 78: Fig. 10.23: Connection Of External Enabeling

    Interface device ( see chapter 11.3 ”Connecting a User Interface Device”) • 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 110010/1.6/EN Franka Emika GmbH ©...
  • Page 79 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. 110010/1.6/EN Franka Emika GmbH ©...

  • Page 80: 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 Production 3 is connected to the power supply. • Do not connect or disconnect end effectors when Franka Production 3 is connected to the power supply.

  • Page 81: Mounting End Effectors

    Suppose any end effector should be coupled that cannot be connected directly to such connector. In that case, external cabling can be appropriately designed and implemented to power and control the end effector. 110010/1.6/EN Franka Emika GmbH ©...
  • Page 82 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. 110010/1.6/EN Franka Emika GmbH ©...

  • Page 83: Practical Tips For Usage And Positioning Of Franka Production 3

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

  • Page 84: 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 110010/1.6/EN Franka Emika GmbH ©...

  • Page 85: 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 110010/1.6/EN Franka Emika GmbH ©...

  • Page 86: 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 87: 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 Production 3 into transport mode, use the Move to pack pose function in Settings in DESK. Precondition The end effector and attachments must be removed from the Arm.

  • Page 88: 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 grasping positions in twos and carefully put it inside the bottom protective layer. Fig. 10.33: Lifting the arm 110010/1.6/EN Franka Emika GmbH ©...

  • Page 89: 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 110010/1.6/EN Franka Emika GmbH ©...

  • Page 90: Operation

    Cables need to be plugged in correctly. • The external power supply must be connected. • Leave the maximum space. Procedure Switch on the Control. Fig. 11.1: Switching on the control The Control is now switched on. 110010/1.6/EN Franka Emika GmbH ©...

  • Page 91: 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 color schemes represent the following states: 110010/1.6/EN Franka Emika GmbH ©...
  • Page 92 Explanation Approaching the robot* White Not active; ready to Franka Production 3 is running but not in an active The robot is inactive and can be start execution state (either in TEACH or IDLE). It is ready to start approached.

  • Page 93: Safety Relevant Tests Of Franka Production 3

    OPERATION 11.2 Safety Relevant Tests of Franka Production 3 11.2.1 Self-test of the robotic system The self-tests of the Control are executed while the system is running. The Arm is power cycled once to execute the self-tests of the Arm.

  • Page 94: 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. 110010/1.6/EN Franka Emika GmbH ©...

  • Page 95: Connecting A User Interface Device

    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 Production 3 into account that will be switched off by the emergency stop as well. SAFETY-...

  • Page 96: Initial Configuration „First Start

    DHCP, conFig. interface device. The IP address will automatically be assigned once Franka Production 3 has been switched on. Go to your preferred web browser. Enter the following URL: robot.franka.de Press Enter. The website showing the Franka UI opens up.

  • Page 97: 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). 110010/1.6/EN Franka Emika GmbH ©...

  • Page 98: 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 PERSONAE". Confirm the input by clicking on „Next“. The web interface for configuring the end effector is opened.  110010/1.6/EN Franka Emika GmbH ©...

  • Page 99: 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 Production 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 100: 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 Production 3 again. To restart Franka Production 3, switch on the power switch on the back of the Control. Franka Production 3 will start to reboot again.
  • Page 101 Pull the cable from the backside of the Control. NOTICE To avoid unintentional repowering of the system, secure the connecting cable in a safe place. Franka Production 3 is disconnected from the power supply. NOTICE Wait one minute before switching on the Control again.

  • Page 102: Safety Configuration / Watchman

    ISO 10218-1 standard. If the risk analysis shows that these are sufficient, the Franka Production 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 103 "Test & Jog" and "Teach" scenarios, only adjustments to the existing rules can be made. The factory settings of the Franka Production 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 104: 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. 110010/1.6/EN Franka Emika GmbH ©...

  • Page 105: 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”. 110010/1.6/EN Franka Emika GmbH ©...

