Franka Emika Panda - Manual Arm Guiding; Selecting Guiding Modes

Franka Emika GmbH ©October 2018
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Guiding
Now the Arm can be guided. To guide the Arm:
• half-press the Enabling Buon on the grip and addionally press the guiding
buon. Panda from now on is lit connuously white. For improved usability,
we turn o the middle status light of the Pilot.
• as soon as you release any of the two buons, the Arm remains sll
• as soon as you press the enabling buon too hard, the Arm equally remains
sll (panic funcon of the enabling buon)
• try this out for yourself now!
The guiding mode buon is located on the top of the grip. With this buon, or
directly in Desk, dierent guiding modes can be selected. Which mode is cur-
rently selected is indicated in the sidebar of Desk. A guiding mode limits certain
movements of the Arm to facilitate easy operaon.
Panda allows you to switch guiding modes. They are used for liming prede-
ned movements during guiding. A guiding mode can for example only allow
the Cartesian direcons X, Y and Z, while rotaons around these axes are
locked. If the locked direcons and rotaons are overstressed by the user by
force, this can damage Panda.
Therefore:
• if, during guiding by hand, one direcon feels as if it is locked and the
base is lit white, it should be checked, if the correct guiding mode has
been congured. Any forcing of locked direcons is to be avoided.
• if Panda is lit, for example, “pink”, then Panda is receiving conicng
release signals and therefore does not allow itself to be led by hand.
NOTICE
Switching between guiding modes