# Franka Robotics Franka Research 3

Hardware · `Franka Research 3` · verification: source checked

The Franka Research 3 is a 7-axis force-sensitive collaborative robot arm intended for robotics and AI research. It has a 3 kg payload and 855 mm reach, with link-side torque sensors in all seven joints and 1 kHz joint control through the Franka Control Interface. The arm is mounted upright and connects to a separate rackmount control unit.

## Specification

| Property | Value |
|---|---|
| Category | collaborative robot |
| Axes | 7 |
| Payload | 3 kg |
| Reach | 855 mm |
| Repeatability | 0.1 mm |
| Weight | 18.3 kg |
| Max TCP speed | 2000 mm/s |
| Supply voltage | 100-240 VAC |
| Safety rating | PL d, Cat 3 |
| Flange | DIN ISO 9409-1-A50 |
| Power consumption | 0.08 kW |
| IP rating | IP40 |
| Operating temp min | 5 °C |
| Operating temp max | 45 °C |

### Joints

| Name | Range min (°) | Range max (°) | Max speed (°/s) |
|---|---|---|---|
| A1 | -166 | 166 | 150 |
| A2 | -105 | 105 | 150 |
| A3 | -166 | 166 | 150 |
| A4 | -176 | -7 | 150 |
| A5 | -165 | 165 | 301 |
| A6 | 25 | 265 | 239 |
| A7 | -175 | 175 | 301 |

## Connected

- Manufacturer: [Franka Robotics](https://machineschema.com/manufacturer/franka-robotics.md)
- Protocols: [Modbus TCP](https://machineschema.com/protocol/modbus-tcp.md), [OPC UA](https://machineschema.com/protocol/opc-ua.md)

## Safety

- Certification process ongoing against EN ISO 13849-1:2015 and EN ISO 10218-1:2011.
- Safety functions include emergency stop (X3.1), external enabling device (X4), enabling button, two configurable safe inputs (X3.2/X3.3), SLP-C, SLS-C, SLP-J, SLS-J, SLD and SEEP O.
- Collaborative operation modes are monitored stop, hand-guiding and speed and separation monitoring.
- Stopping functions include category 0, category 1 and category 2 stops; worst-case safe Cartesian position accuracy for stopping functions is 50 mm.
- PFH is < 1 × 10−7 for PL d, Cat 3 and for PL b, Cat b safety functions.
- FCI cannot control the robot while SLP-C or SLS-C is active.

## Study notes

- Force/torque sensing is a link-side torque sensor in all 7 axes.
- Joint torque limits: A1-A4 ±87 Nm; A5-A7 ±12 Nm.
- Installation position is upright.
- Control unit v5.1 is a 19'' rackmount unit, 355 x 483 x 89 mm (D x W x H), ~7 kg, IP20.
- Guiding force is ~2.5 N; adjustable translational stiffness is 10-3000 N/m and rotational stiffness is 1-300 Nm/rad.
- FCI provides 1 kHz low-level control and 1 kHz measurement of joint and Cartesian data; libfranka supports C++, ROS 2, MATLAB and Simulink.
- Workspace efficiency is 94.5%; maximum reach of flange is 855 mm and reach with flange parallel to base is 1188 mm.
- Add-ons include a 2-finger gripper and a vacuum gripper.

## Sources

1. [Franka Research 3](https://franka.de/franka-research-3) (accessed 2026-10-26)
2. [Datasheet Franka Research 3 R02212 2.4 EN](https://franka.de/hubfs/Datasheet%20Franka%20Research%203_R02212_2.4_EN.pdf?hsLang=en) (accessed 2026-10-26)

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