Franka Production 3 Error due to safety configurations - penn-figueroa-lab/lab_wiki GitHub Wiki

Franka Production 3 - Safety configurations

The Franka Production 3 is delivered with a predefined and pre-validated set of safety scenarios according to the requirements from the ISO 10218-1 standard, measures for minimum configurations for robot integration. Franka 3 distinguishes between two safety functions: limiting functions and monitoring functions. Limiting functions guarantee that limits are not breached, e.g., stopping times, distances, and tolerances, while monitoring functions are only triggered upon a violation. Some of the pre-defined safety functions are customizable through the Watchman interface.
Watchman is the user page in the Franka WebUI for displaying, creating and editing safety functions. In order to modify the safety configuration, a "Safety Operator" user should be added by the administrator and can change the safety configuration based on their need. We provided the steps and modifications that helped us set up the robot in the following. For further and detailed information, look through chapter 4 of the FRANKA PRODUCTION 3 product manual.

Steps: Modifications

Log in to the Franka Control Interface as “Administrator”. From the sidebar menu, go to Settings. In the USERS menu, add a new user with the “Safety Operator” Role.
Log in to FCI as the Safety Operator. Switch the operating mode to “Programming”, and open the Watchman interface via the menu on the sidebar. The active and confirmed rules and validation states of the scenarios are now displayed on the Watchman interface. Switch to "Draft" mode and start editing. The editable rules are:

Safety Setup (we left these settings unchanged)

  • General Safety Settings >> Default - "Enable Assist Mode" checkbox must be set. If this function is deactivated, the Assist function is not available in any other submenus of the robot controller.
  • Safe Input Configuration >> Default - "No confirmation required"
  • End Effector Configuration >> Default

Editable Scenarios >> Work

You can edit or delete the rules set in this part. We tried editing the rules. The errors occurred due to each modification is presented below. We decided to delete the safety scenarios in this part.

  • None: give error about violation, FCI does not work.
  • Safely monitored standstill: Does not execute.
  • Max velocity: Robot will not move. Error: command rejected due to activated safety function!
    For Franka Research 3 FCI cannot control the robot while SLP-J (Safely limited joint angle) is active. source

Assist, Test & Jog, Teach (we left these settings unchanged)

Note: The following functions should not be active (FCI cannot control the robot while active): Source.

  • SLP-C: Safely limited Cartesian position
  • SLS-C: Safely limited Cartesian speed
  • SLP-J: Safely limited joint angle

Steps: Validation

After applying the changes, you need to validate the new rules (indicated by orange validation markers):

Validate Rules >> Check all and confirm selected rules >> Confirm Whole Safety Scenario
To validate the rule, click on "Confirm Validation" or check the box next to the rules to be confirmed and then click on "Confirm Selected Rules" above the rules. The next step is to confirm the security scenario by clicking on "Confirm Whole Security Scenario".

Report and Commit >> Select “I verify that I signed the report.” >> Commit
After all scenarios have been validated, the "Report & Commit" button appears in the upper left corner.