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Summary of Contents for FRANKA ROBOTICS FRANKA HAND
- Page 1 [Hier eingeben] FRANKA HAND Product Manual April 2022 Franka Robotics GmbH ©...
- Page 2 We are always grateful for your suggestions and comments at documentation@franka.de. The German documentation is the ORIGINAL DOCUMENTATION. Other languages are translations of the original document. Complementary documents to this Franka Hand product manual are: • Quick Guide for Installation Franka Hand (Document number: R50040)
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Page 3: Table Of Contents
Fingertips interface ............................15 5.2.6 Fingertips................................. 15 SCOPE OF DELIVERY .............................. 16 INSTALLATION ................................17 Correct Site of Installation ..........................17 Mounting the Franka Hand ..........................18 Configuration ............................... 21 7.3.1 Mechanical Data ............................21 7.3.2 Integration in Watchman ..........................23 MAINTENANCE................................. - Page 4 14.1 Extending the connector cable ........................34 TABLE OF FIGURES ............................35 INDEX ................................... 36 R50010/1.0/EN Franka Robotics GmbH ©...
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Page 5: About Franka Robotics
1 ABOUT FRANKA ROBOTICS Enabling industrial automation Franka Robotics, formerly known as Franka Emika, is a Munich-based robotics platform company founded in 2016 and is a pioneer in robotics technology with a human sense of touch. The company produces its robots in Germany and offers accessible robotics solutions for industrial automation (Franka Production 3) and AI and robotics research (Franka Research 3). -
Page 6: About Franka Hand
This is Franka Hand an electrical two-finger parallel gripper produced by Franka Robotics. No external cabling is needed. Communication and power supply for the Franka Hand is established via the flange connector of the Arm. Figure 2.1: Overview Franka Hand... -
Page 7: 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 Robotics. Use of open-source codes A complete list of all open-source licenses used by compatible Robots of Franka Robotics can be accessed via the settings menu of the Franka UI. 3.2 Identification... -
Page 8: 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. R50010/1.0/EN Franka Robotics GmbH ©... -
Page 9: Notice Of Liability
Franka Handling, or mounting. Franka Hand may only be used in sound technical condition, for its intended purpose and within the technical specifications and operating conditions, with awareness of safety and possible dangers. -
Page 10: General Possible Dangers And Safety Measures When Working With Robots
Enwrapping the robotic structure It is prohibited to open the Franka Hand enclosure and other equipment. Franka Robotics is not liable for damages caused by mounted, grasped or lost equipment or damages caused by misuse. 4.5 General Possible Dangers and Safety Measures when... -
Page 11: Technical Specifications
| = | 0,0011 ���� ���� ���� �� �� �� 0,0021 ���� ���� ���� Transformation matrix from end effector flange to Franka Hand (e.g., to center point of fingertips when closed, as illustrated in the figure below) R50010/1.0/EN Franka Robotics GmbH ©... -
Page 12: Technical Drawings
TECHNICAL SPECIFICATIONS Figure 5.1: Coordinate system and centre of mass 5.2 Technical drawings 5.2.1 Outer dimensions Figure 5.2: Outer dimensions [mm] R50010/1.0/EN Franka Robotics GmbH ©... -
Page 13: Dimensions Of Flange
TECHNICAL SPECIFICATIONS 5.2.2 Dimensions of flange Figure 5.3: Dimensions of flange [mm] 5.2.3 Travel range Figure 5.4: Travel range [mm] R50010/1.0/EN Franka Robotics GmbH ©... -
Page 14: Finger Adaption Interface
Carry out a risk assessment and implement the measures resulting from it. Gripping of an object at a distance of the finger to the Franka Hand will lead to tilting loads. The Franka Hand is designed and tested for a finger length of 54 mm. -
Page 15: Fingertips Interface
TECHNICAL SPECIFICATIONS 5.2.5 Fingertips interface • Screws: 2x DELTA PT® 40x10 WN 5451 • Thread diameter: M4 • Tightening torque: 0.3 Nm Figure 5.6: Fingertips interface [mm] 5.2.6 Fingertips [mm] Figure 5.7: Dimensions fingertips R50010/1.0/EN Franka Robotics GmbH ©... -
Page 16: Scope Of Delivery
Figure 6.1: Franka Hand Also included: 1 set of fingertips 2 x DIN7984 M6x12 ST 8.8 screws 1 x ISO2338B Ø6x10 h8 A2 cylindrical pin Quick Guide for Installation Franka Hand Figure 6.2: Additional material Additional required equipment: • Hex key size 4 •... -
Page 17: Installation
• -10 °C to + 60 °C (transport) • +5 °C to + 25 °C (storage) Relative air humidity • 20 % - 80 %, non-condensing Set-up altitude • <= 2000 m above sea level R50010/1.0/EN Franka Robotics GmbH ©... -
Page 18: Mounting The Franka Hand
Objects or tools could fall at any time (e.g., due to loose couplings, malfunctions that can cause the Franka Hand to open or when a compatible robot of Franka Robotics is switched off, or the power to the robot system is cut) which could lead to injury to fingers, Franka Hands, toes, and feet. -
Page 19: Figure 7.1: Mounting Of Franka Hand
Figure 7.1: Mounting of Franka Hand If desired, insert the cylindrical pin in the Ø6H7 fit of the flange of the Franka Hand. Should you not use the cylindrical pin, make sure that the side of the Franka Hand with the cable is aligned to the side of the flange where the connector is located. - Page 20 Connecting or disconnecting live cables or connectors during operation may lead to damaging the Arm or the Franka Hand. Do not connect or disconnect the Franka Hand while a compatible robot of Franka Robotics is not safely disconnected from the mains power supply.
