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.

120010/1.0/EN Franka Emika GmbH © 3
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
120010/1.0/EN Franka Emika GmbH © 8
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
120010/1.0/EN Franka Emika GmbH © 10

DECLARATION OF INCORPORATION AND CERTIFICATES
120010/1.0/EN Franka Emika GmbH © 11
3.2 Certificates
Certificates by TÜV SÜD RAIL and TÜV SÜD PS can be found under the following link:
www.franka.de/documents
3.3 Further Statements
3.3.1 RoHS / REACH / WEEE / Battery Directive
Further Information
status: 01.04.2022 Franka Research 3
Restriction of Hazardous Substances (RoHS):
The components Control and Arm do not fall within the scope of EU RoHS Directive 2011/65/EU but still meet
the requirements of the restricted substances and maximum concentration values that are allowed in
homogenous materials:
•Lead (0.1 %)
•Mercury (0.1 %)
•Cadmium (0.01 %)
•Hexavalent chromium (0.1 %)
•Polybrominated biphenyls (PBB) (0.1 %)
•Polybrominated diphenyl ethers (PBDE) (0.1 %)
The following exceptions are also applied:
6a: Lead as an alloying element in steel for machining purposes and in galvanized steel containing up to 0.35 %
lead by weight
6b: Lead as an alloying element in aluminum containing up to 0.4 % lead by weight
6c: Copper alloy containing up to 4 % lead by weight
7a: Lead in high melting temperature type solders (i.e., lead-based alloys containing 85 % by weight or more
lead)
7c-I: Electrical and electronic components containing lead in a glass or ceramic other than dielectric ceramic in
capacitors, e.g., piezo-electronic devices, or in a glass or ceramic matrix compound
REACH:
FRANKA EMIKA GmbH is a "downstream user" as defined in REACH. Our products are exclusively non-chemical
products (manufactured items). In addition, no substances are released under normal conditions of use and
conditions that can reasonably be predicted (Article 7, REACH).
We confirm that our products do not contain more than 0.1 percent by mass of any of the listed substances on
the published ECHA candidate list (SVHC) unless covered by RoHS exceptions (see above). Extensions
published by the ECHA candidate list are matched with our products, and if it is known that one of these newly
added substances is contained in our products, we will inform you immediately.
This confirmation was created based on currently available information from our suppliers.
WEEE Directive:
The components Control and Arm are not subject to the WEEE Directive 2002/96/EC for collection, recycling, and
recovery for electrical goods.

DECLARATION OF INCORPORATION AND CERTIFICATES
120010/1.0/EN Franka Emika GmbH © 12
Battery Directive:
The product Control contains a BIOS battery.
Disposal of batteries:
There is an obligation to return rechargeable and non-rechargeable batteries by Battery Directive 2006/66/EC;
do not dispose of them with consumer waste. Dispose of them according to statutory orders and bring them
to a recycler. Batteries will be recycled.
The signs below the crossed-out trashcan indicate the substances lead (Pb), cadmium (Cd), or mercury (Hg).
3.3.2 China RoHS 2
Part Name
部件名称
Toxic and Hazardous Substances and Elements / 有毒和有害的物质和元素
Lead
铅
(Pb)
Mercury
汞
(Hg)
Cadmium
镉
(Cd)
Hexavalent
Chromium
六价铬
(Cr (VI))
Polybrominate
d biphenyls
多溴联苯
(PBB)
Polybrominated
diphenyl ethers
多溴二苯醚
(PBDE)
Control
控制器
X
O
O
O
O
O
Arm FP3
臂架 FP3
X
O
O
O
O
O
Robot Connecting
Cable
连接线
2,5m / 5m /10m
O
O
O
O
O
O
Emergency Stop
Device
紧急停止装置
O
O
O
O
O
O
External Enabling
Device
外部支持设备
O
O
O
O
O
O
This Table is prepared in accordance with the provisions of SJ/T 11364-2006.
本表根据SJ/T 11364-2006的规定编制。
O: Indicates that said hazardous substance contained in all of the homogeneous materials for this part is below the limit requirement of
GB/T 26572-2011.
O: 表示该部分所有均质材料中的所述有害物质低于GB/T 26572-2011的限量要求。
X: indicates that said hazardous substance contained in at least one of the homogenous materials used for this part is above the limit
requirement of GB/T 26572-2011
X: 表示本试验用同质材料中至少有一种所含的有害物质高于GB/T 26572-2011的限量要求。
(Enterprises may further provide in this box technical explanation for marking “X” based on their actual circumstances)
(企业可根据自己的实际情况，在此框中进一步提供标示 "X "的技术解释)

