Franka Emika FRANKA PRODUCTION 3 Manuals

Manuals and User Guides for Franka Emika FRANKA PRODUCTION 3. We have 1 Franka Emika FRANKA PRODUCTION 3 manual available for free PDF download: Product Manual

Franka Emika FRANKA PRODUCTION 3 Product Manual

Franka Emika FRANKA PRODUCTION 3 Product Manual (195 pages)

Brand: Franka Emika | Category: Robotics | Size: 13 MB

Table of Contents

Table of Contents

3
- 1 About Franka Emika
  
  7
- 2 Rights of Use and Property Rights
  
  8
  - General
    8
  - Identification
    8
- 3 Declaration of Incorporation and Certificates
  
  9
- 4 Safety
  
  16
- 5 Roles and Personae
  
  38
- 6 Equipment Overview
  
  41
  - Fig. 6.1: Equipment Overview
    41
  - The Arm
    42
  - Fig. 6.2: Overview Arm
    42
  - Fig 6.3: Pilot
    43
  - Fig. 6.4: Switching Status Enabling Button
    44
  - Fig. 6.5: Enabling Button
    44
  - Fig. 6.6: Guiding Mode Button
    45
  - Fig. 6.7: Guiding Mode Button
    45
  - Fig. 6.8: Guiding Button
    45
  - Fig. 6.9: Guiding Button
    46
  - Fig. 6.10: Connection Ports at Robot Base
    46
  - Control
    48
  - Fig. 6.11: End Effector Flange
    48
  - Fig. 6.12: Dimensions and Connection Ports of Control
    48
- 7 Scope of Delivery and Additional Equipment
  
  50
- 8 Technical Specifications
  
  52
- 9 Transport and Handling
  
  56
  - Ambient Conditions for Delivery and Transport
    57
  - Fig. 9.1: Lifting Positions
    57
- 10 Mounting and Installation
  
  58
- 11 Operation
  
  90
- 12 Safety Configuration / Watchman
  
  102
  - Watchman
    102
  - Overview
    102
  - Fig. 12.1: Watchman
    102
  - Editing of the Safety Configuration
    104
  - Fig. 12.3: Switch to "Draft" Mode
    104
  - Fig. 12.4: Draft Mode
    105
  - Fig. 12.5: Validation Markers
    105
  - Safety Setup
    106
  - Gerneral Safety Settings
    106
  - Safe Input Configuration
    106
  - Endeffektor Configuration
    106
  - Fig. 12.6: Safety Setup
    106
  - Creation of Spheres for Modelling an End Effector Envelope
    107
  - Fig. 12.7: End Effector Configuration
    107
  - Fig. 12.8: Configuration of Spheres
    107
  - Creating and Editing Rules
    108
  - Fig. 12.9: Example of Spheres for Franka Hand
    108
  - Structure of a Rule
    109
  - Fig. 12.10: Editing Rules
    109
  - Fig. 12.11: Structur of a Rule
    109
  - Fig. 12.12: Configuration of „Activation Space
    110
  - Fig. 12.13: Monitoring
    111
  - Fig. 12.14: Creating of Spaces
    111
  - Validate
    112
  - Fig. 12.15: Setting of Speed
    112
  - Fig. 12.16: Validation Structure
    112
  - Fig. 12.17: Validating
    113
  - Fig. 12.18: Validating of Rules
    113
  - Fig. 12.19: Validating Watchman
    114
  - Fig. 12.20 Safety Report
    115
- 13 Working with Franka Production 3
  
