April 2022 Franka Emika GmbH © 15
7.2 Mounting the Hand
Falling Hand
Risk of severe injury, such as crushing to fingers, hands, upper body, head.
• Ensure the Hand is mounted correctly.
Risk of electric shock
Risk of personal injury by electric shock.
• Disconnect the Arm from the mains power supply before mounting the Hand.
Falling objects/tools
Objects or tools could fall at any time (e.g., due to loose couplings, malfunctions that can cause the Hand
to open or when a compatible FrankaEmika robot is switched off, or the power to the robot system is
cut) which could lead to injury to fingers, hands, toes, and feet.
• Take this into consideration while performing a hazard and risk assessment
• Take also the SEEPO into account in the risk assessment because the Hand will only be powered if
brakes are open due to a configuration of the SEEPO
Falling and/or flying tools from the robot
Tools that remain inserted in the robot may turn into projectiles during later motions of the Arm and lead
to injuries.
• Do not leave any tools inside the robot.
Precondition: The robot is switched off before mounting the Hand.
Required material: 2x M6x12
Cylindrical pin
Mounting
1. If desired, insert the cylindrical pin in the H7 fit of the flange of the Hand.
2. Position the Hand with its flange on the end effector flange on the Arm.
Should you not use the cylindrical pin, make sure that the side of the Hand with the cable is attached on the
side of the Pilot-Grip where the connector is located.
3. Attach the Hand with 2 x M6x12 screws (do not use other types of screws) and use 5 Nm of
fastening torque.
4. Insert the plug connector of the Hand into the X6 connector on the Pilot-Grip of the Arm.
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