Franka Emika HAND User manual

ABOUT FRANKA EMIKA
April 2022 Franka Emika GmbH © 1
FRANKA HAND
Product Manual

ORIGINAL PRODUCT MANUAL
© 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 Franka Hand product manual are:
•Connecting the Franka Hand guide (Document number: 220030)
Documentation number: 220010
Release Version: 1.2 (Dec. 2022)
Get your manual and additional supporting material in English and other languages at
www.franka.de/documents.

220010/1.2/EN 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
5.1 Mechanical Data .................................................................................................................................................10
5.2 Technical drawings.............................................................................................................................................11
5.2.1 Outer dimensions ..........................................................................................................................................11
5.2.2 Interface flange of Franka Hand.................................................................................................................11
5.2.3 Travel range....................................................................................................................................................12
5.2.4 Franka Hand to fingers interface................................................................................................................12
5.2.5 Finger to fingertips interface.......................................................................................................................13
5.2.6 Fingertips.........................................................................................................................................................13
6SCOPE OF DELIVERY ..............................................................................................................................................14
7INSTALLATION..........................................................................................................................................................15
7.1 Correct Site of Installation................................................................................................................................15
7.2 Mounting the Franka Hand ..............................................................................................................................16
7.3 Configuration.......................................................................................................................................................19
8Maintenance...............................................................................................................................................................21
8.1 Cleaning................................................................................................................................................................21
8.2 Disposal ................................................................................................................................................................21
9SERVICE AND SUPPORT ........................................................................................................................................22
10 PRODUCT CONFORMITY ...............................................................................................................................23
10.1 Declaration of Conformity...........................................................................................................................23
10.2 Further Statements .......................................................................................................................................24
10.3 Labeling............................................................................................................................................................24
11 USING THE FRANKA HAND...........................................................................................................................25
12 CUSTOMIZING...................................................................................................................................................27
13 TROUBLESHOOTING .......................................................................................................................................28
14 ADDITIONAL INFORMATION........................................................................................................................29
15 Table of figures ...................................................................................................................................................30
16 Index......................................................................................................................................................................31

ABOUT FRANKA EMIKA
220010/1.2/EN Franka Emika GmbH © 4
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.

ABOUT FRANKA HAND
220010/1.2/EN Franka Emika GmbH © 5
2ABOUT FRANKA HAND
This is Franka Hand
an electrical two-finger parallel gripper produced by Franka Emika. 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
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.

RIGHTS OF USE AND PROPERTY RIGHTS
220010/1.2/EN Franka Emika GmbH © 6
3RIGHTS OF USE AND PROPERTY RIGHTS
3.1 General
Protected trademarks
In this product manual 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.

SAFETY
220010/1.2/EN Franka Emika GmbH © 7
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.

SAFETY
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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 Franka Hand only in connection with compatible Franka Emika robot systems and the associated
intended use. The 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, 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.
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 Franka Hand should operate, see
Technical Specifications.
4.4 Misuse
Misuse of the Franka 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 Franka Handling of radioactive objects
•Use outdoors
•Use as a medical product
•Use in the vicinity of children
•Franka Handling of liquids
•Use outside of the specified operating limits
Modifications to the Franka 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:
•Any adaption of the mechanical structure
•Varnishing

SAFETY
220010/1.2/EN Franka Emika GmbH © 9
•Enwrapping the robotic structure
It is prohibited to open the Franka 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 Franka 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.

