Franka Emika Panda - Entering Guiding Mode; Unlocking Safety Locking System

Franka Emika GmbH © October 2018
110
Guiding
Please read the chapters: Safety Concept/ + /Interacon/Programming/ before
using guiding mode for the rst me. Not using it correctly may cause serious
injury and/or material damage!
WARNING
Sharp-edged or pointed objects near the end eector or in the operang area
can lead to injuries during guiding. Therefore:
• Avoid sharp-edged or pointed objects whenever possible
• Please also read the chapter: Safety Concept/ Praccal ps for usage
and posioning of Panda.
Before entering guiding mode, check that the correct mass and center of
gravity are set for the end eector, respecvely the correct masses are set
for other objects. If Panda operates assuming a lower mass, the Arm will sink
when the guiding buon is pushed, whereas if it operates assuming a higher
mass, it will rise. This can lead to an unexpected movement which makes the
user inch and may lead to injury such as crushing.
Therefore:
• always set the correct mass for the end eector and/or mass on the
end eector before guiding.
CAUTION
Unlocking the Safety Locking
System

SAFETY
INSTRUCTION
Before you can move Panda, you must unlock the Safety Locking System.
Proceed in this case as before:
• ensure that the Emergency Stop is within easy reach for you
• If the external acvaon device is connected to X3 of the robot’s base,
then please bring it to deacvated status (pressed down)/correspondingly
a connected Safetyguard must be on (e.g. opened protecve screen).
• Noce: if X3 is nevertheless acvated during the unlocking, Panda
will be enabled immediately aer unlocking in automac mode
• be now out of the Safety Area and make sure that also no other persons
are within the Safety Area.
• click in Desk on “unlock joints”
Expect the following behavior:
• in order to release the locking pins, each of the 7 axes makes a small move-
ment
• in addion, you will hear 7 clicking noises
• the Arm will now be held in posion by its control and nd itself in “moni-
tored stop” status and Panda is now lit white.
• Noce: if X3 is already acvated, Panda is now lit blue and thereby
signals, that an automac program can be started.