Franka Emika PANDA RESEARCH User Manual

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USER MANUAL

PANDA RESEARCH

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Page 1 USER MANUAL PANDA RESEARCH...
Page 2 Germany This document and extracts of it may only be reproduced or made available to third parties with the explicit authorization of Franka Emika GmbH. The content of this document has been carefully checked against compliance with the hardware and software described. However, discrepancies cannot entirely be ruled out, which is why we assume no liability for complete compliance.
Page 3 Panda work - collaboratively - Some features • Risk assessment - Device overview • Practical information on how to use and place Panda research - Scope of delivery and additionally required equipment • Name plates and warnings TECHNICAL DATA DELIVERY & TRANSPORT •...
Page 4 START-UP • Switching on • Connecting a user interface device • Software-setup • Guiding • Testing the emergency off system • Switching off INTERACTION & PROGRAMMING • Direct human-robot interaction • Creating Tasks in Desk - Desk overview - An App for everything - Configuring Apps - Parametrizing •...
Page 5 CAUTION indicates that nonobservance of instructions or measures may lead Therefore: to minor injury. Panda research may only be used in perfect technical condition, for its intend- ed purpose and within the technical specifications and operating conditions, with awareness of safety and possible dangers...
Page 6 Panda research. Operator The operator of Panda research can be e.g. the entrepreneur, director of the institute, the employer or a delegate responsible for the use of Panda research. The operator is responsible for compliance with regulations of occupational health and the operational safety ordinance.
Page 7 2006/42/EG and therefore does not comply with all of its requirements. There- • use as climbing assistance or leaning against the robotic arm fore, the operator is prohibited from using or marketing Panda research or parts • use in potentially explosive areas of it in terms of the Machinery Directive.
Page 8 For the commercial version of Panda research, safety-rated functionalities for increasing user safety will be provided. The functionalities for user safety presented for the version Panda research cannot be used as “safety-rated functionalities for the safeguarding of persons” (according to Performance Level d and category 3 of EN ISO 13849-1:2008).
Page 9 Dead weight WARNING WARNING Panda research may only be used in perfect condition, according to its The Arm weights approx. 18kg, the Control approx. 7kg, the Hand approx. 1kg. intended purpose and with possible dangers and risks in mind. Misuse can Due to the dead weight and partly geometric design (e.g.
Page 10 INTRODUCTION • Terminology • About us - Franka Emika • This is Panda research - The powerful tool for research - Some features - Device overview - Scope of delivery and additionally required equipment Franka Emika GmbH © October 2017 October 2017 Franka Emika GmbH ©...
Page 11 PC A PC workstation can optionally Control Interface (FCI), Hand and be connected to the Control via Pilot form the Panda research sys- Ethernet. A workstation is required tem, hereinafter simply referred to for using the real-time interface FCI as Panda of Panda research.
Page 12 Betreiber operator The operator of Panda research can Notentriegelung emergency Emergency unlocking is the process unlocking of using the unlocking tool to unlock be for example the entrepreneur, di- the safety locking system in order to rector of the institute, the employer manually move the Arm.
Page 13 Directive, regulates the electromag- netic compatibility of devices within the European Economic Area, Swit- Kartesisch Cartesian The Cartesian space is the zerland and Turkey three-dimensional space. Franka Emika GmbH © October 2017 October 2017 Franka Emika GmbH ©...
Page 14 ROS interface with ROS control and MoveIt integration, which can be accessed https:/ /w ww.github.com/fran- kaemika/ – franka_ros is part of the Franka Control Interface (FCI) for researchers Franka Emika GmbH © October 2017 October 2017 Franka Emika GmbH ©...
Page 15 The system was developed based on the globally leading German robot technology, and is now produced in series in Allgäu, Bavaria. Panda research has been ready for use for the research community since August 2017; later in 2017 it will also be ready for use in industry, and this is only the beginning of a new generation of universal tools.
Page 16 Panda research Panda research is our sensitive and extraordinarily versatile power tool for research.The torque sensors in all seven axes enable Panda research to skill- fully and delicately manipulate objects. It also enables the user to directly and intuitively interact with the Arm. Using the specially developed programming paradigm, the lightweight robotic system is easy to set up and use, despite its numerous and highly complex capabilities.
