Franka Emika Panda - Interactive Task Execution

Franka Emika GmbH ©October 2018
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Brief descriponPanda makes safe funconalies and addional features available. These may be
used in order to create interacve working situaons, if this is allowed by the risk
analysis run by the customer.
Safe funconalies:
Emergency stop device
Acvang the emergency stop device will, if installed correctly, cut the power
supply to Panda. All movements of the robot are thereby locked mechanically.
Safety locking system
The fail-safe safety locking system safely locks all mechanical movements of
the Arm, also and in parcular in an unpowered state.
Monitored stop
Once the safety locking system has been unlocked Panda is in the mode “mon-
itored stop”. A safety system will ensure that Panda does not move. Should an
unexpected movement occur nevertheless, the safety locking system is acvat-
ed and the Arm will be locked mechanically.
Teaching/Guiding
Enabling/deacvang Panda using the two buons on the grip will safely ac-
vate/deacvate Panda. Should an unexpected situaon occur during teaching,
the leng go or strongly pressing of the enabling buon will lead to the imme-
diate stop of the Arm (it will go into “monitored stop”).

The user is responsible for stepping out of the Safety Area. The system is ac-
vated as soon as he keeps the external enabling device half pressed. Now the
user can trigger a robot movement by giving another command (e.g. the start
command in Desk).
Should an unexpected situaon occur during step back and check, the leng
go or strongly pressing of the external enabling device will lead to the immedi-
ate stop of the Arm (it will go into “monitored stop”).

You can either connect the external acvaon device or a safeguard to the fe-
male connector X3. The user is responsible for stepping out of the Safety Area.
Panda is acvated as soon as the user brings the external acvaon device
to the acvated state. Now the user can start a robot movement by giving a
further command (e.g. the start command in Desk). If the acvaon signal is
interrupted during automac operaon the Arm will stop immediately (and go
into “monitored stop”).
