Franka Emika Panda - Testing the Emergency Stop System

Franka Emika GmbH © October 2018
112
SAFETY
INSTRUCTION

Tesng Emergency Stop
The emergency stop system must be acvated at start-up and checked for
funcon at least every 12 months. In this regard, please note the chapter:
Safety Concept/ Emergency Stop Installaon.
Due to the technology of locking bolts, the posion of the Arm cannot be
held perfectly when the power is switched o. This means that Arm segments
will sink, in parcular at those joints on which gravitaonal force comes into
eect. Due to this sinking, workpieces or sensive objects in the proximity of
the device can be damaged.
Therefore:
• Take the sinking movement of the axes into account when switching o
Panda. Place the Arm in a clear posion (e.g. 200mm above staonary
objects) before switching it o.
WARNING
The emergency stop also cuts o power supply to the Hand. This means that
objects can fall out of the gripper and cause injuries, in parcular to hands or
ngers on a table or to the toes.
Therefore:
• Make sure that objects falling out of the gripper cannot cause any
injuries (e.g. by wearing safety shoes)
Please carry out the following SAFETY INSTRUCTIONS exactly as described
below:
• Panda must be in the state of “monitored stop”. The locking bolts of the
safety locking system need to be open and the Arm may not move.
• Acvate the emergency stop
• By acvang it, the Arm will slightly sink. Make sure that there is
enough space for the Arm to sink to avoid causing damages. Bring the
Arm into a posion that is free from obstacles, e.g. 200mm above sta-
onary objects. Use guiding to do so.
• If the emergency stop is installed as to addionally switch o other
devices apart from Panda, this needs to be taken into account during
tesng.
NOTICE
