April 2022 Franka Emika GmbH © 27
13 TROUBLESHOOTING
Desk shows Hand "disconnected"
Go to end effector settings and un-apply the Hand as end effector by choosing "None". Choose "Franka
Hand" again and press apply. If the Hand is still disconnected:
1. Shut down the robot
2. Check if the Hand is connected properly or if any damages on the pins can be seen
3. Also check the connecting cable between Control and Arm for damaged pins or insufficient mounting
4. Reboot the robot
Fingertips are not moving / fingertips are stuck in the middle of a movement
If you cannot move the fingertips by Pilot-Disc buttons or command or if they get stuck, please check if the
fingers can be moved by hand (to exclude physical damage). If so, please check the apps or commands you
are using. Reboot the robot if necessary.
The Hand does not work with real time commands
Keep in mind that Franka Hand does not work with real time commands (applies only to research robots
with FCI interface).
The Hand is moving down/up while hand guiding
Check the settings for the end effector in the Franka UI´s Settings.
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