Franka Emika Panda - Step Back and Check Procedure

Franka Emika GmbH ©October 2018
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Step back & check - Check whether the task is being executed correctly
Safety operaon:
• Emergency Stop must always be installed within easy reach
• The user has le the Safety Area (step back)
• the user must check, that no other persons are in the Safety Area.
• the user must direct his full aenon to the pending roboc movement
(awareness)
Precondions for operaon:
• the Control must be switched on and booted up
• the safety locking system has to be unlocked (via the buon “Unlock joints“ in Desk)
• Emergency stop must be in the open posion
• The external enabling device has to be connected to X4 and half pressed
in order to acvate the automac execuon of robot programs and enable
robot movements
• X3 – Inputs
• in this state no device needs to be connected to X3
• the external acvaon device can, however, be connected to X3. If it is
connected, it must be in “closed” state, therefore pressed down.
• If a safeguard is connected to X3, then this should not be in acve state
In addion the emergency stop device could be used in order to cut o the power
supply completely, should this become necessary in an emergency.
--> Only now can a movement of the Arm be executed, e.g. using the play buon in Desk.
Brief description
Preconditions
Aer teaching a robot movement you usually want to check the learned move-
ment. To do this, step back outside the Safety Area. Using the external enabling
device, you can acvate the robot for movements. Do this only if your full aen-
on is directed to the pending robot movement (awareness). If you determine any
abnormal behavior during the running of the automac roboc movement, then
use the external enabling device to stop the robot’s movement. In addion, the
Emergency Stop device is always available, to turn o all energy supply to the
system, should this be necessary in case of emergency.
Ext. Enabling Device
Safety Area
Ext. Acvaon Device