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【FRANKA RESEARCH 3 特徴】
◆ROS(Robot Operating System)対応
◆全軸にトルクセンサー搭載
◆簡単ダイレクトティーチング
◆高い安全性
研究や製品開発に於ける定常作業・単調作業を協働ロボットに任せることで、人間は付加価値の高い研究に注力する動きがあります。また、コロナ禍により研究室や実験室で作業ができない状況でもロボットを利用することで必要作業を継続することが可能です。しかし、研究現場の多くは、十分なスペースを確保することが難しいという難点があります。
FRANKA RESEARCH 3は協働ロボットによる「狭所作業」や「人や周辺物との安全な接触」のような課題に対応できる製品になります。
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#協働ロボット #7軸 #コボット #ROS #産業ロボット #少量多品種 #繰り返し #AI #自動化 #省人化 #工場 #生産性向上 #IoT #スマートファクトリー #Franka
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ドキュメント名 | AI・ロボティクス用プラットフォーム「FRANKA RESEARCH 3」 |
---|---|
ドキュメント種別 | 製品カタログ |
ファイルサイズ | 1.3Mb |
取り扱い企業 | 株式会社リョーサン (この企業の取り扱いカタログ一覧) |
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AI・ロボティクス用プラットフォーム
「FRANKA RESEARCH 3」
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FRANKA RESEARCH 3
Datasheet
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Franka Research 3
Release Version: 1.0 (December 2023)
Document number: R02212
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
Ambient temperature ² +5 °C to +45 °C
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 (at FCI use A6: 239 °/s)
Power consumption ~ 80 W Cartesian velocity limits up to 2 m/s end effector speed
Active power factor correction (PFC) yes Pose repeatability ³ <+/- 0.1 mm (ISO 9283)
Weight ~ 7 kg
Protection rating IP20 Interaction
Ambient temperature ² +5 °C to +45 °C Guiding force ~ 2.5 N
Air humidity 20 − 80 % non-condensing Adjustable translational stiffness 10 − 3000 N/m
Permitted mounting orientation horizontal Adjustable rotational stiffness 1 − 300 Nm/rad
Interfaces • ethernet (TCP/IP) for internet Monitored signals joint position, velocity,
and/or shop-floor connection torque cartesian position, force
• power connector
IEC 60320C14 (V-Lock) ADD-ONS
• Arm connector Fully integrated end effectors • 2-finger gripper
• Vacuum gripper
EXCLUSIVE
Fieldbuses • Modbus/TCP
Research interface 1kHz Franka Control Interface (FCI) • OPC UA
Copyright © Franka Robotics
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Franka Research 3
Release Version: 1.0 (December 2023)
Document number: R02212
SAFETY
Certification
EN ISO 13849-1:2015 safety of machinery - certified by TÜV SÜD RAIL
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 note: FCI cannot control the robot while SLP-J is active
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
Worst case safe Cartesian position accuracy 50 mm
for stopping functions
Safety values according to EN ISO 13849-1
PFH of PL d / Cat. 3 safety functions < 1 × 10−7
(Probability of Failures per Hour)
PFH of PL b / Cat. b safety functions < 1 × 10−7
(Probability of Failures per Hour)
1. Technical data are subject to change.
2. For more details see Product Manual Franka Production 3.
3. 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 Robotics
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Franka Research 3
Release Version: 1.0 (December 2023)
Document number: R02212
DIMENSIONS & WORKSPACE
82 384 88
A5 A6
X
Z
82 107
A4 A7 X Y
Y
A3 Axes alignment without end effector
316
Z
A2
Z
333
A1 X
Z
Y X Y
Axes names with joint lengths [mm] Axes alignment with Franka Hand
855 855
1188
R 80 5
ase
reach with flange // to b
333 ange
R 855 o
ISO CUBE f fl
. r ach
max e
362 365
280 280
Workspace | side view [mm] Workspace | top view [mm]
Copyright © Franka Robotics
ISO CUBE
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株式会社リョーサン
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記載内容は発行日の情報であり、予告なしに変更することがあります。 エンジニアによりそうマガジンサイト お問い合わせはこちら 2024.03 発行