Franka Emika RESEARCH 3 Manuals

Manuals and User Guides for Franka Emika RESEARCH 3. We have 1 Franka Emika RESEARCH 3 manual available for free PDF download: Product Manual

Franka Emika RESEARCH 3 Product Manual

Franka Emika RESEARCH 3 Product Manual (206 pages)

Brand: Franka Emika | Category: Robotics | Size: 16.98 MB

Table of Contents

Table of Contents

3
- 1 About Franka Emika
  
  7
- 2 Rights of Use and Property Rights
  
  8
  - General
    8
  - Identification
    8
- 3 Declaration of Incorporation and Certificates
  
  9
- 4 Safety
  
  16
- 5 ROLES and Personnel
  
  36
  - Personnel
    36
  - User Roles
    37
- 6 Equipment Overview
  
  39
  - Fig. 6.1: Equipment Overview
    39
  - The Arm
    40
  - Fig. 6.2: Overview Arm
    40
  - Fig 6.3: Pilot
    41
  - Fig. 6.4: Switching Status Enabling Button
    42
  - Fig. 6.5: Enabling Button
    42
  - Fig. 6.6: Guiding Mode Button
    43
  - Fig. 6.7: Guiding Mode Button
    43
  - Fig. 6.8: Guiding Button
    43
  - Fig. 6.9: Guiding Button
    44
  - Fig. 6.10: Connection Ports at Robot Base
    44
  - Control
    46
  - Fig. 6.11: End Effector Flange
    46
  - Fig. 6.12: Dimensions and Connection Ports of Control
    46
- 7 Scope of Delivery and Additional Equipment
  
  48
- 8 Technical Specifications
  
  50
- 9 Transport and Handling
  
  54
  - Ambient Conditions for Delivery and Transport
    55
  - Fig. 9.1: Lifting Positions
    55
- 10 Mounting and Installation
  
  56
- 11 Operation
  
  88
- 12 Safety Configuration / Watchman
  
  109
  - Watchman
    109
  - Overview
    109
  - Fig. 12.1: Watchman
    109
  - Editing of the Safety Configuration
    111
  - Fig. 12.3: Switch to "Draft" Mode
    111
  - Fig. 12.4: Draft Mode
    112
  - Fig. 12.5: Validation Markers
    112
  - Safety Setup
    113
  - General Safety Settings
    113
  - Safe Input Configuration
    113
  - End Effector Configuration
    113
  - Fig. 12.6: Safety Setup
    113
  - Creation of Spheres for Modelling an End Effector Envelope
    114
  - Fig. 12.7: End Effector Configuration
    114
  - Fig. 12.8: Configuration of Spheres
    114
  - Creating and Editing Rules
    115
  - Fig. 12.9: Example of Spheres for Franka Hand
    115
  - Structure of a Rule
    116
  - Fig. 12.10: Editing Rules
    116
  - Fig. 12.11: Structur of a Rule
    116
  - Fig. 12.12: Configuration of "Activation Space
    117
  - Fig. 12.13: Monitoring
    118
  - Fig. 12.14: Creating Cuboid Area
    118
  - Validate
    119
  - Fig. 12.15: Setting of Speed
    119
  - Fig. 12.16: Validation Structure
    119
  - Fig. 12.17: Validating
    120
  - Fig. 12.18: Validating of Rules
    120
  - Fig. 12.19: Validating Watchman
    121
  - Fig. 12.20 Safety Report
    122
- 13 Working with Franka Research 3
  