  116
  - Robotic Basics
    116
  - Franka UI
    117
  - Fig. 13.1: Login Franka User Interface
    117
  - Fig. 13.2: Download User Manual
    118
  - Fig. 13.3: Desk
    118
  - Fig. 13.4: Desk Sidebar
    120
  - Fig. 13.5: Watchman
    121
  - Fig. 13.6: Menu Settings
    121
  - Apps
    123
  - Operating Modes
    123
  - Fig. 13.7: Overview Operating Modes
    123
  - Fig. 13.8: Procedure
    124
  - Programming
    125
  - Execution
    125
  - Fig. 13.9: Assist Operation
    125
  - Overview of the Status Indicators
    126
  - Step-By-Step Overview of Operating Modes and Corresponding Status Indicators
    126
  - Single Point of Control
    128
  - Fig. 13.10: User Request
    128
  - Fig. 13.11: User Management Waiting for Approval
    129
  - Fig. 13.12: User Request
    129
  - Fig. 13.13: Enforce Control
    130
  - Teach a Task
    131
  - Creating a Task
    131
  - Task Settings
    131
  - Parameterization of Apps
    132
  - Fig. 13.14: App Parameterization
    132
  - Pose Teaching
    133
  - Fig. 13.15: App Interface
    133
  - Pose Fine Adjustment
    134
  - Guiding Configurations
    134
  - Fig. 13.16: Pose Fine Adjustment
    134
  - Fig. 13.17: Overview of Switching between Hand-Guiding-Modes
    135
  - Fig. 13.18: Illustration of Hand Guiding
    135
  - Fig. 13.19: Settings, if "User Mode" Is Selected
    135
  - Guiding
    137
  - Fig. 13.20: Hand Guide Approval
    137
  - Editing End Effector Settings
    138
  - Test & Jog
    139
  - Fig. 13.21: Test & Jog
    139
  - Work
    141
  - Fig. 13.22: Area Assignment
    141
  - Fig. 13.23: Work Operation
    141
  - Assist
    143
  - Fig. 13.24: Indication of Assist Mode
    143
  - Fig. 13.25: Conditions for Motion Enabeling in Assist Mode
    143
  - Troubleshooting
    145
  - Fig. 13.26: Message "A Joint Limit Has Been
    146
  - Fig. 13.27: Message with Display of the Faulty Joint
    146
  - Fig. 13.28: Confirmation Joint Is Back in the Limit
    146
  - Fig. 13.29: Message "Joint Position Error
    147
  - Fig. 13.30: Message with Display of Failed Joints
    147
  - Fig. 13.31: Joint Recovery Locked
    147
  - Fig. 13.32: Joint Recovery Ready for Movement
    148
  - Fig. 13.33: Conformation Position Reached
    148
  - Fig. 13.34: Confirmed Joint Recovery
    149
  - Fig. 13.35: Message Button Not Held
    149
  - Fig. 13.36: Message if Reference Position Not
    149
  - Fig. 13.37: Message Moving Joint Failed
    149
  - Fig. 13.38: Confirm the Complete Recovery
    150
- 14 Managing Franka Production 3
  
  152
  - Franka World
    152
  - Managing Apps and Updates
    152
  - Fig. 14.1: Managing Apps and Features Via Franka World
    152
  - Hub
    153
  - Fig. 14.2: Network Connection of Control
    153
  - Updates
    154
  - Fig. 14.3: Managing of Updates Via Franka World
    154
  - Backup
    155
  - Safety Configuration
    155
  - Network Setting
    156
  - Modbus Configuration
    156
  - End Effector Configuration
    156
  - Fig. 14.4: Network Settings
    156
  - Saving of the Created Tasks
    157
  - Fig. 14.5: Save Tasks
    157
- 15 Maintenance and Disposal
  
  158
  - Maintenance
    158
  - Cleaning
    158
  - Disposal
    159
- 16 Service and Support
  
  160
  - Rescue System
    160
  - Fig. 16.1: Rescue System
    161
  - Fig. 16.2: Network
    161
  - Fig. 16.3: Log Download and Factory Reset
    162
  - Fig. 16.4: Franka World
    162
  - Hardware Exchange
    163
  - Replacing the Control
    163
  - Fig. 16.5: Safety Log
    163
  - Fig. 16.6: Device Detail View
    164
  - Fig. 16.7: Sync-Prompt
    164
  - Fig. 16.8: Everything Up-To-Date
    165
  - Fig. 16.9: Register Control
    165
- 17 Appendix
  
  167
- 18 Glossary
  
  185
- 19 Index
  
  190
Table of Figures

192

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