CMA Dishmachines GR Painting Robot Series Guide

GR Painting Robot Series
Installation and Connection Instruction Manual
Version No.：ZL-GR6150-001-V1
Issue Date：January 2020
The copyright is reserved for CMA (WUHU) Robotics Company Limited
For customer use only and any unauthorized use of this manual is strictly prohibited
CMA (WUHU) Robotics Company Limited
No.96, East Wanchun Road, Jiujiang Economic Development District, Wuhu, Anhui Province
TEL：[phone]
CMA
CMA (WUHU) Robotics Company Limited
Supplier of Intelligent Painting Robots

ZL-GR6150-001-V1 Installation and Connection Instruction Manual
CMA (WUHU) Robotics Company Limited
Statement
Thank you for purchasing the painting robots designed by CMA (WUHU) Robotics Company Limited
(CMA, in short). The contents stated in the manual are directly related to your safety, lawful rights and
responsibilities. Please ensure to read through the manual and correctly set the operation parameters before
use. Any operation that does not strictly follow the instructions or the warnings of the manual might lead to
physical injury or property damage. All rights for explanation are reserved by CMA.
This manual is intended for technical reference only which makes no warranty to the entire application
of the robot system. Therefore, CMA accepts no responsibility for any accident, damage or industrial
copyright dispute that follows the use of the application system. It is strongly recommended that all the
professionals involved in operation, teaching, maintenance, and inspection should take CMA special training
before being authorized to use the robots.
Copyright and Brand name
The copyright of the manual is fully reserved by CMA and is intended for CMA users only. Neither can
the manual be reproduced nor should it be revealed to a third party without the written consent of CMA.
The manual should be well kept during the life circle of the robot. An optional copy can be ordered from
CMA if the original one is damaged or lost. The address of the new owner is required to be reported to CMA
if the robot is resold or transferred.
This manual is an indispensable part of the whole manual collection and all the professionals involved
in operation, teaching, maintenance, and inspection are required take CMA special training on the knowledge
instructed by the following manuals:
ZL-GR-001-V1：Safety Manual for GR Painting Robot Series.
ZL-GR-002-V1：Maintenance Manual for GR Painting Robot Series.
ZL-GR-003-V1：Explosion Protection Manual for GR Painting Robot Series.
ZL-GR-004-V1：Remote Assistance Manual for GR Painting Robot Series.
ZL-GR-005-V1：IO Communication Instruction Manual GR Painting Robot Series.
ZL-GR-006-V1：Program Editor Instruction Manual for GR Painting Robot Series
ZL-GR6150-001-V1 Installation and Connection Instruction Manual for GR6150 Painting Robot.
ZL-GR6150-002-V1 Mechanical Operation and Maintenance Manual for GR6150 Painting Robot.
ZL-GR6150-003-V1 Electrical Operation and Maintenance Manual for GR6150 Painting Robot.
ZL-GR6150-004-V1：Electrical Schematic Diagram for GR6150 Painting Robot.
All rights reserved by CMA. The manual and the relevant manuals re subject to change without prior
notice for the purpose of product improvement, specification change and instruction update. Please visit the
following website for the latest updates: www.cmarobot.com.cn

ZL-GR6150-001-V1 Installation and Connection Instruction Manual
CMA (WUHU) Robotics Company Limited
About the Manual
The target readers of the manual include professionals involved in robot operation,
maintenance and technical service. This manual intends to explain how to use the program editor
for all the GR painting robots designed by CMA. The warning pictograms are classified into four
categories, “danger”, “caution”, “attention” and “important” respectively. These warnings are
relevant to safety and must be observed.
Danger
Danger! This warning means death might occur, if an operation is not
properly performed.
Caution
Caution! This warning means death or server physical injury might
occur, if an operation is not properly performed.
Attention
Attention! This warning means minor physical injury or minor
material damage may occur, if an operation is not properly performed.
Important
Important! This warning means special attention should be paid to a
certain operation.
Warnings titled by “attention” might also lead to severe consequence in different cases. Therefore it is
strongly recommended that anything titled by “attention” should be handled with extreme caution.
Please read the manual and the files attached carefully and master all the required knowledge about
the robot and the safety instructions before use.
A cover or safety shied is taken out only for the purpose of illustration. Please ensure to restore the
cover or safety shield before any operation.
The figures and photos contained in this manual are for the purpose of illustration only and they
might be different from the product purchased.
The manual is subject to change without prior notice for the purpose of product improvement,
specification change and instruction update.
The manual will be reissued and a new version number will be specified if the contents are
renewed.
Contact the service department with the information printed on the back cover to purchase a new

