Franka Emika Panda Instruction Manual

Franka Emika GmbH ©October 2018 1
USER HANDBOOK
PANDA
ENG

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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

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INTERACTING & PROGRAMMING
Direct human-robot interacon
We provide several soware and hardware components that interact smoothly
with each other to oer you intuive and eecve usability for Panda. You can
purchase robot apps in the Franka Store and arrange them in Desk to form Tasks.
These Tasks can then be saved and archived. You can operate Desk directly on the
computer or from the Pilot disc on the Arm.
The Pilot is the user interface integrated directly into the Arm for smooth interac-
tion with Panda and Desk.
Interacon concept
Pilot
13
2
1. On the grip of the Pilot there are two grey buons, one on each side. By
pressing them, the guiding mode is acvated. Once the buons are released
the Arm can no longer be moved.
Note: The left button is a three-stage enabling button and needs to be half-pres-
sed for guiding. When pressed all the way Panda will stop the guiding mode and
make the Arm immovable.
2. Using the disc on top of the Pilot, dierent entries for programming can be
made. Disc can be used to navigate in Desk (3), select individual Apps and
parametrize, e.g. by adjusng the slider or acvang/deacvang certain
funconalies. In addion, robot poses can be entered by manually guiding
the Arm using the set buon.

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When the guiding buon and the enabling buon are pressed on the grip, Panda
is in guiding mode and can be moved manually. Once the buons are released,
guiding mode is deacvated and Panda can no longer be moved.
Guiding
Note: You can also operate Desk directly via the touchscreen or using your
mouse/keyboard.
3. Desk is the soware used for progamming and operang Panda.
Overview of the status indicators
blue
Aenon!
Acvated
green
Automac
execuon
white
Interacve
yellow
Locked
pink
red
Conict
Error
safe interacon with Panda is possible
Aenon: Panda is enabled for movement and could start any
moment
Panda is carrying out an automac program and is moving independently
Panda is locked mechanically or cannot be used
Panda is receiving conicng enable signals
an error has occurred

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Creang a task in Desk
Desk overview Panda is programed using the web applicaon Desk. This is opened by entering the
URL hps://robot.franka.de. Desk allows you to create Tasks. Tasks are program
sequences and consist of a chronological sequence of Apps. Apps are the building
blocks of a Task and describe the basic capabilies of Panda, such as “grip”, “put
down”, “push buon”. The Apps within a Task need to be parametrized, meaning
that parameters such as poses, orientaons, speeds etc. need to be set. This pro-
cess is called “teaching”.
A list with a brief descripon of apps, app packages and soluons can be found at:
hps://www.franka.de/apps/
1. The meline is the area in which you can line up your apps in order to pro-
gram your task.
2. In the task area, you can store your programed tasks, perform administraon,
or click on already-programed tasks, in order to acvate them.
3. The app area is to be found here, i.e. the collecon of installed apps avail-
able to you for programming. You can simply drag them onto the meline via
Drag-and-Drop, in order to congure them for the next step.
4. In the side bar you can see which guiding mode Panda is in. In other words,
whether, for example, translaonal or rotaonal movements are enabled in
guiding Panda. Thereunder are situated important noces on Panda’s status,
such as, for example, whether the external acvaon switch is on or o, or
whether there is an error.
List of available apps, app packages
and soluons
First steps
INTERACTING & PROGRAMMING

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Conguring a TaskBy clicking on the “+” symbol in the task area, a new task is created and selected.
A new task is created with an empty meline.
The program procedure will then be created, in which apps are moved using Drag-
and-Drop from the App Area (3) into the Timeline Area (2) to the desired posion.
The execuon takes place from le to right.
Apps may be removed from the meline by dragging an app from the meline
areas back into the app area. Re-arrangement of the task using Drag-and-Drop is
equally possible.
Groups
One parcular variant of apps are so-called Groups, such as, for example, Paern,
Repeat or Relave. In contrast to normal apps, which implement certain funcon-
alies, Groups modify the execuon and teaching behavior of those apps con-
tained within them. Firstly, a Group is dragged into the meline area. Thereaer,
other apps may be dragged into these. The “Repeat” Group executes, for example,
all the apps contained in them repeatedly according to the Group conguraon.
Groups such as “Paern” or “Points” allow the execuon of the same app repeat-
edly at dierent points.
Hand mode: In this mode, the ngers of the Hand can be steered via the direc-
onal buons of the Pilot’s Disc:
• keep the “le” buon pressed to slowly open the Hand
• keep the “right” buon pressed to slowly close the Hand
• press the “down” buon once to open the Hand to full width
• press the “up” buon once to make the Hand grasp something, meaning that
it closes around a grasped object and holds it with its holding force.
Desk mode: using the direcon buons on the disc of the Pilot you can navigate
in Desk and the context menus of Apps in the meline.
Funconalies of Pilot’s Disc