Page 17 The Cartesian movement of a robot Virtual walls Our Panda research arm has numerous position sensors in order to identify the always depends on the reference coordinate system, which can be configured for actual positon of the Arm in space.
Page 18 • Between the Control and the power supply there is an emergency off instal- lation that will cut the power to Panda research in case of emergency. • At the base of the Arm an external activation device is connected, in order to deliberately activate movements of the Arm.
Page 19 2 x DIN7984 M6X12 ST 8.8 screw • 1 x ISO2338B 6X10 h8 A2 cylindrical pin • Documentation • User manual • Drilling template for mounting the Arm • Quick installation guides Franka Emika GmbH © October 2017 October 2017 Franka Emika GmbH ©...
Page 21 Desk is deactivated w hen using the SAVE, CANCEL Franka Control Interface (FCI) view ANNEX for further information depending on computing equipment and netw ork setup Franka Emika GmbH © October 2017 October 2017 Franka Emika GmbH © Page 1 of 5...
Page 22 1 x ISO2338B 6X10 H8 A2 cylindrical pin • Tools (not included in scope of delivery of the Hand): View from below • Hex key, size M4 Interface Hand to fingers Franka Emika GmbH © October 2017 October 2017 Franka Emika GmbH ©...
Page 23 [kg x m2] 0.001 0.0025 0.0017 Transformation matrix of end effector flange to Hand (center point of finger tips when closed) 0.707 0.707 -0.707 0.707 0.1034 Franka Emika GmbH © October 2017 October 2017 Franka Emika GmbH ©...
Page 24 CONFORMITIES • Declaration of conformity - Control with Arm - Hand • Further information Franka Emika GmbH © October 2017 October 2017 Franka Emika GmbH ©...
Page 25 CONFORMITIES Declaration of conformity Control with Arm Hand Franka Emika GmbH © October 2017 October 2017 Franka Emika GmbH ©...
Page 27 CORRECT SITE OF INSTALLATION • Ambient conditions - Arm and Hand - Control Franka Emika GmbH © October 2017 October 2017 Franka Emika GmbH ©...
Page 28 • after 100 hours of operation the screws need to be tightened again Set-up altitude with the tightening torque indicated! • <= 2000 m above sea level Franka Emika GmbH © October 2017 October 2017 Franka Emika GmbH ©...
Page 29 • free from aggressive media Therefore: • free from corrosive substances • make sure that the connection of Panda research will not lead to an • free from “flying parts” overload of the electrical installation • free from spraying liquids •...
Page 30 NOTE If a fuse in the upstream power supply of the Control blows, Panda research is disconnected from the power supply. The Arm reacts with braking as much as possible before the fail-safe locking bolts catch in the 7 axes. If the resi- dual energy is not sufficient to bring the Arm to a full stop, the locking bolts may damage the Arm.
Page 31 - Let Panda work Let Panda work - Automatically Let Panda work - Collaboratively • Risk assessment • Practical information on how to use and place Panda research • Name plates and warnings Franka Emika GmbH © October 2017 October 2017...
Page 32 WARNING Persons using Panda research in any form must be in full possession of their physical and mental powers at all times. Failing this, serious injuries may occur. Cleaning may only be carried out by trained users. For information on the correct...
Page 33 An extensive but not definitive list of dangers that generally may be presen- ted by a robot system can be found under ISO 10218-1:2011 ANNEX A. Spe- cial attention will be drawn here to the following dangers that Panda research may possibly present: •...
Page 34 Arm. These are marked with the label emergency unlock. By gently inserting the unlocking tool, the joint is unlocked and the Arm segments below it can be moved manually. Franka Emika GmbH © October 2017 October 2017 Franka Emika GmbH ©...
Page 35 WARNING the manipulator from the the Arm to the baseplate. Panda research is a research object and therefore does not need to be com- baseplate pliant with all requirements for a provision according to the EU Machinery Directive 2006/42/EG, or the corresponding C-norm for industrial robots ISO Moving of fingers with- When the device is turned off, the Hand is not supplied with power either.