ZL-GR6150-001-V1 Installation and Connection Instruction Manual
CMA (WUHU) Robotics Company Limited
manual if the present one is damaged or lost.
CMA is not responsible for any consequence caused by any unauthorized modification or change
of the robot.

ZL-GR6150-001-V1 Installation and Connection Instruction Manual
CMA (WUHU) Robotics Company Limited
Contents
Chapter One Safety.................................................................................................................... 1
1.1 Application guide....................................................................................................1
1.2 Safety precautions...................................................................................................1
Chapter Two Handling and product confirmation..................................................................... 2
2.1Product packaging and unloading............................................................................2
2.2 Preparation before installation and connection.......................................................2
2.3 Installation environment requirements................................................................... 2
2.4 Product confirmation.............................................................................................. 3
Chapter Three Installation and connection of robot body......................................................... 4
3.1 Requirements for installation site of body..............................................................4
3.2 Robot body handling...............................................................................................4
3.2.1 Handling precautions........................................................................................... 4
3.2.2 Handling methods................................................................................................ 5
3.3 Fixation of robot body............................................................................................ 6
3.4 Cable connection between robot body and control cabinet.................................... 9
3.5 Robot wrist end tool installation...........................................................................12
Chapter Four Installation and connection of robot control cabinet.......................................... 15
4.1 Installation requirements of control cabinet......................................................... 15
4.2 Installation and connection instructions of control cabinet.................................. 17
4.2.1 Brief introduction of external installation of control cabinet......................... 17
4.2.2 Introduction to internal installation of control cabinet...................................... 22

ZL-GR6150-001-V1 Installation and Connection Instruction Manual
CMA (WUHU) Robotics Company Limited
4.3 Daily maintenance................................................................................................ 26
4.3.1 Replace the fuse................................................................................................. 27
4.3.2 Replace the drive............................................................................................... 29
4.4.3 Replace the radiator fan..................................................................................... 31
4.3.4 Replace the cooling fan of the drive.................................................................. 32
4.3.5 Check and replace the dust filter........................................................................33
Chapter Five Installation and connection of robot explosion proof cabinet............................35
5.1 Precautions for robot explosion protection...........................................................35
5.2 Introduction of explosion proof electric cabinet...................................................35
5.3 Cable and gas circuit connection of explosion proof cabinet............................... 37
5.3.1 Explosion proof cable connection......................................................................37
5.3.2 Gas circuit connection of explosion proof cabinet............................................ 38

