Franka Emika RESEARCH 3 User manual

April 2022 Franka Emika GmbH © 1
FRANKA RESEARCH 3
Product Manual

TRANSLATION FROM ORIGINAL PRODUCT MANUAL
© Copyright 2023
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 feedback at [e-mail].
The German documentation is the ORIGINAL DOCUMENTATION. Other languages are translations of the
original document.
Complementary documents to this product manual are:
•Datasheet Franka Research 3 (Document number: 120020)
•Getting Started guide (Document number: 110030)
•Labeling material for the integrator (Document number: 110040)
•Drilling template (Document number: 110050)
Document name: Product Manual Franka Research 3
Document number: 120010
Release Version: 1.0 (Sept. 2023), valid for Franka Research 3 with system version 5.3.1
Change Log:
Release Version
Release Date
Changes
1.0
Sept. 2023
First Release
Get your manual and additional supporting material in English and other languages at
www.franka.de/documents.

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TABLE OF CONTENTS
1ABOUT FRANKA EMIKA........................................................................................................................................... 7
2RIGHTS OF USE AND PROPERTY RIGHTS .......................................................................................................... 8
2.1 General.................................................................................................................................................................... 8
2.2 Identification.......................................................................................................................................................... 8
3DECLARATION OF INCORPORATION AND CERTIFICATES........................................................................... 9
3.1 Declaration of Incorporation.............................................................................................................................. 9
3.2 Certificates...........................................................................................................................................................11
3.3 Further Statements ............................................................................................................................................11
3.3.1 RoHS / REACH / WEEE / Battery Directive............................................................................................11
3.3.2 China RoHS 2 .................................................................................................................................................12
3.4 Labeling on the Equipment...............................................................................................................................13
4 SAFETY........................................................................................................................................................................16
4.1 S afety Instructions and General Indications .................................................................................................16
4.2 Notice of Liability................................................................................................................................................17
4.3 Intended Use .......................................................................................................................................................17
4.4 Misuse...................................................................................................................................................................17
4.5 General Possible Dangers and Safety Measures when Working with Robots.......................................18
4.6 Application Related Possible Dangers and Safety Measures ....................................................................20
4.7 Installation of Safety Peripherals.....................................................................................................................23
4.8 Fail-safe locking system ....................................................................................................................................24
4.9 Manually Moving the Arm ................................................................................................................................24
4.10 Safety Concept...............................................................................................................................................26
4.11 Safety Functionalities ...................................................................................................................................29
4.12 Additional information for planning and initial installation of a robot system..................................32
5ROLES AND PERSONnel.........................................................................................................................................36
5.1 Personnel..............................................................................................................................................................36
5.2 User Roles ............................................................................................................................................................37
6Equipment Overview................................................................................................................................................39
6.1 The Arm................................................................................................................................................................40
6.2 Control..................................................................................................................................................................46
7Scope of Delivery and Additional Equipment......................................................................................................48
7.1 Included in the box.............................................................................................................................................48
7.2 Not included in the box.....................................................................................................................................49
7.3 Available Spare Parts and Accessories...........................................................................................................49
8TECHNICAL SPECIFICATIONS ..............................................................................................................................50
9TRANSPORT AND HANDLING .............................................................................................................................54
9.1 Ambient Conditions for Delivery and Transport..........................................................................................55
10 MOUNTING AND INSTALLATION ................................................................................................................56
10.1 Unpacking the Equipment ...........................................................................................................................57

