Franka Emika Panda - End Effector Configuration

Franka Emika GmbH © October 2018
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WARNING
If the end eector is congured incorrectly, Panda will operate based on the
wrong masses and mass inera raos of the end eector. This means that
Panda will regulate to the wrong parameters and gravitaonal forces will not
be enrely compensated. This can lead to unexpected movements during
guiding, which may subsequently lead to injuries caused by the movement
itself or by the user inching.
Therefore:
• Always check the conguraon of the end eector
• When copying an already parametrized app or task to another Panda
system, also make sure that the end eector conguraon sll is iden-
cal to the original one
If you do not have a gripper, select „No Gripper“ from the drop-down. Keep the
following DEFAULT setting:
End effector configuration
If you have mounted the Hand, select „Hand“ from the drop-down.
If you want to use another gripper or adjust the conguraon of the Franka Hand,
select “User Dened” from the dropdown and enter the corresponding values into
the text elds. The appropriate values are usually found in your gripper’s manual.
The default sengs of the Hand are as follows:
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