【協働ロボット】Franka Research 3

FRANKA RESEARCH 3 Datasheet

Franka Research 3 Version: June 2022 Datasheet ¹ Arm & Control ARM Degrees of freedom 7 Interfaces • ethernet (TCP/IP) for visual intuitive programming with Desk Payload 3 kg • safety-rated input for external enabling device Maximum reach 855 mm • 2 configurable safety-rated inputs for Force/Torque sensing link-side torque sensor in all 7 axes emergency stop devices, safeguards or other Joint position limits A1, A3: -166/166 deg protective devices (OSSD devices via external A2: -105/105 deg OSSD converter connectable) • A4: -176/-7 deg hardware prepared for: 2x DI & 2x DO (24V, isolated, EN 61131-2 type 3 A5: -165/165 deg characteristics, 100 Hz sampling rate) A6: 25/265 deg • Control connector A7: -175/175 deg • connector for end effector Mounting flange DIN ISO 9409-1-A50 Installation position upright User Interfaces at the • integrated safety-rated guiding enabling switch Arm's Pilot Grip Weight ~ 17.8 kg • guiding button Protection rating IP40 • guiding mode selector Air humidity 20 − 80 % non-condensing User Interfaces at the • status light Arm's Pilot Disc • Pilot mode selector • arrow keys, teach, confirm, delete CONTROL PERFORMANCE Controller size (19”) 355 x 483 x 89 mm (D x W x H) Motion Supply voltage 100 − 240 VAC Joint velocity limits A1-A4: 150 °/s Mains frequency 50− 60 Hz A5-A7: 301 °/s Power consumption ~ 80 W Cartesian velocity limits up to 2 m/s end effector speed Active power factor correction (PFC) yes Pose repeatability ² <+/- 0.1 mm (ISO 9283) Weight ~ 7 kg Protection rating IP20 Interaction Air humidity 20 − 80 % non-condensing Guiding force ~ 2.5 N Permitted mounting orientation horizontal Adjustable translational stiffness 10 − 3000 N/m Interfaces • ethernet (TCP/IP) for internet Adjustable rotational stiffness 1 − 300 Nm/rad and/or shop-floor connection Monitored signals joint position, velocity, • power connector torque cartesian position, force IEC 60320C14 (V-Lock) • Arm connector ADD-ONS EXCLUSIVE Fully integrated end effectors • 2-finger gripper • Research interface 1kHz Franka Control Interface Vacuum gripper (FCI) Fieldbuses • Modbus/TCP • OPC UA Copyright © Franka Emika

Franka Research 3 Version: June 2022 SAFETY Compliance EN ISO 10218-1:2011 Robots and robotic devices - safety requirements for industrial robots Part 1: Robots EN ISO 13849:2015 safety of machinery - safety-related parts of control systems Collaborative operation modes Safety-rated monitored stop fully integrated in PL d Cat. 3 Hand-guiding fully integrated in PL d Cat. 3 Safety-rated speed and separation monitoring realizable in combination with external protective devices up to PL d Cat. 3 Safety parametrization & validation Watchman user interface to set and validate safety-related parameters User management role based access management Safety Functions Emergency Stop (X3.1) PL d / Cat. 3 External Enabling Device (X4) PL d / Cat. 3 Enabling Button PL d / Cat. 3 Two configurable safe inputs (X3.2 and X3.3) PL d / Cat. 3 SLP-C: Safely limited Cartesian position PL d / Cat. 3 note: FCI cannot control the robot while SLP-C is active SLS-C: Safely limited Cartesian speed PL d / Cat. 3 note: FCI cannot control the robot while SLS-C is active SLP-J: Safely limited joint angle PL d / Cat. 3 SLS-J: Safely limited joint speed PL d / Cat. 3 SLD: Safely limited distance PL d / Cat. 3 SEEPO: Safe End Effector Power off PL b / Cat. b Stopping Functions Category 0 stop PL d / Cat. 3 Category 1 stop PL d / Cat. 3 Category 2 stop PL d / Cat. 3 1. Technical data are subject to change. 2. Based on ISO 9283 (Annex A), specified values refer to a workspace of 0.4 x 0.4 x 0.4 m centered at [0.498, 0.0, 0.226] m, with the Z-Axis of the flange oriented parallel to earth-gravity and the elbow positioned upwards. Copyright © Franka Emika

Franka Research 3 Version: June 2022 DIMENSIONS & WORKSPACE 82 384 88 A5 A6 82 107 A4 A7 X Y A3 316 Z A2 Z 333 A1 Y X Axes names with joint lengths [mm] 855 855 1188 R 80 5 reach with flange // to base 333 55 flange ISO CUBE R 8 h of . reac max 362 365 280 280 Workspace | side view [mm] Workspace | top view [mm] Copyright © Franka Emika ISO CUBE