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10.2 Correct Installation Site................................................................................................................................61
10.2.1 Maximum-and safeguarded space .............................................................................................................61
10.2.2 Ambient conditions: Arm .............................................................................................................................62
10.2.3 Ambient conditions: Control .......................................................................................................................63
10.3 Preparing the Installation Site.....................................................................................................................64
10.3.1 Arm...................................................................................................................................................................65
10.3.2 Control.............................................................................................................................................................66
10.4 Mounting the Arm.........................................................................................................................................67
10.5 Positioning the Control ................................................................................................................................69
10.6 Wiring and Electrical Installation................................................................................................................70
10.6.1 Connection diagram......................................................................................................................................71
10.6.2 Interfaces.........................................................................................................................................................71
10.6.3 Connecting the functional earth.................................................................................................................73
10.6.4 Wiring ..............................................................................................................................................................74
10.7 Mounting End Effectors...............................................................................................................................79
10.8 Practical Tips for Usage and Positioning of Franka Research 3...........................................................81
10.8.1 Energy consumption .....................................................................................................................................81
10.8.2 ESD limits ........................................................................................................................................................81
10.8.3 Design of the workspace .............................................................................................................................82
10.8.4 Personal safety and ergonomics.................................................................................................................83
10.9 Re-packing the Arm ......................................................................................................................................85
11 OPERATION........................................................................................................................................................88
11.1 Switching On ..................................................................................................................................................88
11.2 Safety Relevant Tests of Franka Research 3............................................................................................91
11.2.1 Self-test of the robotic system ...................................................................................................................91
11.2.2 Regular testing of safety functions............................................................................................................92
11.2.3 Testing the emergency stop........................................................................................................................92
11.3 Initial configuration .......................................................................................................................................93
11.3.1 Connecting a User Interface Device..........................................................................................................93
11.3.2 Initial Configuration „First Start“ ................................................................................................................94
11.4 Setup of Franka Control Interface (FCI)....................................................................................................98
11.4.1 Configuration of the network for control via FCI ...................................................................................98
11.4.2 Setup of libfranka on a Linux workstation............................................................................................. 101
11.4.3 Verification of communication ................................................................................................................ 105
11.5 Typical Usage .............................................................................................................................................. 106
11.6 Switching Off and Restarting................................................................................................................... 107
12 Safety configuration / Watchman................................................................................................................ 109
12.1 Watchman.................................................................................................................................................... 109
12.2 Overview...................................................................................................................................................... 109
12.3 Editing of the Safety Configuration ........................................................................................................ 111
12.4 Safety Setup ................................................................................................................................................ 113

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12.4.1 General Safety Settings............................................................................................................................. 113
12.4.2 Safe Input Configuration........................................................................................................................... 113
12.4.3 End Effector Configuration ...................................................................................................................... 113
12.4.4 Creation of spheres for modelling an End Effector envelope ........................................................... 114
12.5 Creating and editing rules......................................................................................................................... 115
12.5.1 Structure of a rule....................................................................................................................................... 116
12.6 Validate......................................................................................................................................................... 119
13 WORKING WITH FRANKA RESEARCH 3................................................................................................. 123
13.1 Robotic Basics ............................................................................................................................................. 123
13.2 Single Point of Control .............................................................................................................................. 124
13.3 Operating Modes........................................................................................................................................ 127
13.3.1 Programming ............................................................................................................................................... 128
13.3.2 Execution...................................................................................................................................................... 129
13.3.3 Overview of the status indicators........................................................................................................... 129
13.3.4 Step-by-step overview of operating modes and corresponding status indicators ....................... 130
13.4 Work ............................................................................................................................................................. 131
13.5 Assist............................................................................................................................................................. 133
13.6 Franka UI...................................................................................................................................................... 135
13.6.1 Apps .............................................................................................................................................................. 141
13.6.2 Teach a Task................................................................................................................................................ 141
13.6.3 Creating a Task............................................................................................................................................ 141
13.6.4 Task settings................................................................................................................................................ 142
13.6.5 Parameterization of Apps ......................................................................................................................... 142
13.6.6 Pose teaching .............................................................................................................................................. 143
13.6.7 Pose fine adjustment ................................................................................................................................. 144
13.6.8 Guiding configurations .............................................................................................................................. 145
13.6.9 Guiding.......................................................................................................................................................... 147
13.6.10 Editing end effector settings............................................................................................................... 148
13.6.11 Test & Jog ............................................................................................................................................... 149
13.7 Franka Control Interface (FCI) ................................................................................................................. 150
13.7.1 Working in principle with the FCI interface.......................................................................................... 151
13.8 Troubleshooting.......................................................................................................................................... 154
13.8.1 General use.................................................................................................................................................. 154
13.8.2 Troubleshooting while using FCI............................................................................................................. 161
14 MANAGING FRANKA RESEARCH 3 .......................................................................................................... 162
14.1 Franka World............................................................................................................................................... 162
14.2 Managing Apps and Updates ................................................................................................................... 162
14.3 Hub................................................................................................................................................................ 163
14.4 Updates ........................................................................................................................................................ 164
14.5 Backup .......................................................................................................................................................... 165
14.5.1 Safety Configuration.................................................................................................................................. 165