DECLARATION OF INCORPORATION AND CERTIFICATES
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3.4 Labeling on the Equipment
Arm
Type label
Fig. 3.1: Type label
Emergency unlock label
Three Emergency Unlock Labels on the Arm point to the insertion points where the Emergency Unlocking
Tool needs to be inserted to manually unlock the fail-safe locking system in case of an emergency.
Fig. 3.2: Emergency unlock label
WARNING
Falling heavy Arm when using Emergency Unlocking Tool
Risk of being trapped by the Arm when unlocking joints
•Do support the Arm before and during unlocking it.
•Do not place your head or other body parts between or underneath links of the Arm.
•Do not place body parts (especially hands, fingers) between links of the Arm, the end effector, or
stationary objects.
•Do not use the Emergency Unlocking Tool while the Arm is powered.
•Only use the supplied Emergency Unlocking Tool.
•Store Emergency Unlocking Tool near the Arm.

DECLARATION OF INCORPORATION AND CERTIFICATES
120010/1.0/EN Franka Emika GmbH © 14
Hot Surfaces label
Fig. 3.3: Hot Surface label
WARNING
Hot Surfaces and Guiding
At ambient temperatures above 30 °C the robot surface can become too hot to touch. Therefore, using
the Assist feature in Execution mode is not permitted above 30 °C.
Functional earth label
The functional earth label points to the location where functional earth can be connected to the Arm.
Fig. 3.4: Functional earth label
Lifting position label
The lifting position label indicates the points at which the Arm may be lifted.
Fig. 3.5: Lifting position label
Control
Type label
Fig. 3.6: Type label control

DECLARATION OF INCORPORATION AND CERTIFICATES
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External Enabling Device
Type label
Fig. 3.7: Type label external device
Emergency Stop Device
Type label
Fig. 3.8: Type label emergency stop device

SAFETY
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4 SAFETY
4.1 S afety Instructions and General Indications
Warning notices
Before installing, starting up, and operating the device, carefully read this manual and any additional
documentation. Take NOTICE 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
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
120010/1.0/EN Franka Emika GmbH © 17
4.2 Notice of Liability
Franka Research 3 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 Research 3 and this manual.
The Arm is equipped with an ISO end effector flange according to DIN ISO 9409-1-A50.
The present document includes assembly instructions for Franka Research 3 as a partly completed machinery.
It contains descriptions of the conditions that must be met to correct incorporation in the final machinery not
to compromise safety and health (e.g., Annex I of Machinery Directive 2006/42/EC).
4.3 Intended Use
Franka Research 3 is exclusively intended for use in research and development in academic and industrial
environments. The system 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 Research 3 system is intended exclusively for use as described in this manual.
For the normal and extended working conditions under which the robot should operate, see chapter 8
“TECHNICAL SPECIFICATIONS“and Chapter 10.2 “Correct Installation Site”.
4.4 Misuse
DANGER
Misuse of Franka Research 3
Danger to life and risk of injury, as well as risk of impairments, damage to the robot, and other material
assets.
•Only use Franka Research 3 in sound technical condition.
•Only use Franka Research 3 in the ambient and operating conditions described in this document.
The misuse of Franka Research 3 voids the manufacturer's warranty and liability. Any usage different from
the intended use is considered misuse and is not permissible.
Misuse is any use that deviates from the warnings, notices, and instructions in this manual and the Getting
Started guide, in particular, but not limited to, the following uses:
•Transport of people or animals
•Transport without packing pose and original packaging
•Use as climbing assistance
•Leaning against the Arm
•Use in potentially explosive areas
•Use below ground
•Use for the handling of radioactive objects
•Use outdoors
•Use as a medical product
•Use as a service Arm, e.g., for the care of the elderly
•Use in the vicinity of children
•Handling of liquids
•Use in any mounting position other than upright

