  The Planck satellite provides a set of all-sky maps at nine frequencies from
30 GHz to 857 GHz. Planets, minor bodies, and diffuse interplanetary dust
emission (IPD) are all observed. The IPD can be separated from Galactic and
other emissions because Planck views a given point on the celestial sphere
multiple times, through different columns of IPD. We use the Planck data to
investigate the behaviour of zodiacal emission over the whole sky at
sub-millimetre and millimetre wavelengths. We fit the Planck data to find the
emissivities of the various components of the COBE zodiacal model -- a diffuse
cloud, three asteroidal dust bands, a circumsolar ring, and an Earth-trailing
feature. The emissivity of the diffuse cloud decreases with increasing
wavelength, as expected from earlier analyses. The emissivities of the dust
bands, however, decrease less rapidly, indicating that the properties of the
grains in the bands are different from those in the diffuse cloud. We fit the
small amount of Galactic emission seen through the telescope's far sidelobes,
and place limits on possible contamination of the CMB results from both
zodiacal and far-sidelobe emission. When necessary, the results are used in the
Planck pipeline to make maps with zodiacal emission and far sidelobes removed.
We show that the zodiacal correction to the CMB maps is small compared to the
Planck CMB temperature power spectrum and give a list of flux densities for
small Solar System bodies.