Page 36 • Panda research boots up as soon as the Control has been turned on or is supplied with power. At this point the safety locking system is still active, movements are thus mechanically locked. The signal lights on the base and the Pilot flash yellow.
Page 37 “step back & watch”, in order to ensure that full attention is being payed to the robot movement. --> Only now can a movement of the Arm be executed, e.g. using the play button in Desk. Franka Emika GmbH © October 2017 October 2017 Franka Emika GmbH ©...
Page 38 In this case any danger presented by the Arm is limited and therefore easier to take into account. Franka Emika GmbH © October 2017 October 2017...
Page 39 Stopping the robot movement by reaching into the movement, Starting a robot sponds to “automatic mode” as described in EN ISO 10218-1:2012. movement with a gesture such as tapping or similar. Before Panda research can be operated collaboratively, a risk assessment must have been carried out, the result of which must allow for collaborative operation under consideration of the limitations.
Page 40 Furthermore, it is to be made sure that this space is free of obstacles (e.g. cables, objects) to prevent persons from tripping over these obstacles and harming Panda research is a research object and therefore does not need to be com- themselves.
Page 41 WRONG RIGHT DO NOT wear long hair loose, tie it up! DO NOT wear loose clothing or clothing with ribbons! NO loose jewelry such as necklaces or bracelets! Franka Emika GmbH © October 2017 October 2017 Franka Emika GmbH ©...
Page 42 Name plate: Control Name plate: Hand Safety label: Arm Franka Emika GmbH © October 2017 October 2017 Franka Emika GmbH ©...
Page 43 DELIVERY & TRANSPORT Delivery & transport • • Handling & lifting Franka Emika GmbH © October 2017 October 2017 Franka Emika GmbH ©...
Page 44 This slipping causes decalibration and damage to the Arm. Delivery Panda research is delivered in original packaging. The scope of delivery is de- scribed under /Introduction/This is Panda research. Transport pose Since both the Arm and Control contain sensitive electromechanical compo-...
Page 45 Make sure that the end effector has been dismounted before adopting the transport position • Make sure that the operating area allows for safe movement to adopt the transport position Franka Emika GmbH © October 2017 October 2017 Franka Emika GmbH ©...
Page 46 MOUNTING & INSTALLATION • Preparing the site of installation • Unpacking Panda research • Mounting the Arm • Mounting the Hand • Unpacking and mounting the Control • Wiring & electrical installation Franka Emika GmbH © October 2017 October 2017...
Page 47 MOUNTING & INSTALLATION Unpacking Panda research Preparing the site of installation WARNING Dead weight The Arm weighs approx. 18kg, the Control approx. 7kg, the Hand approx. 1kg. Correct site of installation Under/Correct Site of Installation/ the most important requirements for the Due to the dead weight and partly geometric design (e.g.
Page 48 • Make sure the Arm is not exposed to direct sunlight • Make sure that the Arm is not painted, pasted up with something or enwrapped Franka Emika GmbH © October 2017 October 2017 Franka Emika GmbH ©...
Page 49 Only use the screw types listed in this manual • The screwing depth must not exceed 8mm • Only use Panda research when in perfect technical condition • The installation of the emergency off system may only be carried out by qualified personnel.
Page 50 M5x8 screw with lock washer are to be provided. Connecting the interface To operate Panda research via the intuitive programming interface Desk and using device (for operation via Apps: Connecting the Hand to •...
Page 51 • Never connect or disconnect the Hand before safely disconnecting Panda research from the power supply. Connection to the power supply NOTE The connection cable does not support being folded, rolled over or stepped on.
Page 52 START-UP • Switching on • Connecting a user interface device • Software-setup • Guiding • Testing the emergency off system • Switching off Franka Emika GmbH © October 2017 October 2017 Franka Emika GmbH ©...
Page 53 This is sup- Switching on Now you may switch on Panda research for the first time: ported by the two status lights on both sides of the base, which has the respective signalcolor, similar to a traffic light.
Page 54 The interface device must obtain the IP address automatically via DHCP. following steps: • Once Panda research has been switched on, the interface device will auto- • To create an admin: In Desk, click on the user name on the right-hand side matically be assigned an IP address.
