Franka Emika Panda Instruction Manual

Franka Emika GmbH ©October 2018 1
USER HANDBOOK
PANDA
ENG

Franka Emika GmbH © October 2018
2

Franka Emika GmbH ©October 2018 3
ORIGINAL USER HANDBOOK
© Copyright 2018
Franka Emika GmbH
Infanteriestraße 19
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 criticism at [email protected]
The English documentation is the ORIGINAL DOCUMENTATION. Other languages are
translations of this original document.
RELEASE VERSION: 1st of October 2018

Franka Emika GmbH © October 2018
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LEGAL FRAMEWORK
• About this User Handbook
• Panda - CE out of the box soluons
• Noce of liability
• Sta
• Intended purpose of Panda
• Panda’s conformies
INTRODUCTION
• Terms
• About us - Franka Emika GmbH
• This is Panda
- The Panda Power Tool
- Some features
- Equipment overview
- Scope of delivery and addionally
required equipment
SPECIFICATIONS
• Technical specicaon
PRODUCT CONFORMITY
• Declaraon of Incorporaon
- Control with Arm
• Declaraon of Conformity
- Hand
• Further statements
8
20
40
48
CORRECT SITE OF INSTALLATION
• Ambient condions
- Arm and Hand
- Control
54
CONTENT OVERVIEW

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DELIVERY AND TRANSPORT
• Delivery & transport
• Handling & liing
MOUNTING AND INSTALLATION
• Preparing the installaon site
• Unpacking Panda
• Mounng the Arm
• Mounng the Hand
• Unpacking and mounng the Control
• Wiring and electrical installaon
SAFETY CONCEPT
• Sta
• Dangers that Panda may present
• Hazardous and safe areas
• Emergency stop installaon
• Stopping mechanisms
• Fail-safe safety locking system
- Manually moving the Arm in case of emergency
• Operang modes of Panda
- Teach Panda a task
- Step back & check - Check whether the task is being executed correctly
- Let Panda run a task
run your task - automacally
run your task - interacvely
• Carrying out a risk analysis
• Praccal ps for usage and posioning of Panda
• Labeling on the equipment
62
86
90

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START-UP
• Switching on
• Connecng a user interface device
• Soware setup
• Guiding
• Tesng the emergency stop system
• Switching o
INTERACTING & PROGRAMMING
• Direct human-robot interacon
• Creang a task in Desk
- Desk overview
- An App for everything
- Conguring Apps
• Execung the task
- Manual unlocking of Arm and Hand
in cases of emergency
MAINTENANCE, SERVICE & SUPPORT
• Cleaning
• Updates
• Service & Support
- Troubleshoong
• Shut-down, storage and disposal
RIGHTS OF USE & PROPERTY RIGHTS
• Idencaon
• Rights of use and property rights
102
114
126
132
CONTENT OVERVIEW

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Franka Emika GmbH © October 2018
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Safety
LEGAL FRAMEWORK
About this User Handbook
Before installaon, start-up and operaon of the device carefully read this manual
and any addional documentaon related to it. In parcular, take note of the safe-
ty instrucons and general indicaons, which are marked as follows:
Indications
DANGER indicates that nonobservance of instructions or measures will lead
to death or severe injury.
WARNING indicates that nonobservance of instructions or measures may
lead to death or severe injury.
CAUTION indicates that nonobservance of instructions or measures may lead
to minor or moderate injury.
Warnings marked with a yellow exclamation mark indicate general safety-
related information.
SAFETY INSTRUCTION indicates processes that need to be strictly observed.
A text section marked with NOTICE indicates that nonobservance of instruc-
tions or measures may result in damage other than physical injury.
Indicates where further information can be obtained.
DANGER
WARNING
CAUTION
SAFETY -
INSTRUCTION
NOTICE