ZL-GR6150-001-V1 Installation and Connection Instruction Manual
CMA (WUHU) Robotics Company Limited
1
Chapter One Safety
1.1 Application guide
According to the relevant national and local laws, regulations and regulations, safety is the most basic
concern when using industrial systems including robots. In the accidents of personal injury and property loss
caused by the use of robots, the factories using robots are responsible. Therefore, in addition to understanding
this manual and its related materials, we must understand all relevant health and safety regulations and
standards, and be sure to comply with them.
This manual introduces the installation and connection operation of our GR6150 spraying robot. Before
the installation and operation of the equipment, please read and fully understand the relevant contents of this
manual and safety manual, and strictly abide by all safety regulations. As a general rule, the safety related
information recorded in this manual does not cover all aspects of robot application system. Therefore, when
using the robot, we should take necessary safety measures according to the actual situation of the system and
its application environment, and strictly abide by them. The company will not be responsible for any accident
or injury caused by following only one part of this manual.
The product corresponding to the manual has no fault in the initial state when it leaves the factory, and
has all safety configurations after debugging. In order to maintain the normal and safe operation of the robot,
it must be operated according to the method specified by the manufacturer. The normal and safe operation of
robot requires reasonable transportation, correct storage and careful operation. If you have any other
questions, please contact the relevant after-sales personnel of CMA (WUHU) Robotics Company Limited
1.2 Safety precautions
For all operations of installation and connection, please strictly observe the following:
Before transporting the robot, clean the passage to the installation position and remove all
unnecessary objects.
Only people with forklift and crane operation qualification are allowed to move / transport
robots, control cabinets, walking axis, etc.
During transportation, never approach or walk under the lifting robot, control cabinet, walking
axis and related equipment.
Do not stay on the robot arm, control cabinet and walking axis during transportation, and do
not touch or support them manually.
The lifting robot is to hook the wire rope to the lifting ring and make sure that the ring is not
loose.
As the robot is composed of precise components, please protect the robot from collision and
impact during transportation

ZL-GR6150-001-V1 Installation and Connection Instruction Manual
CMA (WUHU) Robotics Company Limited
2
Chapter Two Handling and product confirmation
2.1Product packaging and unloading
GR6150 robot is packed with wooden pallet. The control cabinet, explosion-proof cabinet and accessory
box of the robot are all placed on a complete wooden pallet and protected by vacuum moisture-proof tin foil
bag. When loading and unloading, the forklift is used to lift and load on the transport vehicle or unload from
the transport vehicle. The transport package is shown in the figure below:
2.2 Preparation before installation and connection
Before installing the robot, the following inspection items must also be carried out:
Before moving the robot, please check the stability of the robot.
Visually check the robot for obvious damage and make sure it is not damaged.
Ensure that the lifting device used is suitable for handling the specified robot weight.
If the robot is not installed directly, it must be stored according to the robot storage
environment requirements.
Ensure that the expected operating environment of the robot meets the requirements of the
robot operating environment.
Before transporting the robot to its installation site, please ensure that the site meets the
ground installation requirements.
2.3 Installation environment requirements
Before installing the control cabinet and the robot body, the storage environment and working
environment of the robot must meet the following conditions:
The working environment temperature of the robot should be between 0 ℃and 40 ℃;
The temperature of robot storage environment should be between - 10 ℃and 55 ℃;
The humidity of robot storage environment must be lower than dew point (relative
humidity below 10%);
The vibration of robot mounting base should be less than 0.5g;
There should be no large electrical noise source (such as welding equipment, etc.) near the
robot;
The robot body has explosion-proof protection and can be installed in the dangerous

ZL-GR6150-001-V1 Installation and Connection Instruction Manual
CMA (WUHU) Robotics Company Limited
3
spraying environment;
The robot control cabinet does not have explosion-proof function and must be installed in a
safe environment isolated from the dangerous area;
The installation position of the control cabinet should be able to see the movement of the
robot body clearly;
The robot and the control cabinet are made up of precision parts. Do not collide in the
process of handling.
2.4 Product confirmation
GR6150 spraying robot standard model delivery list is as follows:
Note: the above is the standard configuration list, excluding the customized model, which is subject to the
actual GR6150 robot packing list.
GR6150 robot packing list
Sequ
ence
name
Configuration type
quantit
y
unit
remark
1
Robot body
Standard configuration
1
Set
2
Robot control cabinet
cabinetcabinet
Standard configuration
1
Set
3
Explosion proof cabinet
Standard configuration
1
Set
4
Cable conecting robot body
with control cabinet
Encoder line
1
Set
5
Power line
1
set
6
Ground line
1
Piece
7
air pipe connecting body
with explosion proof
cabinet
φ6
1
Piece
8
φ10
1
Piece
9
φ16
1
Piece
10
Teach pendant and cable
Standard configuration
1
Set
11
Robot pin
Standard configuration
1
Set
12
Instruction manual
Standard configuration
1
Set
E-version
13
Factory inspection report
Enterprise standard
1
Piece
14
Product certificate
Enterprise standard
1
Cocy
15
Robot accessories
Accessory box
1
Piece
16
380V main power aviation
plug in soket
Standard configuration
1
Set
In accessory
box
17
Zero point bolt
Standard configuration
1
Piece
In accessory
box
18
Others
The color of the body is green; Fuse (in robot control cabinet: 5A, 10A glass tube
fuse 2 each; 2A glass tube fuse 5; 2A, 32A fusible core (2 each); An electrical
schematic diagram and three spare aviation plug sockets are attached.