  123
  - Robotic Basics
    123
  - Single Point of Control
    124
  - Fig. 13.1: Control Request
    125
  - Fig. 13.2: User Management Waiting for Approval
    125
  - Fig. 13.3: User Request
    125
  - Fig. 13.4: Enforce Control
    126
  - Operating Modes
    127
  - Fig. 13.5: Overview Operating Modes
    127
  - Programming
    128
  - Fig. 13.6: Procedure
    128
  - Execution
    129
  - Overview of the Status Indicators
    129
  - Fig. 13.7: Assist Operation
    129
  - Step-By-Step Overview of Operating Modes and Corresponding Status Indicators
    130
  - Work
    131
  - Fig. 13.8: Area Assignment
    131
  - Fig. 13.9: Work Operation
    132
  - Assist
    133
  - Fig. 13.10: Indication of Assist Mode
    133
  - Fig. 13.11: Conditions for Motion Enabling in
    134
  - Franka UI
    135
  - Fig. 13.12: Login Franka User Interface
    135
  - Fig. 13.13: Download User Manual
    136
  - Fig. 13.14: Desk
    136
  - Fig. 13.15: Desk Sidebar
    138
  - Fig. 13.16: Watchman
    139
  - Fig. 13.17: Menu Settings
    139
  - Apps
    141
  - Teach a Task
    141
  - Creating a Task
    141
  - Task Settings
    142
  - Parameterization of Apps
    142
  - Pose Teaching
    143
  - Fig. 13.18: App Parameterization
    143
  - Pose Fine Adjustment
    144
  - Fig. 13.19: App Interface
    144
  - Guiding Configurations
    145
  - Fig. 13.20: Pose Fine Adjustment
    145
  - Fig. 13.21: Overview of Switching between Hand-Guiding-Modes
    146
  - Fig. 13.22: Illustration of Hand Guiding
    146
  - Fig. 13.23: Settings, if "User Mode" Is Selected
    146
  - Guiding
    147
  - Editing End Effector Settings
    148
  - Fig. 13.24: Hand Guide Approval
    148
  - Test & Jog
    149
  - Fig. 13.25: Test & Jog
    149
  - Franka Control Interface (FCI)
    150
  - Working in Principle with the FCI Interface
    151
  - Troubleshooting
    154
  - General Use
    154
  - Fig. 13.26: Message "A Joint Limit Has Been
    155
  - Fig. 13.27: Message with Display of the Faulty Joint
    156
  - Fig. 13.28: Confirmation Joint Is Back in the Limit
    156
  - Fig. 13.29: Message "Joint Position Error
    156
  - Fig. 13.30: Message with Display of Failed Joints
    157
  - Fig. 13.31: Joint Recovery Locked
    157
  - Fig. 13.32: Joint Recovery Ready for Movement
    158
  - Fig. 13.33: Conformation Position Reached
    158
  - Fig. 13.34: Confirmed Joint Recovery
    159
  - Fig. 13.35: Message Button Not Held
    159
  - Fig. 13.36: Message if Reference Position Not
    159
  - Fig. 13.37: Message Moving Joint Failed
    159
  - Fig. 13.38: Confirm the Complete Recovery
    160
  - Troubleshooting While Using FCI
    161
- 14 Managing Franka Research 3
  
  162
  - Franka World
    162
  - Managing Apps and Updates
    162
  - Fig. 14.1: Managing Apps and Features Via Franka World
    162
  - Hub
    163
  - Fig. 14.2: Network Connection of Control
    163
  - Updates
    164
  - Fig. 14.3: Managing of Updates Via Franka World
    164
  - Backup
    165
  - Safety Configuration
    165
  - Network Setting
    166
  - Modbus Configuration
    166
  - End Effector Configuration
    166
  - Fig. 14.4: Network Settings
    166
  - Saving of the Created Tasks
    167
  - Fig. 14.5: Save Tasks
    167
- 15 Maintenance and Disposal
  
  168
  - Maintenance
    168
  - Cleaning
    168
  - Disposal
    169
- 16 Service and Support
  
  170
  - Rescue System
    170
  - Fig. 16.1: Rescue System
    171
  - Fig. 16.2: Network
    171
  - Fig. 16.3: Log Download and Factory Reset
    172
  - Fig. 16.4: Franka World
    172
  - Hardware Exchange
    173
  - Replacing the Control
    173
  - Fig. 16.5: Safety Log
    173
  - Fig. 16.6: Device Detail View
    174
  - Fig. 16.7: Sync-Prompt
    174
  - Fig. 16.8: Everything Up-To-Date
    175
  - Fig. 16.9: Register Control
    175
- 17 Appendix
  
  177
- 18 Glossary
  
  195
- 19 Index
  
  200
Table of Figures

203

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