Franka Emika GmbH ©October 2018 9
The present Panda system is intended exclusively for use as described in
this User Handbook.
Panda has been developed according to the quality standards of ISO 9001.
The producon of our devices is carried out in a producon company cered
according to ISO 9001. A risk assessment according to ANSI/ ISO 12100 has
been carried out through the course of development and is the basis for Panda
and this User Handbook. Misuse can, nevertheless, cause danger to life and
limb and impairments and damages to the robot and other material assets.
Therefore:
• Panda may only be used in perfect technical condion, for its intended
purpose and within the technical specicaons and operang condions,
with awareness of safety and possible dangers
• Use must comply with the instrucons of this User Handbook
• Malfuncons that may impair safety need to be reced immediately
• Modicaons of Panda are not permissible
The producer is not liable for damages caused by misuse as exemplied above.


This manual contains product descripons for the Panda system components Arm, Control and Hand (hereinaer the system
is also simply referred to as Panda).
If you have purchased a Panda – CE out of the box soluon, please be sure to take account of the supplementary documen-
taon including the CE check list provided, in addion to the present basic documentaon. The CE out of the box soluons
have already been assessed by Franka Emika as to their compliance with the Machinery Direcve so that you as a user merely
need to follow and conrm the steps in the CE check list. In this way, you can use Panda as an assembled machine according
to the EU Machinery Direcve 2006/42/EC. Find out more about CE out of the box soluons at:
www.franka.de/apps/

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
Operator
Researcher
Insufficiently qualified staff may cause severe damage to persons or ma-
terial damage to machinery and equipment!
Therefore:
• All persons that may enter the operang area of the Arm need to have
read and understood this documentaon, in parcular the chapter on
safety. They need to be able to use their knowledge and experience to
understand any risks the robot system may present and be adequately
prudent in their behavior.
• The operator has to inform these persons explicitly about the limitaons
and restricons of Panda.
WARNING
The operator of Panda can be e.g. the entrepreneur, director of the instute, the
employer or a delegate responsible for the use of Panda. The operator is respon-
sible for compliance with regulaons of occupaonal health and the operaonal
safety ordinance (e.g. for the US: e.g. OSHA regulaons and public laws).
These include the following things:
• The operator must fulll his monitoring obligaons.
• The operator must ensure that all sta members working with Panda are
suitably qualied to do so and have been informed about the possible
dangers Panda may present.
• The operator must provide training and instrucons in given intervals in
order to create and consolidate risk awareness.
In this regard, we refer you to the Franka Academy, where appropriate train-
ing courses on the handling of Panda are oered.
https://www.franka.de/training/
User of the Franka Control Interface (hereinaer also referred to as FCI) shall
also take note of further product documentaon on the use of the FCI https://
www.github.com/frankaemika/
LEGAL FRAMEWORK

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Franka Emika GmbH © October 2018
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Intended purpose of Panda
The producer is not liable for damages caused by misuse. All the risk is borne
by the operator alone.
If applicable, already exisng, internal operang policies of the operator, such
as trainings, safety instrucons, operang policies and, possibly, country-
specic restricons are to be taken into account and respected.
The Arm and its control system (hereinaer: Control) with/without mounted
end-eector (e.g. Franka Emika’s Hand) are intended exclusively for industrial
use and use in research. The system may be applied only in the ambient and
operang condions described in this manual for the tasks of:
• tesng and inspecon
• handling
• mounng
When Panda is used for robocs research and the Franka Control Interface (FCI)
is acve, the intended purpose of Panda also includes:
• researching and tesng path planning algorithms
• researching and tesng control algorithms
• researching and tesng gripping strategies
• researching and tesng interacon scenarios
• researching and tesng machine learning algorithms
As long as the FCI is acve, Panda may not be used for commercial purposes.
Intended purpose - Panda
Intended purpose -
Panda research
LEGAL FRAMEWORK