ZL-GR6150-001-V1 Installation and Connection Instruction Manual
CMA (WUHU) Robotics Company Limited
4
Chapter Three Installation and connection of robot body
3.1 Requirements for installation site of body
GR6150 robot body is equipped with explosion-proof function as standard, and its body can be installed
to work in the environment with explosion risk. Please refer to the explosion-proof certification mark for
details.
When installing the robot body, please install it at the position meeting the following conditions:
The working area of robot body should be protected by safety fence, and the entrance
and exit of safety fence should be equipped with safety lock
The flatness of the robot installation plane should be within 0.5mm;
Ensure that the installation foundation and bracket have enough rigidity;
GB 50040-1996 code for design of power machine foundation
3.2 Robot body handling
3.2.1 Handling precautions
The following contents are the precautions in robot handling operation. Please fully understand the
following contents before safe operation:
Attention
The handling of robots and control devices must be carried out by qualified personnel for
hook, lifting operation, forklift, etc. If the operators do not master the correct skills to
carry out the operation, it may lead to overturning, falling and other accidents.
Safety fence
Door with safety latch

ZL-GR6150-001-V1 Installation and Connection Instruction Manual
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5
Attention
When handling the robot and control device, please confirm the weight and steps
according to the method recorded in the manual. If the operation cannot be carried out
according to the specified method, the robot and control device may overturn or fall
during the handling process, resulting in accidents.
Attention
When handling and installing, pay attention to avoid damaging the wiring. In addition,
after the assembly of the device, protective measures such as covering with protective
cover should be taken to avoid damage to wiring by operators and forklifts.
3.2.2 Handling methods
When handling robot, the angle of each axis of handling attitude is set as follows:
（1）Handling method 1:
Install 4 M10 lifting ring screws on the main frame and lift it with four steel cables. It is suggested that
the length of the steel cable should not be less than 3m, and rubber hose should be put on the contact part
between the steel cable and the main body of the robot for protection.
Attention
In the figure above, there are no other devices installed on the terminal actuator and
mechanical arm, so please pay more attention once other devices are installed.
Position
1 axis
2 axis
3 axis
4 axis
5 axis
6 axis
Joint
angle/°
0
＋52
-56
0
0
0
The body weight is 640kg
Cushion protection is added to the contact
part with the body
4-M10 lifting ring

ZL-GR6150-001-V1 Installation and Connection Instruction Manual
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（2）Handling method 2:
Use forklift for handling.
Attention
When handling, please install and use the fixed fixture!
When using other handling methods instead of crown block and forklift, please pay
attention to that the robot arm and motor cannot be subjected to external force!
After unpacking and installing, always remove the handling fixture and rubber pad!
The fixed fixture is needed for future robot handling. Please keep it properly!
3.3 Fixation of robot body
In order to maintain the best function of the robot in normal operation, the fixation and foundation (or
mounting platform) of the robot base must be able to bear the self- weight of the robot with its fixture and the
reaction force during acceleration and deceleration. When the flatness of the robot mounting surface is not
good, the robot may be deformed or damaged. Please ensure that the flatness of the robot mounting surface is
less than 0.5mm.
Removal of fork X2
after handling