Page 55 WARNING If you want to use another gripper or adjust the configuration of the Franka If the end effector is configured incorrectly, Panda research will operate based Hand, select “User Defined” from the dropdown and enter the corresponding on the wrong masses and mass inertia ratios of the end effector. This means values into the text fields.
Page 56 Please read the chapters /Safety Concept/ and /Interaction/Programming/ before using guiding mode for the first time. Not using it correctly may cause serious injury and/or material damage! Unlocking the safety Before Panda research can be moved you need to unlock the safety locking locking system system: •...
Page 57 Testing the emergency off system NOTE As soon as the control is no longer supplied with power, Panda research is The emergency off system must be activated and tested for functional capa- safely stopped and mechanically locked by the fail-safe safety locking system.
Page 58 - An App for everything - Configuring Apps - Parametrizing • Executing a Task - Manual unlocking of Arm and Hand in case of emergency • Available Research Apps Franka Emika GmbH © October 2017 October 2017 Franka Emika GmbH ©...
Page 59 Using the disc on top of the Pilot, different entries for programming can be with each other to offer you intuitive and effective usability for Panda research. made. Disc can be used to navigate in Desk (3), select individual Apps and You can purchase robot apps in the Franka Store and arrange them in Desk to parametrize, e.g.
Page 60 Panda. On the right-hand side important information on Panda’s state is given, for example if the external activation device is open or closed or if an error has occurred. Franka Emika GmbH © October 2017 October 2017...
Page 61 Copy the Task and save it under a new name. Download the Task file and save it locally. The Task can later be moved to the Task area again using drag & drop. Delete the Task. Franka Emika GmbH © October 2017 October 2017 Franka Emika GmbH ©...
Page 62 App will open the corresponding context menu. A red light means that an error has occurred or the safety locking system or the external activation device are still closed. Franka Emika GmbH © October 2017 October 2017 Franka Emika GmbH ©...
Page 63 To confirm the value, press <Enter> on your keyboard or click in a free area on the screen. • Press <Escape> to cancel. The value will then be reset to the previous value. Franka Emika GmbH © October 2017 October 2017 Franka Emika GmbH ©...
Page 64 Left/ Rright: : modify selection value. V: save value and go to next variable to be configured X: if the value has been changed, use X to reset to the previous value Franka Emika GmbH © October 2017 October 2017 Franka Emika GmbH ©...
Page 65 Never carry out an emergency unlock when the Arm is switched on – back and watch) “Play” button in Desk. The App currently being executed will be displayed with a Panda research must always be safely disconnected from the power green frame and Panda will start flashing green.
Page 66 Never carry out an emergency unlock when the Arm is switched on – Arm on joint level. The stiffness for each joint can be defined Panda research must always be safely disconnected from the power here. The lower the value, the softer and more compliant the supply before an emergency unlock.
Page 67 Arm may cover during execution of the App needs to be entered. For this purpose, different limits are defined for devi- ation in X, Y and Z, and an additional limit for the permissible change of orientation. Franka Emika GmbH © October 2017 October 2017 Franka Emika GmbH ©...
Page 68 Then the level on which the movement is to be carried out can be selected. Should the option ‘Apply Force’ have been selected, the values from the ‘Apply Force’ App are used. Franka Emika GmbH © October 2017 October 2017...
Page 70 MAINTENANCE, SERVICE & SUPPORT • Cleaning • Backup • Updates • Service & support - Troubleshooting • Shut-down, storage and disposal Franka Emika GmbH © October 2017 October 2017 Franka Emika GmbH ©...
Page 71 The clicking sound comes from the activation of the safety locking system and is absolu- Loud clicking when tely normal. The locking bolts catch in the joints in order to mechanically lock them. switching off Franka Emika GmbH © October 2017 October 2017 Franka Emika GmbH ©...
Page 72 Control. Then the browser window for Desk can be closed as well. Shut-down, storage and disposal Disposal Shut-down, storage and disposal of Panda research may only take place according to the relevant country-specific laws, standards and regulations. Battery The Control contains a coin cell battery. This battery is to be disposed of sepa- rately according to the relevant country-specific laws, standards and regulations.
Page 74 The operator 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 Panda research can be ac- cessed via Desk. Franka Emika GmbH ©...

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