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14.5.2 Network Setting.......................................................................................................................................... 166
14.5.3 Modbus Configuration .............................................................................................................................. 166
14.5.4 End Effector Configuration ...................................................................................................................... 166
14.5.5 Saving of the created Tasks...................................................................................................................... 167
15 MAINTENANCE AND DISPOSAL................................................................................................................ 168
15.1 Maintenance................................................................................................................................................ 168
15.2 Cleaning........................................................................................................................................................ 168
15.3 Disposal ........................................................................................................................................................ 169
16 SERVICE AND SUPPORT .............................................................................................................................. 170
16.1 Rescue System ............................................................................................................................................ 170
16.2 Hardware Exchange................................................................................................................................... 173
16.2.1 Replacing the Control................................................................................................................................ 173
17 APPENDIX ........................................................................................................................................................ 177
17.1 Stopping Times and Distances................................................................................................................. 177
17.2 Stop Category 1 .......................................................................................................................................... 178
17.2.1 Joint 1 ........................................................................................................................................................... 178
17.2.2 Joint 2 ........................................................................................................................................................... 180
17.2.3 Joint 3 ........................................................................................................................................................... 182
17.2.4 Joint 4 ........................................................................................................................................................... 184
17.3 Stop Category 2 .......................................................................................................................................... 186
17.3.1 Joint 1 ........................................................................................................................................................... 186
17.3.2 Joint 2 ........................................................................................................................................................... 188
17.3.3 Joint 3 ........................................................................................................................................................... 190
17.3.4 Joint 4 ........................................................................................................................................................... 192
17.4 Response times ........................................................................................................................................... 194
17.5 Safe Position Accuracy.............................................................................................................................. 194
18 GLOSSARY........................................................................................................................................................ 195
19 INDEX ................................................................................................................................................................ 200
20 TABLE OF FIGURES........................................................................................................................................ 203

ABOUT FRANKA EMIKA
120010/1.0/EN Franka Emika GmbH © 7
1ABOUT FRANKA EMIKA
Enabling industrial automation
Franka Emika (FE) is a German-based tactile cobot supplier and robotics platform company.
Our mission is to provide robotics, products and solutions that are effortless to implement in Research and
research, making them intuitive and universally accessible for everyone. With this mission in mind, we
redefined robotics with unique robots that are incredibly easy to use, providing the fastest return on
investment and lowest total cost of ownership for both industrial automation and robotics / AI research.
Our technology applies a human-centred design approach, with seven axes that are tactile and safety
certified, making the robot itself applicable to all kinds of use cases in the industry –including ones that simply
could not be automated until now.
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. Franka World also allows for easy robot
deployment and updating.
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.

RIGHTS OF USE AND PROPERTY RIGHTS
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2RIGHTS OF USE AND PROPERTY RIGHTS
2.1 General
Protected trademarks
This product manual refers to protected trademarks not explicitly designated 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.
Microsoft is a registered trademark, and Windows is an indication of the Microsoft Corporation in the United
States and other countries.
GOOGLE, Mozilla, Firefox, CHROME, ITEM 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 Franka Research 3 can be accessed via the Settings menu
of the Franka UI.
2.2 Identification
Removal of identification
Copyright notices, serial numbers, and any other labeling that identifies the product or operating software
may not be removed or modified.

DECLARATION OF INCORPORATION AND CERTIFICATES
120010/1.0/EN Franka Emika GmbH © 9
3DECLARATION OF INCORPORATION AND
CERTIFICATES
3.1 Declaration of Incorporation

DECLARATION OF INCORPORATION AND CERTIFICATES
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