Franka Emika Panda - Automatic Task Execution

Franka Emika GmbH © October 2018
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Brief descripon As soon as the system performs a Task repeatedly it needs to be ensured that no
persons enter the Safety Area of the robot arm and are harmed as a result. Safe-
guards can be installed around Panda to prevent access to the hazardous area (e.g.
a safety fence with access monitoring, safe laser scanners or similar safeguards).
This operang mode corresponds to “automac mode” as described in EN ISO
10218-1:2012 respecvely ANSI/RIA 15.06.
Safety condions:
• the operator must ensure by means of adequate installaon, that no person
lingers in the hazardous area of the roboc arm
• installaon of safeguards (e.g. safety fence with access monitoring, safe
laser scanners,...) must be so congured and connected to the base (X3),
that any entry of the Safety Area is safely recognized. Panda then switches
to “monitored stop” status and can again be guided by hand (taught).
• the Safety Area must be set up suciently large, such that the maximum
me of stopping and the maximum stopping path of the Arm have been
considered
• Emergency Stop must always be installed within easy reach
Operang condions:
• 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 the open posion
• the External acvaon device must be connected and acvated - OR: an
external safeguard (e.g. a safety fence with access monitoring, safe laser
scanner or similar) has to be connected to X3 at the base and acvated
--> only then, for example, can a movement of the Arm be carried out via the
“Play” buon in Desk
Before start-up, the operator must check that no persons are in the Safety Area.
Precondions
Safety Area
Ext. Acvaon Device
NOTICE: If conicng authorizaon signals are present (e.g. external acvaon
device is acvated and the external enabling device or the enabling buon on the
grip is acvated), Panda signals with the color pink.
SAFETY CONCEPT