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Franka Emika robot
PRODUCT DESCRIPTION
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features
  • Technical data are subject to change
  • Lifetime and performance can potentially be reduced when operating outside the typical temperature range.
  • Based on ISO 9283 (Annex A), specified values refer to a workspace of 0.4 x 0.4 x 0.4 m centered at [0.515, 0.0, 0.226] m, with the Z-Axis of the flange oriented parallel to earth-gravity and the elbow positioned upwards.
  • Nominal conditions (66% load).
specifications
Degrees of freedom
7
Payload
3 kg
Workspace
see backside
Maximum reach
855 mm
Force/ Torque sensing
link-side torque sensors in all 7 axes
Expected nominal lifetime
20,000 h
Joint position limits
A1, A3, A5, A7: -166°/166° A2: -101°/101° A4: -176°/-4° A6: -1°/215°
Mounting flange
DIN ISO 9409-1-A50
Installation position
upright
Weight
~ 17.8 kg
Moving mass
~ 12.8 kg
Protection rating
IP30
Ambient temperature
15 − 25 °C (typical) 5 − 45 °C (extended)
Air humidity
20 − 80 % non-condensing
Power consumption
max. ~ 350 W typical application ~ 60 W
Interfaces
- ethernet (TCP/IP) for visual intuitive programming with Desk - input for external enabling device - input for external activation device or safeguard - Control connector - Connector for end-of-arm tooling
Controller size (19”)
355 x 483 x 89 mm (D x W x H)
Supply voltage
100 − 240 VAC
Mains frequency
47 − 63 Hz
Power consumption
~ 80 W
Active power factor correction (PFC)
yes
Control Weight
~ 7 kg
Protection rating
IP20
Ambient temperature
15 − 25 °C (typical) 5 − 45 °C (extended)
Air humidity
20 − 80 % non-condensing
Interfaces
- ethernet (TCP/IP) for internet and/or shop-floor connection - power connector IEC 60320- C14 (V-Lock) - Arm connector
Joint velocity limits
A1, A2, A3, A4: 150°/s A5, A6, A7: 180°/s
Cartesian velocity limits
up to 2 m/s end effector speed
Pose repeatabillity
<+/- 0.1 mm (ISO 9283)
Path deviation
<+/- 1.25 mm
Force resolution
<0.05 N
Relative force accuracy
0.8 N
Force repeatability
0.15 N
Force noise (RMS)
0.035 N
Torque resolution
0.02 Nm
Relative torque accuracy
0.15 Nm
Torque repeatability
0.05 Nm
Torque noise (RMS)
0.005 Nm
Minimum controllable force (Fz)
0.05 N
Force controller bandwidth (-3 dB)
10 Hz
Fx Nominal case
-125 − 95
Fx Local best case
-150 − 115
Fy Nominal case
-100 − 100
Fy Local best case
-275 − 275
Fz Nominal case
-50 − 150
Fz Local best case
-115 − 155
Torque range Mx Nominal case
-10 − 10
Torque range Mx Local best case
-70 − 70
Torque range My Nominal case
-10 − 10
Torque range My Local best case
-16 − 12
Torque range Mz Nominal case
-10 − 10
Torque range Mz Local best case
-12 − 12
Guiding force
~ 2 N
Collision detection time
<2 ms
Nominal collision reaction time
<50 ms
Worst case collision reaction time
<100 ms
Adjustable translational stiffness
0 − 3000 N/m
Adjustable rotational stiffness
0 − 300 Nm/rad
Monitored signals
joint position, velocity, torque cartesian position, velocity, force
Safety retrofit option with safety-rated PLC
PLd Cat. 3 Safe torque off (STO) Safe OSSD inputs
Fully integrated end effectors
- 2-finger gripper - Vacuum gripper
Fast mounting
Paw
Demonstration
Pop-up Box
Research interface
1kHz Franka Control Interface (FCI)
Fieldbuses
Modbus/TCP, OPC UA, Profinet
Promotion Movie
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