Franka Emika GmbH © October 2018
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Teach Panda a task
Safety conditions:
• Emergency Stop device must always be installed within easy reach
Preconditions for operations:
• the Control must be switched on and booted up
• the safety locking system must be unlocked (by clicking “unlock joints” in Desk)
• Emergency Stop must be in open position
• X3 – inputs
• In this status no device needs to be connected to X3
• The external activation device can however be connected to X3. If it
is connected, it needs to be “closed”, i.e. pressed.
• If a safeguard is connected to X3 it cannot be active
• the enabling button on the grip must be half-pressed down and held. The
enabling button has three states:
• not pressed down: De-activation of the Arm
• half pressed down: Arm activation
• completely pressed down: De-activation of the Arm
• in addition, the guiding button must be pressed continuously.
--> Only now can the Arm be moved manually and freely in guiding mode
Brief description
Preconditions
Keep both buttons on the grip of the Arm pressed (enabling & guiding buttons)
and the Arm can be moved freely (but limited according to the corresponding gui-
ding mode) by guiding it. This mode is used for teaching new poses or for manually
moving the Arm to another pose.
SAFETY CONCEPT
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