  • Page 106: 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. 110010/1.6/EN Franka Emika GmbH ©...

  • Page 107: Creation Of Spheres For Modelling An End Effector Envelope

    It should be noted 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 110010/1.6/EN Franka Emika GmbH ©...

  • Page 108: 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. 110010/1.6/EN Franka Emika GmbH ©...

  • Page 109: Structure Of A Rule

    Safety Function: Safety function to be executed when the rule is active. The following selection is possible: Always violated no safety function is executed. If "Always violated" is selected, the rule is permanently violated. Inside/Outside Area a violation is triggered if the robot is inside or 110010/1.6/EN Franka Emika GmbH ©...

  • Page 110: 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. 110010/1.6/EN Franka Emika GmbH ©...

  • Page 111: 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. 110010/1.6/EN Franka Emika GmbH ©...

  • Page 112: 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 110010/1.6/EN Franka Emika GmbH ©...

  • Page 113: 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. 110010/1.6/EN Franka Emika GmbH ©...

  • Page 114: 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. 110010/1.6/EN Franka Emika GmbH ©...

  • Page 115: 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. 110010/1.6/EN Franka Emika GmbH ©...

  • Page 116: Working With Franka Production 3

    Franka Production 3 via the configuration of the end effector in the administration section of Desk. Redundancy As Franka Production 3 has seven joints, the Arm can reach a certain Cartesian pose with various joint configurations. This capability is called redundancy. The part of the robot that can still be moved while keeping the end effector pose the same is often called 'elbow' because it matches the motion capability of the elbow in a human arm.

  • Page 117: Franka Ui

    WORKING WITH FRANKA PRODUCTION 3 NOTICE The robot’s reaction to collisions depends on the user programming and is not a safety feature. 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.

  • Page 118: Fig. 13.2: 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 Production 3, e.g. "Grasp", "Put down" or "Press button". Fig. 13.3: Desk 110010/1.6/EN...
  • Page 119 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 Production 3. NOTICE Make sure you always back up system logs, security logs, and created tasks.

  • Page 120: Fig. 13.4: Desk Sidebar

    WORKING WITH FRANKA PRODUCTION 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 121: Fig. 13.5: Watchman

    WORKING WITH FRANKA PRODUCTION 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 122 WORKING WITH FRANKA PRODUCTION 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 123: Apps

    WORKING WITH FRANKA PRODUCTION 3 13.3 Apps Apps incorporate the entire complexity of the Franka Production 3 system and represent modular building blocks of a production process such as grasping, plugging, insertion, and screwing. Using Desk, Apps can be arranged to create entire Tasks in no time. The created Tasks can quickly be adapted, reused, or deployed on multiple robots to reduce set-up costs remarkably.

  • Page 124: Fig. 13.8: Procedure

    Step out of the maximum space 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 Production 3 executes the Task automatically. 110010/1.6/EN Franka Emika GmbH ©...

  • Page 125: Programming

    WORKING WITH FRANKA PRODUCTION 3 13.4.1 Programming Programming mode is an operating mode in which the robot can be programmed to execute certain Tasks. Teach a Task (Guiding Enabling Device) The administrator teaches the robot by parameterizing the Task and its Apps. This is done by hand-guiding the robot with the Enabling and Guiding Buttons at the Pilot-Grip.

  • Page 126: Overview Of The Status Indicators

    Franka Production 3 requires attention, or when the user enters values. The lights are lit in the corresponding color of the Franka Production 3 status during other processes. A circular status light in the middle of the Pilot-Disc indicates Franka Production 3’s status as well.
  • Page 127 By triggering a safely monitored standstill from the safety configuration (e.g., from safe input), Franka Production 3 enters “monitored stop mode.” 10. Press the Guiding Button and the Enabling Button. Franka Production 3 goes into “Assist” mode and can be guided as part of the Task. 110010/1.6/EN Franka Emika GmbH ©...

