Franka Emika HAND User manual

April 2022 Franka Emika GmbH © 1
FRANKA HAND
Product Manual

April 2022 Franka Emika GmbH © 2
ORIGINAL HANDBOOK
© Copyright 2022
Franka Emika GmbH
Frei-Otto-Straße 20
80797 Munich
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.
In the interest of our customers, we reserve the right to undertake improvements and corrections to
hardware, software, and documentation at any point in time without notice.
We are always grateful for your suggestions and comments at [email protected].
The English documentation is the ORIGINAL DOCUMENTATION. Other languages are translations of this
original document.
Complementary documents to this Hand product manual are:
•Connecting the Hand guide (Document number:220030)
Documentation number: 220010
Release Version: 1.0 (2022)
Get your manual and additional supporting material in English and other languages at
www.franka.de/documents.

April 2022 Franka Emika GmbH © 3
TABLE OF CONTENTS
1ABOUT FRANKA EMIKA........................................................................................................................................... 4
2ABOUT FRANKA HAND ........................................................................................................................................... 5
3RIGHTS OF USE AND PROPERTY RIGHTS .......................................................................................................... 6
3.1 General.................................................................................................................................................................... 6
3.2 Identification.......................................................................................................................................................... 6
4 SAFETY.......................................................................................................................................................................... 7
4.1 S afety Instructions and General Indications ...................................................................................................7
4.2 Notice of Liability.................................................................................................................................................. 8
4.3 Intended Use ......................................................................................................................................................... 8
4.4 Misuse..................................................................................................................................................................... 8
4.5 General Possible Dangers and Safety Measures when Working with Robots......................................... 9
5TECHNICAL SPECIFICATIONS ..............................................................................................................................10
6SCOPE OF DELIVERY ..............................................................................................................................................13
7MOUNTING AND INSTALLATION.......................................................................................................................14
7.1 Correct Site of Installation................................................................................................................................14
7.2 Mounting the Hand............................................................................................................................................15
7.3 Configuration.......................................................................................................................................................17
8DISPOSAL ...................................................................................................................................................................19
8.1 Cleaning................................................................................................................................................................19
8.2 Disposal ................................................................................................................................................................20
9SERVICE AND SUPPORT ........................................................................................................................................21
10 PRODUCT CONFORMITY ...............................................................................................................................22
10.1 Declaration of Conformity...........................................................................................................................22
10.2 Further Statements .......................................................................................................................................23
10.3 Labeling............................................................................................................................................................23
11 USING THE HAND.............................................................................................................................................24
12 CUSTOMIZING...................................................................................................................................................26
13 TROUBLESHOOTING .......................................................................................................................................27
14 ADDITIONAL INFORMATION........................................................................................................................28
15 INDEX ...................................................................................................................................................................29

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1ABOUT FRANKA EMIKA
Enabling industrial automation
Franka Emika (FE) is a German tactile robotics platform company.
Our mission is to provide robotics as production services, making it intuitive and universally accessible for
everyone. With this mission in mind, we redefined robotics with cost-efficient and the most easy-to-use
robot for industrial automation –the Franka Production 3 robot.
Our human-centered design in the technology with seven axes is tactile and safety certified, making it
available for all kinds of use cases in the industry.
Our AI-enabled collective learning platform enables scalable software solutions and reduces learning time
and resources to a minimum with intuitive and simple programming.
We provide an inclusive robotics platform with hardware and software –operating within one ecosystem.
Designed, developed, manufactured, and serviced in Germany.
Introducing Franka World –a digital robotics platform
After redefining robotics and establishing a community, we launched a novel digital robotics platform to
interconnect the digital world with the physical world.
Franka World allows community interaction between researchers, partners, customers, developers,
suppliers, and robots. In addition, all users can easily gain integrated access to products and services and
manage their entire robot fleets, independent of their physical location.
We strive for a world where everyone can use a robot, and we can reach that by connecting the world. We
treasure our community of robotics professionals, academics, and enthusiasts, from whom we learn every
single day.
As members of the community ourselves, we commit to supporting each other and thriving together.
Franka Emika –a certified robotics platform with tactile intelligence