SAFETY
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•Use outside of the specified operating limits
Modifications to Franka Research 3 that Franka Emika does not explicitly permit 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 adaptation of the mechanical structure
•Varnishing
•Wrapping the robotic structure unless using FE certified equipment
Franka Emika grants only the following modifications to Franka Research 3:
•Installation of an external cable guiding system (can impact the motion and control behavior of the
system)
•Mounting equipment to the flange
•Covering screw holes
It is prohibited to open the Arm and the Control enclosure, and other equipment.
The robot may only be used in places where sufficient space and safe use can be ensured.
Franka Emika is not liable for damage caused by mounted equipment or damage caused by misuse.
4.5 General Possible Dangers and Safety Measures when
Working with Robots
Abstract of possible dangers
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.
Special attention is drawn here to the following dangers that the Franka Research 3 may present:
DANGER
Electrical or fire hazards and dangerous fumes
Fire and fumes may cause breathing difficulties, eye irritation, lung damage, poisoning, and may lead to
death.
•Do not use the Franka Research 3 outside of its indicated specifications.
DANGER
Damaged wires or inadequate electrical installation
Risk of personal injury by electric shock, as well as material damage.
•Only use Franka Research 3 in sound technical condition.
•Only install the emergency stop system with qualified personnel.
•Check cables and electrical installations.

SAFETY
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DANGER
Risk of smoldering fires
Too many devices connected to the power supply system may lead to an overload of the electrical
installation and may result in smoldering fires, which may cause death or severe damage to persons.
•Connect the Franka Research 3 accordingly to avoid an overload of the electrical installation.
•Install the overload protection devices accordingly.
WARNING
Objects falling from end effectors due to a power supply cut off
Objects falling from the gripper can lead to injuries to hands, fingers, feet, and toes.
•Always wear personal protective equipment (e.g., safety shoes).
•Use the appropriate type of grippers to prevent objects from falling.
WARNING
Falling and unexpected motions of the robot, especially in earthquake-prone areas
Risk of severe injuries such as crushing, tearing of the skin, and puncturing.
•Level the platform.
•Only install the Arm on even, unmoving, and stable platforms. Accelerations and vibrations are not
permissible.
•Do not install the Arm on hanging, tilted, or uneven platforms.
•Level the platform in an upright position.
•Ensure a correctly laid out and tight screw connection.
•Tighten the screws after 100 hours of operation with the correct tightening torque.
•If operated in an earthquake-prone area, take the respective hazard and risk assessments into
consideration.
WARNING
Dangerous and uncontrolled motions of the Arm
Risk of severe injury, such as crushing, tearing of the skin, and puncturing from the Arm and end effectors.
•Ensure that the end effector and/or the gripped object mass and the Center of Mass (CoM) are
parameterized correctly.
•Keep out of the workspace during operation.
CAUTION
Damaged cables, plugs, mechanical housing, or oil leaks
Contact with leaking oil may cause eye or skin irritation.
Electrical risks may lead to severe injury.

SAFETY
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•Only use Franka Research 3 in sound technical condition.
•Do not use damaged cables, plugs, and mechanical housing for operation. In cases of doubt, contact
Franka Emika.
Sound condition
CAUTION
Leaking grease or oil through voids of structural elements of the robot
Irritation of skin and eyes.
•Stop operating the machine.
•Contact manufacturer.
•Use gloves.
•Seek medical attention after contact with eyes or skin.
Disruptions
NOTICE
The operator will be informed about possible malfunctions through Desk. Malfunctions need to be rectified
before continuing the operation.
•To rectify the possible malfunctions, follow the instructions in the Franka UI. A reboot of the system
may be required.
Overload of joints
NOTICE
An offline overload in all the robot's joints may lead to material damage to the robot.
•Perform a risk assessment with foreseeable misuse in mind.
•Adhere to the system’s warning to take the robot out of operation if necessary.
4.6 Application Related Possible Dangers and Safety Measures
The following possibly safety-related aspects are to be considered when planning and designing the
application and performing the hazard & risk assessment for completed machinery. The integrator is obligated
to perform a risk analysis.
Functionalities and features of various safety levels
Franka Research 3 offers functionalities and features of various safety levels. All safety functions and their
corresponding safety ratings are described in section Safety Functions in chapter 4.11 “Safety
Functionalities“. All other functionality described throughout this chapter is not classified as safety-rated
according to EN ISO 13849-1 or EN 62061. You may, therefore, not rely on the availability of these
functionalities.
Please NOTICE that the integrator is obligated to perform a risk analysis.