  • Page 128: Single Point Of Control

    WORKING WITH FRANKA PRODUCTION 3 13.5 Single Point of Control The system provides Single Point of Control (SPoC) functionality to comply with regulations. This means that only one user at a time can trigger critical actions, i.e., edit system settings and Tasks, or trigger active robot actions like unlocking joints and running Tasks.

  • Page 129: Fig. 13.11: User Management Waiting For Approval

    WORKING WITH FRANKA PRODUCTION 3 Fig. 13.11: User management waiting for approval The user who has the SPoC token receives the control request: Fig. 13.12: 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 130: Fig. 13.13: 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 Production 3 implements OPC UA server functionality. NOTICE All Fieldbuses have the same rights as the operator role.

  • Page 131: Teach A Task

    For more information, read chapter 10.8 “Practical Tips for Usage and Positioning of Franka Production 3”. NOTICE Before executing any Task with Franka Production 3, make sure to read chapter 11 “OPERATION” first. 13.6.1 Creating a Task Procedure To create and select a new Task, click on the “+”-symbol in Tasks and assign a name.

  • Page 132: Parameterization Of Apps

    WORKING WITH FRANKA PRODUCTION 3 13.6.3 Parameterization of Apps WARNING Falling objects from end effectors during initial installation Objects falling from the gripper lead to injuries to hands, fingers, feet, and toes. • Always wear personal protective equipment (e.g., safety shoes).

  • Page 133: Pose Teaching

    WORKING WITH FRANKA PRODUCTION 3 NOTICE The Pilot (buttons) can also be used for navigation and parameterization. 13.6.4 Pose teaching CAUTION Unexpected moving of Arm Incorrect set mass and center of gravity values may lead to injuries, such as crushing.

  • Page 134: Pose Fine Adjustment

    WORKING WITH FRANKA PRODUCTION 3 13.6.5 Pose fine adjustment Procedure Click the App in which you want to adjust the pose. The context menu appears. Right-click on the pose you want to adjust in the context menu. Adjust the Cartesian pose of the end effector translationally and/or rotationally via the plus/minus keys (2) in single steps.

  • Page 135: Fig. 13.17: Overview Of Switching Between Hand-Guiding-Modes

    WORKING WITH FRANKA PRODUCTION 3 • Free The Arm can be moved freely. All seven joints can be moved. • User The user can define the guiding behavior for each Cartesian translation and rotation axis. The elbow can be movable or fixed.
  • Page 136 WORKING WITH FRANKA PRODUCTION 3 Necessary guiding components To guide the Arm, use the Pilot. NOTICE Operate Desk directly via the touchscreen or using your mouse/keyboard. NOTICE The motion speed in Teach or Hand Guiding-Mode is pre-set. In the settings of Watchman, the speed can be reduced according to the risk evaluation of the Arm within its application.

  • Page 137: Guiding

    WORKING WITH FRANKA PRODUCTION 3 13.6.7 Guiding CAUTION Unexpected moving of Arm Incorrect set mass and center of gravity values may lead to injuries, such as crushing. • Check the mass and center of gravity for any end effector and the objects grasped by it.

  • Page 138: Editing End Effector Settings

    DIN EN 1032:2009-02. 13.6.8 Editing end effector settings A correct configuration is essential for operating Franka Production 3. When configuration is incorrectly, gravitational forces are not entirely compensated, and the Arm controls to the wrong target values.

  • Page 139: Test & Jog

    WORKING WITH FRANKA PRODUCTION 3 13.7 Test & Jog NOTICE Before executing any Task with Franka Production 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 140 WORKING WITH FRANKA PRODUCTION 3 Testing SAFETY-INSTRUCTION Precondition • The robot has learned a Task. • The External Enabling Device must be connected to X4. • The operator must have left the maximum space. • The operator must check that all other persons have left the safety zone.

  • Page 141: Work

    WORKING WITH FRANKA PRODUCTION 3 13.8 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 Arm (acc.
  • Page 142 WORKING WITH FRANKA PRODUCTION 3 NOTICE Noise levels during operation < 70 dB (A) Procedure Switch to the “Execution” operating mode Press the Play Button in Desk. A confirmation dialog is shown. Confirm the dialog. The robot executes the learned task.