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Page 21: Configuration
Franka Hand can be selected from a dedicated dropdown menu. Figure 7.3: Screenshot Power Status If you want to use another gripper or adjust the configuration of the Franka Hand, select “User Defined” from the drop-down menu and enter the corresponding values into the text fields. R50010/1.0/EN... -
Page 22: Figure 7.4: Screenshot Default Settings
The tracking behavior may be affected. For further information, refer to the Franka Production product manual. If you are looking to attach additional tools between the Franka Hand and flange and therefore require a longer connection cable, see chapter 14 ADDITIONAL INFORMATION. -
Page 23: Integration In Watchman
INSTALLATION 7.3.2 Integration in Watchman When using the Franka Hand on compatible Franka robots, the settings for the monitoring safety functions in Watchman must be adjusted. The safety behavior of the connected end effector is defined via the "End Effector Configuration". The following fields can be set: •... -
Page 24: Figure. 7.7: Coordinate System Of Flange
INSTALLATION Figure. 7.7: Coordinate System of Flange Below, an example of the sphere configuration of the Franka Hand is shown. Figure. 7.8: Example of spheres for Franka Hand If your gripping situation is not covered by the spherical model shown above, it must be adapted. Make sure that contours that could lead to collisions are covered by the sphere model. -
Page 25: Figure. 7.9: Example Of Sphere Configuration Franka Hand With A Rod
INSTALLATION The following illustration shows an example of the Franka hand with a gripped rod. The spheres (yellow and purple) at the ends of the rod ensure that the maximum speed at the end of the rod is monitored. Figure. 7.9: Example of sphere configuration Franka hand with a rod R50010/1.0/EN... -
Page 26: Maintenance
Do not use liquid cleaning agents for cleaning the end effector. 8.2 Disposal Disposal Disposal of Franka Hand may only take place according to the relevant country-specific laws, standards, and regulations. Return of packaging waste Please contact Franka Robotics to process any returns of packaging waste. -
Page 27: Service And Support
If you have purchased your compatible Franka robot at one of our sales partners or if you have cooperated with a service provider, please get in contact with them first. Our partners can consolidate information on our products and reach out to Franka Robotics for troubleshooting and further support. Please visit https://franka.world... -
Page 28: Product Conformity
PRODUCT CONFORMITY 10 PRODUCT CONFORMITY 10.1 Declaration of Incorporation Figure 10.1: Declaration of Incorporation for partly completet mashinery R50010/1.0/EN Franka Robotics GmbH ©... -
Page 29: Further Statements
This confirmation was created based on currently available information of our suppliers. WEEE Directive: The product Franka Hand is not subject to the WEEE Directive 2002/96/EC for collection, recycling and recovery for electrical goods. Figure 10.2: Statements 10.3 Labeling Figure 10.3: Label Franka Hand R50010/1.0/EN Franka Robotics GmbH ©... -
Page 30: Using The Franka Hand
Objects or tools could fall at any time (e.g., due to loose couplings). Malfunctions that can cause the Franka Hand to open or when a compatible robot is switched off, or the power to robot system is cut) which could lead to injury to fingers, Franka Hands, toes, and feet. - Page 31 Make sure that the Franka Hand has been removed before bringing the Arm into the transport position. When the device is turned off, the Franka Hand is not supplied with power either. If the fingers of the Franka Hand are jammed, they can be loosened by simply pulling the fingers open. R50010/1.0/EN Franka Robotics GmbH ©...
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Page 32: Customizing
CUSTOMIZING 12 CUSTOMIZING Use Franka Robotics 3D Lab to customize fingertips. 3D Lab is a web-based user interface to design 3D- printable fingertips, for an ideal, ad hoc object grip with your Franka Hand. Access Franka Robotics 3D Lab from https://world.franka.de/fingertip-configurator. -
Page 33: Troubleshooting
If the Franka Hand is still disconnected: Shut down the robot. Check if the Franka Hand is connected properly or if any damages on the pins of the connector can be seen. Also check the connecting cable between Control and Arm for damaged pins or insufficient mounting. -
Page 34: Additional Information
ADDITIONAL INFORMATION 14 ADDITIONAL INFORMATION 14.1 Extending the connector cable To add an equipment mounting flange between Franka Hand and flange, extend the connector cable by adding an extension cable. Figure 14.1: Electric Connection A Binder 8-pin male/female connection: Snap-in IP67 Series 620 is required. - Page 35 Figure. 7.7: Coordinate System of Flange ........................24 Figure. 7.8: Example of spheres for Franka Hand ....................... 24 Figure. 7.9: Example of sphere configuration Franka hand with a rod ..............25 Figure 10.1: Declaration of Incorporation for partly completet mashinery ............28 Figure 10.2: Statements ..............................
- Page 36 SEEPO............10, 18, 30 Fingertips ..............6, 32 Service ............... 27 Flange/interface ............6 Technical specifications ......... 12 Franka Robotics GmbH ........2, 29 Dimensions ............12 Franka UI ..............7, 33 Finger adaption Interface ........14 Guiding / Hand guiding .......... 33 Fingertips ..............
- Page 37 Franka Robotics GmbH Frei-Otto-Strasse 20 80797 Munich Germany...
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