Franka Emika RESEARCH 3 - Page 4

120010/1.0/EN Franka Emika GmbH © 4
10.2 Correct Installation Site ................................................................................................................................ 61
10.2.1 Maximum-and safeguarded space ............................................................................................................. 61
10.2.2 Ambient conditions: Arm ............................................................................................................................. 62
10.2.3 Ambient conditions: Control ....................................................................................................................... 63
10.3 Preparing the Installation Site ..................................................................................................................... 64
10.3.1 Arm ................................................................................................................................................................... 65
10.3.2 Control ............................................................................................................................................................. 66
10.4 Mounting the Arm ......................................................................................................................................... 67
10.5 Positioning the Control ................................................................................................................................ 69
10.6 Wiring and Electrical Installation ................................................................................................................ 70
10.6.1 Connection diagram ...................................................................................................................................... 71
10.6.2 Interfaces......................................................................................................................................................... 71
10.6.3 Connecting the functional earth ................................................................................................................. 73
10.6.4 Wiring .............................................................................................................................................................. 74
10.7 Mounting End Effectors ............................................................................................................................... 79
10.8 Practical Tips for Usage and Positioning of Franka Research 3 ........................................................... 81
10.8.1 Energy consumption ..................................................................................................................................... 81
10.8.2 ESD limits ........................................................................................................................................................ 81
10.8.3 Design of the workspace ............................................................................................................................. 82
10.8.4 Personal safety and ergonomics ................................................................................................................. 83
10.9 Re-packing the Arm ...................................................................................................................................... 85
11 OPERATION ........................................................................................................................................................ 88
11.1 Switching On .................................................................................................................................................. 88
11.2 Safety Relevant Tests of Franka Research 3............................................................................................ 91
11.2.1 Self-test of the robotic system ................................................................................................................... 91
11.2.2 Regular testing of safety functions ............................................................................................................ 92
11.2.3 Testing the emergency stop ........................................................................................................................ 92
11.3 Initial configuration ....................................................................................................................................... 93
11.3.1 Connecting a User Interface Device .......................................................................................................... 93
11.3.2 Initial Configuration „First Start“ ................................................................................................................ 94
11.4 Setup of Franka Control Interface (FCI) .................................................................................................... 98
11.4.1 Configuration of the network for control via FCI ................................................................................... 98
11.4.2 Setup of libfranka on a Linux workstation ............................................................................................. 101
11.4.3 Verification of communication ................................................................................................................ 105
11.5 Typical Usage .............................................................................................................................................. 106
11.6 Switching Off and Restarting ................................................................................................................... 107
12 Safety configuration / Watchman ................................................................................................................ 109
12.1 Watchman .................................................................................................................................................... 109
12.2 Overview ...................................................................................................................................................... 109
12.3 Editing of the Safety Configuration ........................................................................................................ 111
12.4 Safety Setup ................................................................................................................................................ 113