April 2022 Franka Emika GmbH © 5
2ABOUT FRANKA HAND
This is Franka Hand
is an electrical two-finger parallel gripper produced by Franka Emika. No external cabling is needed.
Communication and power supply for the Hand is established via the flange connector of the Arm.
Figure 2.1
1
Finger
4
Screw holes
2
Fingertip
5
Flange to Arm
3
Plug
6
Hole for alignment pin
Fingertips The fingertips can easily be changed and adapted to the objects to be grasped (e.g.
using 3D-printed fingertips).
Fingers The fingers can also be mounted in a rotated orientation in order to increase the span
length of the gripper.
Plug The plug is simply plugged into the X6 end effector connector port on the grip of the
Arm.
Interface/flange The interface/flange of Franka Hand is designed according to DIN ISO 9409-1-A50.

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3RIGHTS OF USE AND PROPERTY RIGHTS
3.1 General
Protected trademarks
In this handbook we refer to protected trademarks that are not designated explicitly as such in the
continuing text. The absence of such indication may not imply that the corresponding product name is free
of third-party rights. The following trademarks are protected trademarks:
•Franka and Franka Emika are registered trademarks.
Trademark 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 compatible Franka Emika robots can be accessed via the
settings menu of the Franka UI.
3.2 Identification
Removal of identification
Copyright notices, serial numbers, and any other kind of labelling serving to identify the product or
operating software may not be removed or modified.

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4 SAFETY
4.1 S afety Instructions and General Indications
Before installation, start-up, and operation of the device, carefully read this manual and any additional
documentation related to it. Take note of the safety instructions as well as general indications.
Warning notices are posted as follows:
CAUTION
Type of hazard
Potential consequences of hazard
Evasive/avoidance actions to be taken
Warning notices
The following warning notices are used in this manual:
DANGER
DANGER indicates a hazardous situation that, if not avoided, will result in death or serious injury.
WARNING
WARNING indicates a hazardous situation that, if not avoided, could result in death or serious injury.
CAUTION
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.

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4.2 Notice of Liability
Franka Hand has been developed according to the relevant quality standards. A hazard and risk assessment
according to EN ISO 12100 has been carried out through the course of development and is the basis for
Franka Hand and this manual.
The present document includes assembly instructions for compatible Franka Emika robots as partly
completed machinery. It contains descriptions of the conditions which must be met with a view to correct
incorporation in the final machinery, so as not to compromise safety and health (e.g. Annex I of Machinery
Directive 2006/42/EC).
4.3 Intended Use
Use the Hand only in connection with compatible Franka Emika robot systems and the associated intended
use. Franka Hand can be used for research and industrial use.
The end effector 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.
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.
The present Franka Hand end effector is intended exclusively for use as described in this manual.
For the normal and extended working conditions under which the Hand should operate, see Technical
Specifications.
4.4 Misuse
Misuse of the Hand voids the manufacturer's warranty and liability. Any application different to the
intended purpose is considered a misuse and is not permissible.
WARNING
Misuse may lead to danger to life and limb, impairments, damage to the robot, and other material
assets. The manufacturer is not liable for damages caused by misuse.
Misuse is any use that deviates from the warnings, notices, and instructions in this manual, in particular, but
not limited to, the following uses:
•Transportation of people and animals
•Transportation without original packaging
•Use in potentially explosive areas
•Use below ground
•Use in handling of radioactive objects
•Use outdoors
•Use as a medical product
•Use in the vicinity of children
•Handling of liquids
•Use in any position other than upright
•Use outside of the specified operating limits
Modifications to the Hand that are not explicitly permitted by Franka Emika are not allowed and will lead to
loss of warranty and liability claims. Not permitted modifications include, but are not limited to, the
following:

April 2022 Franka Emika GmbH © 9
•Any adaption of the mechanical structure
•Varnishing
•Enwrapping the robotic structure
It is prohibited to open the Hand enclosure and other equipment.
Franka Emika 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
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.
Before putting the Hand into use with a robot, an application-specific risk assessment (e.g., according to
EN ISO 12100 and/or EN ISO 10218-2) must be performed by the integrator.
SEEPO (“Safe End Effector Power Off” safety function) may be configured in the robot accordingly. For
more information, see chapter Safety Settings and Watchman in the relevant Franka Production product
manual.

