Franka Emika Panda Instruction Manual

Franka Emika GmbH ©October 2018 1
USER HANDBOOK
PANDA
ENG

Franka Emika GmbH © October 2018
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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
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86
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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
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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/

Franka Emika GmbH © October 2018
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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