Franka机器人英文数据表
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© Copyright 2020 by Franka Emika
DATA SHEET
1
ROBOT ARM & CONTROL
Release Version: April 2020
Data sheet
HARDWARE
SOFT-ROBOT PERFORMANCE
ADD-ONS
Arm Motion
Force
Interaction
Degrees of freedom 7
Payload 3 kg
Force/ Torque
sensing
link-side torque
sensors in all 7 axes
Maximum reach
Workspace
Joint velocity limits
Cartesian velocity limits
Force range [N]
-125 95 -150 115
-70 70
Nominal case
Nominal case
Local best case
Local best case
-10 10
-100 100 -275 275
-16 12-10 10
-50 150 -115 155
-12 12-10 10
Torque range [Nm]
Fx
Mx
Fy
My
Fz
Mz
<+/- 0.1 mm (ISO 9283)
<+/- 1.25 mm
855 mm
see backside
A1, A3, A5, A7: -166°/166°
A2: -101°/101°
A4: -176°/-4°
A6: -1°/215°
A1, A2, A3, A4: 150°/s
A5, A6, A7: 180°/s
Pose repeatabillity
3
upright
Moving mass
Ambient
temperature
2
DIN ISO 9409-1-A50
12.8 kg
15 typical
5 extended
Interfaces
ethernet (TCP/IP) for visual in-
input for external enabling
device
device or safeguard
Control connector
Sensing
3
Force repeatability
Force noise (RMS)
<0.05 N
0.15 N
0.02 Nm
0.035 N
0.8 N
Fully integrated
Fieldbuses
1kHz Franka Control
Interface (FCI)
Research interface
PLd Cat. 3
Safe OSSD inputs
Vacuum gripper
Clamping Adapter
Modbus/TCP, OPC UA
Pop-up Box
max. 350 W
60 W
Control
Air humidity 20 80 % non-condensing
Ambient
temperature
15 typical
5 extended
Interfaces ethernet (TCP/IP) for internet
C14 (V-Lock)
Arm connector
Controller size (19”) 355 x 483 x 89 mm (D x W x H)
Supply voltage 100 240 V
AC
Weight 7 kg
80 W
Mains frequency
47 63 Hz
IP20
yes
Guiding force
1 kHz Control
3
Minimum controllable force (Fz)
0.05 N
10 Hz
2 N
<2 ms
Monitored signals
Nm/rad
N/m
3,4
3
<50 ms
<100 ms
Weight 17.8 kg
IP30
Air humidity 20 80 % non-condensing
0.15 Nm
Torque repeatability 0.05 Nm
Torque noise (RMS) 0.005 Nm
3,4
20,000 h
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