Franka Emika GmbH ©October 2018 13
Modifications of Panda (e.g. fittings, creation of drill holes, etc.) may lead to
damage to the system. This is considered misuse and will lead to the loss of
warranty and liability claims.
Any applicaon dierent to the intended purpose is considered to be misuse and
is not permied. This includes:
• transportaon of people and animals
• use outside of the specied operang limits
• use as climbing assistance or leaning against the roboc arm
• use in potenally explosive areas
• use below ground
• handling of radioacve objects
• use outdoors
• use as a medical product
• use as a service robot arm e.g. for care of the elderly
• use in the vicinity of children
Misuse

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
EU Machinery Direcve – Panda
– CE out of the box soluons
If you have purchased a Panda – CE out of the box soluon you are now the
proud owner of the rst smart assistant of its kind! Similar to any power tool
bought at a hardware store you can operate Panda aer a short check as a com-
plete machine according to the EU Machinery Direcve 2006/42/EC. It has the
corresponding CE marking and there is no need for a risk assessment, you can
get started straight away.
For CE out of the box soluons Franka Emika has already carried out the confor-
mity assessment procedure according to the Machinery Direcve. As long as the
user operates the CE out of the box soluon according to the intended purpose,
Franka Emika’s conformity assessment will remain valid. In order to verify that
Panda is being operated under the ambient and operang condions dened
in the manual, every CE out of the box soluon contains a CE check list. If all
quesons can be answered with “yes”, the enclosed declaraon of conformity is
valid and Panda can be used straight away.
LEGAL FRAMEWORK
user’s tasks
its

Franka Emika GmbH ©October 2018 15
EU Machinery Direcve – Panda
System Components
If one or several of the quesons on the CE check list for the CE out of the box
soluon have been answered with “no” or if you have not purchased a CE out of
the box soluon, the Panda system components (Arm, Control, Hand) are to be
assessed independently by the user as to their compliance with the Machinery
Direcve.
In this case the user needs to carry out a risk assessment independently based on the
contents and correct applicaon of the instrucons in this manual. The user is respon-
sible for implemenng the necessary measures resulng from this assessment before
operang the system and for declaring conformity with the Machinery Direcve.
The corresponding declaraon of incorporaon and the declaraons of conformity
are provided in the chapter: Product Conformity.
The operator is rsponsible for operang Panda and its possible integraon into
a larger installaon or into a larger research apparatus.
The operator is furthermore solely responsible for carrying out a risk assess-
ment based on the contents of this user handbook and implemenng and en-
suring appropriate or necessary measures (e.g. consturconal or oganizaonal
measures) resulng from it.
its

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General safety measures In addition to the “general safety measures” described here, this documen-
tation includes information on safety during installation, start-up, operation,
maintenance, reparation and disposal, which must also be noted.
The system component Control in connecon with the Arm is CE-compliant
according to:
• to EMC Direcve (2014/30/EC)
• and to the Low Voltage Direcve (2014/35/EC).
The Hand is CE-compliant according to:
• to the Machinery Direcve (2006/42/EC)
• and to EMC Direcve (2014/30/EC)
For the declaraons of conformity see chapter: Product Conformity
Control, Arm, Hand and accessory parts are exempt from regulaons according
to RoHs, REACH and WEE direcves. Nevertheless, our products comply with
the requirements according RoHS.
For the corresponding conrmaon, see Chapter/Product Conformity/Further
Declaraons.
EMC Direcve
Low-Voltage Direcve
RoHS, REACH, WEEE
LEGAL FRAMEWORK
FCC In addion to the European EMC Direcve, Panda is also compliant to the US
regulaon FCC rule 47 CFR part 15 for electromagnec compability.
OSHA Within the United States of America, the operator is solely responsible to be
com pliant to the OSHA regulaons (29 CFR part 1910) and to be compliant to
public laws. Supporng the operator’s evaluaon we have added an addional
statement of conformity.
Herein we declare for eaxample that our power supply is NRTL cered by UL,
and the usage of internaonal Standards.
For the corresponding conrmaon, see chapter: Product Conformity/ Further
Informaon.