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• Translaon: in guiding mode, the Arm can only be moved to change the
Cartesian posion of the end eector; its orientaon remains as it was before
entering the guiding mode
• Rotaon: in guiding mode, the Arm can only be moved to change the Car-
tesian orientaon of the end eector; its posion remains as it was before
entering guiding mode. The reference coordinate system for this rotaon is
the predened coordinate system of the end eector
• Free: the Arm can be moved completely freely, all 7 joints can be moved freely
• User: the user can freely dene the guiding behavior in this mode, meaning
that it is possible to dene for each Cartesian translaon and rotaon axis if it
is movable or immovable
In guiding mode, movements of the Arm follow the corresponding guiding con-
guraon, which is displayed in the sidebar. The guiding conguraon can be
changed by pressing the guiding mode buon on top of the grip. You can also
select the desired conguraon from the sidebar.
Guiding mode
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An app for everything
Apps are modular robot programs, each represenng a paral step of a robot task.
They can be purchased in the Franka Store and can be parametrized in Desk to form
enre automaon tasks. These apps can encompass diering scopes from the highly
complex to the very simple. When selected in Desk, each App opens a context menu
in which the user is interacvely lead through the process parameters.
Conguring apps
Aer creang a Task in Desk, all Apps need to be taught, this means that all
necessary parameters of the Apps need to be congured so that Panda knows
how to execute the App.
If not all Apps of a Task have not yet been fully parametrized.
Teaching
You can set the parameters for individual Apps in the context menu. The context
menu of an App comprises one or several steps. Each step can be divided into sub-
steps. For example, for many Apps where a pose is needed, usually two poses are
taught. The actual pose for carrying out an acvity and a transional pose, which
is used for assuring movement in the operang area without risk of collision. These
two poses are normally taught in one step, yet they are individual sub-steps.
App dialog window

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Execung the task
• Before leng Panda execute a task by way of trial, take note of the safety
instrucons in chapter: Safety concept/ (in parcular: Step Back and
check).
• In addion, the unlocking tool must be within immediate reach of the Arm.
By no means may it stay inserted into the emergency unlock openings of
the Arm!
The philosophy of step back and check ensures the safety of the user during
execuon of root movements by way of trial. It is based on the principle that
humans are safely separated from possibly dangerous movements.
Therefore:
• The user has to leave the hazardous area during the execuon of a
robot movement and needs to also make sure that no other persons
are within the Safety Area.
• The robot movement is to be triggered only when paying full aenon
to the movement.
WARNING
If all acvated apps for a task have been taught completely, it can be executed out
by pressing the “Play” buon. This is only possible if the robot has been released
via the external enabling device for movement (X4). The robot is lit blue if it has
been enabled. Aer starng the task Panda starts to be lit green. The currently
executable app is displayed with a green frame.
Change the speed for the Task execuon by clicking on the Task name in the
meline.
Right-clicking on one or several Apps opens a select menu, from wich you can
acvate, deacvate or delete individual Apps. Only acvated Apps are executed
and need to have been taught.
If an error occurs, such as a collision, program execuon is stopped. The failed
App is bordered in blue and an error descripon is displayed. In this mode, the
Arm can be moved using guiding and any causes of error can be eliminated. If an
error stops program execuon, further informaon on the error and how to elim-
inate it is displayed in the robot “trac light” in the sidebar. By pressing the“Play”
symbol on one of the apps, the task execuon can carry on with the correspond-
ing app or Group, or the task ended by pressing the “Stop” buon.
Tesng the sengs
(step back & check)
Speed
Acvang/
de-acvang apps
Opmizaon and
troubleshoong
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The Arm weighs approx. 18kg. With mounted end eector and objects in the
end eector, the total weight can amount to 21kg. If unscrewed, the manipu-
lator may lt or fall, causing severe injury by crushing or cung, in parcular
of hands, ngers and toes.
Therefore:
• Make sure that the Arm is held in place and cannot lt or fall while un-
screwing the Arm
When unlocking the safety locking system, the dead weight of the Arm seg-
ment below the lock will lead to movement (especially sinking and dropping
of the Arm). This movement may cause injuries by crushing or penetrang
body parts.
Therefore:
• Arm segments below locks are to be supported manually before carrying
out the emergency unlock.
• Never carry out an emergency unlock when the Arm is switched on –
Panda must always be safely disconnected from the power supply before
an emergency unlock
The Arm is equipped with an integrated safety mechanism, which allows it
to be moved manually in emergency situaons (by pushing away etc.). If this
safety mechansim has been acvated, the system is to be shut down aer-
wards and replaced.
WARNING
Manual unlocking of Arm and Hand in case of emergency
CAUTION
There are several possibilies to move the Arm even without a power supply in
case of emergency. They are listed below in order of cricality of the hazardous
situaon:
• In case of acute mortal danger (e.g. person is severely crushed or can no
longer breathe)
• --> Acon: immediately remove Arm manually
• In case of non-acute mortal danger and jamming of the Arm itself
• --> Acon: unlock safety locking system with the use of the unlocking key
• --> Acon: loosen the screws aaching the Arm to its base
See also chapter: Safety concept/ Manually moving the Arm in case of emergency
NOTICE
Manually moving the Arm
in cases of emergency

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The emergency unlock may only be used in exceponal circumstances. The
unlocking tool included in the delivery is designed such as not to damage the
mechatronics inside of the Arm. Inappropriate handling may damage the Arm.
Therefore:
• Only use the unlocking tool provided for an emergency unlock. The
unlocking tool is to be inserted gently into the opening as not to
damage the mechatronics.
• The safety locking system should unlock upon slight moderate
pressure.
NOTICE
When unlocking the safety locking system, the dead weight of the Arm segment
below the lock will lead to movement (especially sinking and dropping of the
Arm). This movement may cause injuries by crushing or penetrang body parts.
Therefore:
• Arm segments below locks are to be supported manually before carrying
out the emergency unlock.
• Never carry out an emergency unlock when the Arm is switched on –
Panda must always be safely disconnected from the power supply before
an emergency unlock.
CAUTION
When the device is turned o, the Hand is not supplied with power either. A
jamming between the ngers of the Hand can be loosened by simply pulling the
ngers open.
Moving the ngers of the Hand
without a power supply
With manual opening of the gripper, grasped objects will fall out. These may
fall on your hands/ngers or feet and thus cause severe injuries.
Therefore:
• support the object in the gripper, before the gripper is opened manually
• wear personal protecve gear (safety footwear, etc.)
WARNING
INTERACTING & PROGRAMMING