April 2022 Franka Emika GmbH © 10
5TECHNICAL SPECIFICATIONS
Technical drawings
Interface flange of Hand
(tightening torque for fastening the Hand to the robot: M6, quality 8.8: 9.8 Nm)
Figure 5.1
Hand to fingers interface
•Hand to fingers screws: 4x M4x12
•Thread diameter: 4 mm
•Tightening torque: 2.25 Nm.
Finger to fingertips screws: 2x DELTA PT®40x10 WN 5451
•Thread diameter: 4 mm
•Tightening torque: 0.3 Nm

April 2022 Franka Emika GmbH © 11
Figure 5.2
Finger to fingertips interface
Figure 5.3

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In the scope of delivery of the Hand there are standard fingertips which are suitable to be mounted to the
fingers of the Hand. Should you design and mount other fingers to the Hand, the following needs to be
noted:
Production standard
Carry out a risk assessment and implement the measures resulting from it.
Gripping of an object at a distance of the finger to the Hand will lead to tilting loads. The Hand is designed
and tested for a finger length of 54 mm.
Mechanical data
Weight of Hand [kg] 0.73
Center of mass of Hand to end effector flange [m]
Figure 5.4
Inertia tensor [kgm2]
Figure 5.5
Transformation matrix of end effector flange to Hand (i.e., to center point of fingertips when closed, as
illustrated in the figure below)
Figure 5.6
Figure 5.7
Grasping (continuous) force [N] adjustable: 30-70
Travel span [mm] 80
Travel speed (per finger) [mm/s] 50

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6SCOPE OF DELIVERY
Scope of delivery and additionally required equipment
Main components:
•Hand
Figure 6.1
Also included:
•1 set of fingertips
•2 x DIN7984 M6x12 ST 8.8 screws
•1 x ISO2338B 6x10 h8 A2 cylindrical pin
•Connecting the Hand Guide
Figure 6.2
Additional required equipment:
•Hex key size 4
•A compatible Franka Emika robot system

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7MOUNTING AND INSTALLATION
7.1 Correct Site of Installation
Ambient conditions
Site of installation
•Indoors, in enclosed buildings
•Not exposed to direct sunlight
•No vibrations
•External magnetic fields are allowed in the magnitude of the earth’s magnetic field only
Type of installation
•Screwing connection to a compatible Franka Emika robot’s end effector flange
Protection class
•IP 20 (according to EN 60529:1991)
Ambient medium
•Air
•Free from flammable substances (dust, gas, liquid)
•Free from aggressive media
•Free from corrosive substances
•Free from “flying parts”
•Free from spraying liquids
•Free from pressurized airstreams
Pollution degree
•Degree 2 (according to IEC 60664)
Only dry, non-conductive pollution occurs; occasionally temporary conductibility caused by condensation
may occur.
Ambient temperature
•+15 °C to 25 °C (typical)
•+5 °C to + 45 °C (extended)
•-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

April 2022 Franka Emika GmbH © 15
7.2 Mounting the Hand
WARNING
Falling Hand
Risk of severe injury, such as crushing to fingers, hands, upper body, head.
•Ensure the Hand is mounted correctly.
WARNING
Risk of electric shock
Risk of personal injury by electric shock.
•Disconnect the Arm from the mains power supply before mounting the Hand.
WARNING
Falling objects/tools
Objects or tools could fall at any time (e.g., due to loose couplings, malfunctions that can cause the Hand
to open or when a compatible FrankaEmika robot is switched off, or the power to the robot system is
cut) which could lead to injury to fingers, hands, toes, and feet.
•Take this into consideration while performing a hazard and risk assessment
•Take also the SEEPO into account in the risk assessment because the Hand will only be powered if
brakes are open due to a configuration of the SEEPO
WARNING
Falling and/or flying tools from the robot
Tools that remain inserted in the robot may turn into projectiles during later motions of the Arm and lead
to injuries.
•Do not leave any tools inside the robot.
Precondition: The robot is switched off before mounting the Hand.
Required material: 2x M6x12
Cylindrical pin
Mounting
1. If desired, insert the cylindrical pin in the H7 fit of the flange of the Hand.
2. Position the Hand with its flange on the end effector flange on the Arm.
Should you not use the cylindrical pin, make sure that the side of the Hand with the cable is attached on the
side of the Pilot-Grip where the connector is located.
3. Attach the Hand with 2 x M6x12 screws (do not use other types of screws) and use 5 Nm of
fastening torque.
4. Insert the plug connector of the Hand into the X6 connector on the Pilot-Grip of the Arm.