TECHNICAL SPECIFICATIONS
220010/1.2/EN Franka Emika GmbH © 10
5TECHNICAL SPECIFICATIONS
5.1 Mechanical Data
Description
Coordinate
Unit
Value
Outer dimension
width
[mm]
63
length
205
height
127
Weight
[g]
730
Center of mass of Franka Hand to end effector flange
X
[mm]
0
Y
10
Z
30
Grasping (continuous) force adjustable
[N]
30-70
Travel Range
[mm]
80
Travel Speed (per finger)
[mm/s]
50
Moment of Inertia [kgm2]
Transformation matrix of end effector flange to Franka Hand (e.g., to center point of fingertips when
closed, as illustrated in the figure below)
Figure 5.1: Center of Gravity

TECHNICAL SPECIFICATIONS
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5.2 Technical drawings
5.2.1 Outer dimensions
Figure 5.2: Outer dimensions
5.2.2 Interface flange of Franka Hand
Figure 5.3: Dimensions of Flange

TECHNICAL SPECIFICATIONS
220010/1.2/EN Franka Emika GmbH © 12
5.2.3 Travel range
Figure 5.4: Travel range
5.2.4 Franka Hand to fingers interface
•Recommended screws: 4x M4x12
•Tightening torque: 2.25 Nm.
Figure 5.5: Franka Hand to finger interface

TECHNICAL SPECIFICATIONS
220010/1.2/EN Franka Emika GmbH © 13
In the scope of delivery of the Franka Hand there are standard fingertips which are suitable to be mounted
to the fingers of the Franka Hand. Should you design and mount other fingers to the Franka 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 Franka Hand will lead to tilting loads. The Franka
Hand is designed and tested for a finger length of 54 mm.
5.2.5 Finger to fingertips interface
•Screws: 2x DELTA PT® 40x10 WN 5451
•Thread diameter: M4
•Tightening torque: 0.3 Nm
Figure 5.6 Fingertips interface
5.2.6 Fingertips
Figure 5.7: Dimensions fingertips
R4

SCOPE OF DELIVERY
220010/1.2/EN Franka Emika GmbH © 14
6SCOPE OF DELIVERY
Scope of delivery and additionally required equipment
Main components:
•Franka Hand
Figure 6.1: Franka Hand
Also included:
a. 1 set of fingertips
b. 2 x DIN7984 M6x12 ST 8.8 screws
c. 1 x ISO2338B Ø6x10 h8 A2 cylindrical pin
d. Connecting the Franka Hand Guide
Figure 6.2: additional material
Additional required equipment:
•Hex key size 4
•A compatible Franka Emika robot system
a
b
c
d

INSTALLATION
220010/1.2/EN Franka Emika GmbH © 15
7INSTALLATION
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 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

INSTALLATION
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7.2 Mounting the Franka Hand
WARNING
Falling Franka Hand
Risk of severe injury, such as crushing to fingers, Franka Hands, upper body, head.
•Ensure the Franka 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 Franka Hand.
WARNING
Falling objects/tools
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 Franka Emika robot is switched off, or the power to the
robot system is cut) which could lead to injury to fingers, Franka 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 Franka 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 Franka Hand.
Required material: 2x Srews (DIN 7984 M6x12 8.8)
1x Cylindrical pin (ISO2338B Ø6h8x10 A2)

INSTALLATION
220010/1.2/EN Franka Emika GmbH © 17
Mounting
Figure 7.1: Mounting of Franka Hand
1. 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 attached on the
side of the Pilot-Grip where the connector is located.
2. Position the Franka Hand with its flange on the end effector flange on the Arm.
3. Attach the Franka Hand with 2 x M6x12 DIN 7984 screws (do not use other types of screws) and use
5 Nm of fastening torque.
4. Insert the plug connector of the Franka Hand into the X6 connector on the Pilot-Grip of the Arm.
Figure 7.2: electrical connection

INSTALLATION
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NOTICE
Material damage to the Franka Hand
Using other screws and a higher torque than mentioned in the manual may lead to damage to the Franka
Hand.
•To fix the Franka Hand, only use 2x M6x12 DIN 7984 screws.
•Only use 5 Nm of torque.
NOTICE
Material damage to the Franka Hand
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 Franka Emika 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!

INSTALLATION
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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 Franka Emika 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 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.

INSTALLATION
220010/1.2/EN Franka Emika GmbH © 20
The default settings of the Franka Hand are as follows:
Figure 7.4: Screenshot default Settings
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 Franka Hand and flange and therefore require a
longer connection cable, see chapter ADDITIONAL INFORMATION.