Franka Emika Panda - Shutting Down and Switching Off

Franka Emika GmbH ©October 2018
113
As soon as the Control is no longer supplied with power, Panda is safely
stopped and mechanically locked by the fail-safe safety locking system. The
emergency stop is designed for stopping the Arm as quickly as possible in case
of emergency. This can damage the Arm or, when stopping at an unfavorable
point in the process, also the Hand, work pieces or the surroundings.
Therefore:
• The emergency stop system should only be used in safety-crical situa-
ons.
• If possible, use the external acvaon device before acvang the
emergency stop. This will stop the robot movements more gently than the
emergency stop system and will not acvate the safety locking system.
Due to the technology of locking bolts, the posion of the Arm cannot be
held perfectly when the power is switched o. The locking bolts catch with
an audible click and let the Arm sink, in parcular at those joints on which
gravitaonal force comes into eect. This can cause to damages to work
pieces in the proximity. 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.
NOTICE
NOTICE

For switching o, be outside the Safety Area. Via the opon “shut-down” in the
sidebar of Desk the safety locking system is acvated and Panda will be shut down.
You need to wait 1 minute before restarng Panda. Then simply reconnect it to a
power supply and Panda will start to reboot again.
Disconnect Panda from the mains aer shung down the system (e.g. using the
power switch on the back of the Control). Once the front venlators stand sll,
Panda has been shut down and can be switched o. Otherwise the venlators
on the back will remain acve.
Shung down
Switching o
Restarng
WARNING
The energy supply is also disconnected from the Hand. In this way, grasped
objects may fall out of the gripper and injuries, parcularly of hands and n-
gers on a table or toes may be caused.
Therefore:
• it must be ensured that falling objects cause no injuries (e.g. wearing of
protecve footwear, etc.)