Franka Emika GmbH ©October 2018 17
WARNING
Funconalies and Features of
Various Safety Levels
Panda oers funconalies and features of various safety levels. They are
described in the chapter “Safety Concept/ Operang modes of Panda”,
where a clear disncon is made between funconalies that are safe to
use and others which are only available as features. These features are
not classied as safety funcons according to EN ISO 13849-1. You may
therefore NOT rely on the availability of these funconalies. When they
are used, dangerous and uncontrolled movements of the roboc arm are to
be expected at any given moment! Such a malfunconing is to be regarded
as extremely rare and will only occur under very unfavorable condions.
Therefore, maintaining aenon focused and alert for any malfunconing
presents a challenge. The menoned movements can lead to risks of crush-
ing, shearing, impact, puncture or penetraon and may cause severe injury.
Therefore:
• When using these features the operator is solely responsible for con-
ducng a risk assessment based on the contents of this manual and
subsequently implemenng appropriate measures (construconal or
organizaonal measures).
• It needs to be ensured that the user is aware that the menoned fea-
tures could be not available.

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Perfect condition
Modifications
Disruptions
Panda may only be used in perfect condition, according to its intended
purpose and with possible dangers and risks in mind. Misuse can cause
personal and material damage. The manufacturer is not liable for damages
caused by misuse.
The Arm is equipped with an ISO end eector ange. Dierent end eectors
can be mounted on it. In our risk assessment, we have only
considered our own gripper (Hand). Should other end eectors be mounted,
the operator is responsible for carrying out the appropriate risk assessment
and implement the corresponding measures. We are not liable for damages
caused by mounted equipment.
Apart from mounng end eectors, modicaons to Panda are not allowed.
Such modicaons may include:
• drilling holes, screw threads in the casing structures (modicaon
of the load carrying capacity of the casing, polluon or damage to
internal parts caused by chippings, etc.)
• varnishing (modicaon of drain-o capacity, contaminaon of the fail-
safe safety locking systems caused by entering of varnish, heang, etc.)
• enwrapping the roboc structure (prevenon of adequate convecon,
etc.)
• opening the devices (if devices are opened by the customer we will
assume that a modicaon has been carried out by the customer)
• etc.
If Panda indicates possible malfuncons or the user noces malfuncons,
these need to be reced before connuing operaon. Unl malfuncons
have been reced the system must remain shut down.
WARNING
WARNING
WARNING
LEGAL FRAMEWORK

Franka Emika GmbH ©October 2018 19
Dead weight
The Arm weighs approx. 18kg, the Control approx. 7kg, the Hand approx. 1kg.
Due to the dead weight and partly geometric design (e.g. mounting flanges),
lifting and handling the device can lead to back injury, and, should it fall, to
serious injury to fingers, hands, toes and feet.
Therefore:
• always wear personal protective equipment (e.g. safety shoes), when
transporting, mounting or demounting these devices
• the devices must be placed such as to prevent tilting or sliding
• when lifting or handling the devices, pay attention to lift correctly (lift
with your legs, not your back)
WARNING
The Arm contains sensive mechanical and mechatronic components. These
can be decalibrated or damaged due to wrong handling or misuse!
Therefore:
• The Arm may only be handled, lied and transported at the points
indicated in this manual in order to avoid overstressing the joints of the
Arm
• The Arm is to be handled gently even when set-up and switched on
or o. If, for example, the arm is moved by force when in stopped and
locked state, an internal safety system is triggered and will cause a
momentary slipping of internal parts. This slipping causes decalibraon
and damage to the Arm
The Arm and Control contain sensive electromechanical components. These
can be decalibrated or damaged by shock!
Therefore:
• Avoid shocks or seng the device down roughly.
• Always store and transport devices in their original packing, even
during transport inside buildings
NOTICE
NOTICE

Franka Emika GmbH © October 2018
20
INTRODUCTION
• Terms
• About us - Franka Emika GmbH
• This is Panda
- The Panda Power Tool
- Some features
- Equipment overview
- Scope of delivery and addionally
required equipment