April 2022 Franka Emika GmbH © 16
Figure 7.1
NOTICE
Material damage to the Hand
Using other screws and a higher torque than mentioned in the manual may lead to damage to the Hand.
•To fix the hand, only use 2x M6x12 screws.
•Only use 5 Nm of torque.
NOTICE
Material damage to the Hand
Connecting or disconnecting live cables or connectors during operation may lead to damaging the Arm or
the Hand.
•Do not connect or disconnect the Hand while a compatible FrankaEmika robot is not safely
disconnected from the mains power supply.
NOTICE
Using the above-mentioned screws, the screw-in depth is 8mm. This should never be exceeded!

April 2022 Franka Emika GmbH © 17
7.3 Configuration
WARNING
Unexpected motions during guiding due to incorrectly configured end effectors
Incorrectly configured end effector mass and inertia may result in the gravitational forces not being fully
compensated for. The resulting and unexpected behavior of the robot including end effector may lead to
injuries such as crushing, tearing of skin, and puncturing.
•Always check the configuration of the end effector.
•When copying an already parametrized app or task to another compatible FrankaEmika robot
system, ensure that the end effector configuration is still identical to the original one.
When first starting compatible Franka Emika robots –by means of the initial configuration –or at a later
point in time by accessing the end effector settings, the Hand can be selected from a dedicated dropdown
menu.
Figure 7.2
If you want to use another gripper or adjust the configuration of the Hand, select “User Defined” from the
drop-down menu and enter the corresponding values into the text fields.

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The default settings of the Hand are as follows:
Figure 7.3
A correct configuration is essential for operating compatible Franka Emika robots. When configured
incorrectly, gravitational forces are not entirely compensated and the Arm regulates to the wrong target
values.
CAUTION
Unexpected moving of Arm
Incorrectly 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.
•Correct the value if necessary.
When configured incorrectly:
•The Arm may pull towards certain directions in Guiding Mode.
•The regulation in Operating Mode may be affected so that the expected sensitivity of the Arm for
collision detection is reduced.
•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 Hand and flange and therefore require a longer
connection cable, see chapter ADDITIONAL INFORMATION.

April 2022 Franka Emika GmbH © 19
8DISPOSAL
8.1 Cleaning
DANGER
Risk of electric shock
Improper use of liquid cleaning agents as well as incorrectly disconnecting devices from the mains supply
can lead to fatal accidents.
•Do not clean devices that have not been safely disconnected from the mains supply.
•Do not use liquid cleaning agents for cleaning the devices.
•Do not switch on devices that have not fully dried.
The following things need to be kept in mind while cleaning:
•Cleaning may only be carried out by qualified persons.
•Cleaning of components is only permissible when compatible Franka Emika robots are safely
disconnected from the power supply (Control disconnected from the mains).
•Switching off and unplugging the device is to be carried out by qualified
•persons.
•Do not spray any liquids directly onto the device.
•Do not use any cleaning chemicals.
•The components may only be cleaned using a dry cloth. Make sure that no moisture enters the
devices.
•Do not apply great force to the Arm. The parts to be cleaned are to be
•supported manually, so as not to overload and possibly damage the Arm.
•Restarting is only permitted when all surfaces have dried completely.
NOTICE
Material damage to the end effector
•Do not use liquid cleaning agents for cleaning the end effector.

April 2022 Franka Emika GmbH © 20
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 Emika to process any returns of packaging waste.