  • Page 143: Assist

    WORKING WITH FRANKA PRODUCTION 3 13.9 Assist The Assist mode is a state of the Execution operating mode. This mode enables collaborative operation with manual guidance in accordance with ISO 10218-1. In order for it to be usable, this mode must be explicitly enabled by a safety operator in Watchman.
  • Page 144 WORKING WITH FRANKA PRODUCTION 3 Condition for initiating Assist Mode: • Activated Assist-Mode in the Safety Settings in Watchman. This activation can only be done by a safety operator. • The robot must be in Safe Monitored StandStill (SMSS). For this purpose, a rule must be created in the Work Scenario in Watchman that brings the robot into the safe monitored state (Safe Monitored Stand Still).

  • Page 145: Troubleshooting

    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 Production 3 is mounted on a plain surface within the permitted tilt tolerance.

  • Page 146: Fig. 13.26: Message "A Joint Limit Has Been

    WORKING WITH FRANKA PRODUCTION 3 Joint limit error In the event of a joint limit error, a joint of the robot was moved out of the permissible movement range. The following error message appears: Fig. 13.26: Message “A joint limit has been violated”...

  • Page 147: Fig. 13.29: Message "Joint Position Error

    WORKING WITH FRANKA PRODUCTION 3 Joint position error In the presence of a joint position error, the position data of a joint has been lost in the control system. This can be caused, for example, by a power failure with the brakes open. To rectify this error, a procedure is required that enables the position assignment or joint calibration to be restored.

  • Page 148: Fig. 13.32: Joint Recovery Ready For Movement

    WORKING WITH FRANKA PRODUCTION 3 Now activate the External Enabling Device and keep it pressed until the recovery of the joint is completed. Click on the unlock icon of the joint. NOTICE When operating the External Enabling Device, make sure that you are outside the hazardous area to check the execution of the recovery from a safe distance.

  • Page 149: Fig. 13.34: Confirmed Joint Recovery

    WORKING WITH FRANKA PRODUCTION 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 150: 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 Production 3, see section Disconnecting Franka Production 3 from the power supply in chapter 11.5 “Switching Off and Restarting”.
  • Page 151 WORKING WITH FRANKA PRODUCTION 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 152: Managing Franka Production 3

    Franka Emika’s products and services. Franka World provides tools for managing Franka Production 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 153: 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/. 110010/1.6/EN...

  • Page 154: Updates

    MANAGING FRANKA PRODUCTION 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 155: Backup

    MANAGING FRANKA PRODUCTION 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 156: Network Setting

    MANAGING FRANKA PRODUCTION 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 157: Saving Of The Created Tasks

    MANAGING FRANKA PRODUCTION 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 158: Maintenance And Disposal

    15 MAINTENANCE AND DISPOSAL 15.1 Maintenance The Arm and Control of the Franka Production 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 159: Disposal

    Do not use liquid cleaning agents for cleaning the devices. 15.3 Disposal Disposal Disposal of Franka Production 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 160: Service And Support

    16 SERVICE AND SUPPORT NOTICE If you have purchased your Franka Production 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 161: 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. 110010/1.6/EN Franka Emika GmbH ©...

  • Page 162: 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 110010/1.6/EN Franka Emika GmbH ©...

  • Page 163: 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. 110010/1.6/EN Franka Emika GmbH ©...

  • Page 164: 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. 110010/1.6/EN Franka Emika GmbH ©...

  • Page 165: 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. 110010/1.6/EN Franka Emika GmbH ©...
  • Page 166 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 167: 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 Production 3. Extension 100% Extension 66%...

  • Page 168: Stopp 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% 110010/1.6/EN Franka Emika GmbH ©...

  • Page 169: 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% 110010/1.6/EN Franka Emika GmbH ©...

  • Page 170: 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% 110010/1.6/EN Franka Emika GmbH ©...

