Franka Emika Panda - Torque Limits and Transportation Pose

Franka Emika GmbH ©October 2018
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Respect torque limits for each joint at all mes:
• Axes 1 & 2: allowed, repeatable peak torque <= 87 Nm
• Axes 3 & 4: allowed, repeatable peak torque <= 87 Nm
• Axes 5, 6, 7: allowed, repeatable peak torque <= 12 Nm
• The transportaon pose can be described by the following joint angles of axis 1 to
axis 7: [0°, -32.08°, 0°, -170.17°, 0°, 0°, 45°]
• The Arm must only be handled at the posions marked in the picture.
The mechanical zero posion of the joints is reached when the two triangles on
each side of the gap between the Arm segments align.
Addional technical
specicaons
Transportaon pose of the Arm
and marking of gripping posions
Axis 1
Axis 3
Axis 6