  • Page 171: 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% 110010/1.6/EN Franka Emika GmbH ©...

  • Page 172: 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% 110010/1.6/EN Franka Emika GmbH ©...

  • Page 173: 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% 110010/1.6/EN Franka Emika GmbH ©...

  • Page 174: 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% 110010/1.6/EN Franka Emika GmbH ©...

  • Page 175: 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% 110010/1.6/EN Franka Emika GmbH ©...

  • Page 176: Stopp 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% 110010/1.6/EN Franka Emika GmbH ©...

  • Page 177: 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% 110010/1.6/EN Franka Emika GmbH ©...

  • Page 178: 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% 110010/1.6/EN Franka Emika GmbH ©...

  • Page 179: 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% 110010/1.6/EN Franka Emika GmbH ©...

  • Page 180: 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% 110010/1.6/EN Franka Emika GmbH ©...

  • Page 181: 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% 110010/1.6/EN Franka Emika GmbH ©...

  • Page 182: 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% 110010/1.6/EN Franka Emika GmbH ©...

  • Page 183: 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% 110010/1.6/EN Franka Emika GmbH ©...

  • Page 184: 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. 110010/1.6/EN Franka Emika GmbH ©...

  • Page 185: Glossary

    Franka Store and be parametrized in Desk to form entire automation tasks. The Arm is a tactile robotic arm with seven axes. It is part of Franka Production 3. Axes The Arm consists of seven consecutive axes. The motion is created in the axes.
  • Page 186 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 Production 3. Franka...
  • Page 187 Franka Production 3 is designed to be easily programmed and operated, and to learn and relearn new Tasks quickly. When Franka Production 3 is in “monitored stop” mode or is being guided (teaching mode), Franka Production 3’s base is white to indicate that the Arm is ready for interaction.
  • Page 188 The responsible person for Franka Production 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 Production 3. RoHS Directive...
  • Page 189 Watchman Watchman is a web browser accessible user interface to set and visually validate safety- related parameters of Franka Production 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 190: Index

    INDEX 19 INDEX Additionally Equipment ......... 50 Franka Emika GmbH ..........7 Administrator ............38 Franka Store ............187 Apps ..........98, 123, 132, 153 Franka UI ..........8, 23, 29, 117 Arm .......... 13, 17, 42, 50, 58, 67 Franka World ........
  • Page 191 Settings-Schnittstelle ...........121 Safety Setup ............106 Single Point of Control (SpoC) ......128 Structure of a rule ..........109 Single Point of Control (SPoC) ....23, 128 Validate .............. 112 Site of installation ..........64, 65 110010/1.6/EN Franka Emika GmbH ©...

  • Page 192: Table Of Figures

    Fig. 11.4: Network Initial Configuration ..... 97 Fig. 10.6: Open box from Arm......61 Fig. 11.5: Franka World registration....97 Fig. 10.7: Unpack arm ..........61 Fig. 11.6: Creating Administrator ......98 Fig. 10.8: Lift out arm ..........61 110010/1.6/EN Franka Emika GmbH ©...
  • Page 193 Fig. 13.16: Pose fine adjustment ....... 134 Fig. 16.6: Device detail view ......164 Fig. 13.17: Overview of switching between Hand- Fig. 16.7: Sync-prompt ........164 Guiding-Modes ............135 Fig. 16.8: Everything up-to-date ....... 165 110010/1.6/EN Franka Emika GmbH ©...
  • Page 194 .................. 177 Fig. 17.27: Time; Stopp Cat 2; Joint 1 66% ..177 Fig. 17.28: Distance; Stopp Cat 2; Joint 1 100% .................. 177 Fig. 17.29: Time; Stopp Cat 2; Joint 1 100% ... 178 110010/1.6/EN Franka Emika GmbH ©...
  • Page 195 TABLE OF FIGURES Franka Emika GmbH Frei-Otto-Straße 20 80797 Munich Germany 110010/1.6/EN Franka Emika GmbH ©...

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