ZL-GR6150-001-V1 Installation and Connection Instruction Manual
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Size of robot base
(1 ) Floor mounting
First fix the bottom plate on the ground. We recommend that the thickness of the bottom plate should be
more than 30mm, and use 8 chemical bolts above M16 to fix the bottom plate on the ground. The base of the robot
is firmly fixed on the base plate through its four mounting holes with M16 socket head screws (the screw length
must ensure that the screw length reaches 1.5 times of the nominal diameter of the thread). In order to prevent the
socket head screws from loosening during the operation of the equipment, please fully fix and prevent loosening
according to the method of "robot installation example" in Figure below.
Length of screw fitting part
Enlarged view for place ①
Floor mounting
Wall mounting
Robot base
Bottom plate
Robot base
Thickness of board:
above 30mm
Spring washer

ZL-GR6150-001-V1 Installation and Connection Instruction Manual
CMA (WUHU) Robotics Company Limited
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“Robot installation example”
Attention
Too long or too short screw for fixing robot base will cause bad fixing accident!
The connection strength of chemical bolts depends on the strength of concrete. When the
strength of concrete is insufficient, it can be strengthened by the following methods:
Increase the number of chemical bolt group;
Increase the embedded depth of chemical bolts；
(2) Bracket installation
When the height of the bracket is less than 600mm, its fixing mode is similar to the ground installation
mode, which is divided into two parts: robot base installation, bracket and ground installation;
When the height of the bracket is more than 600mm, the connection strength between the support and
the ground should be strictly checked to ensure that the connection between the support and the ground is
safe and reliable;
Attention
Increase the embedded depth of chemical bolts; The specification, quantity and embedded
depth of chemical bolt group can be increased appropriately;
To improve the strength of concrete foundation, the strength of concrete foundation is
higher than that of corresponding chemical bolt components;
(3) Wall-mounted / upside down installation
In order to ensure safety, the following precautions should be taken during upside down and wall
mounted installation:
(1) Ensure the safety and reliability of the mounting bracket ( mounting wall surface);
(2) Grade 12.9 strength screws shall be used for connection and the tightening torque of screws shall meet
requirements of the pre- tightening force for screws of this specification
chemical bolts group
8 set ( above M20)

ZL-GR6150-001-V1 Installation and Connection Instruction Manual
CMA (WUHU) Robotics Company Limited
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Specifications for installation and fixing
Attention
Please ensure that the flatness of the mounting plane of the robot base is ≤ 0.5mm,
otherwise the robot may be damaged.
3.4 Cable connection between robot body and control cabinet
The cable between the robot body and the control cabinet is mainly composed of two parts, power cable
(including brake cable) and encoder cable, each of which is a flexible cable. Therefore, in the layout process, try
Mounting hole
4-φ18 or 6-φ18
Fixed component
(length is
recommended)
M16x60
Strength grade: 12.9
Tightening torque
(recommended)
318Nm
Flatness of mounting
surface
≤0.5mm
Flat
pad(recommended)
Material S45C，solidity：HRC38-45，thickness：4mm
Wall-mounted installation
Upside down installation

ZL-GR6150-001-V1 Installation and Connection Instruction Manual
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to avoid cable twisting, winding, etc. At the same time, to avoid the interference of power line to encoder line, the
power line cable and encoder line cable are respectively placed in their own independent line slot. The connection
is shown in the figure below：
There are two aviation plug-in places on the right side of the robot control cabinet. The figure
below shows the physical diagram of power cable (including brake wire) and encoder cable aviation plug-in
terminal of robot control cabinet. The left side of the figure is an encoder cable connected with the driver in
the control cabinet; The right side of the aviation plug-in line is a power line (including the brake wire),
which is connected with the driver power port in the control cabinet. Both of the aviation plug-in wires will
be connected with the relevant interfaces under the robot body base.
Cable between disks
Teach pendant Explosion proof cabinet
Robot body
Air pipe
Control cabinet
Safety area explosion hazard area

ZL-GR6150-001-V1 Installation and Connection Instruction Manual
CMA (WUHU) Robotics Company Limited
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Plug-in socket of electric control
cabinet encoder line
Ground-line
Plug-in socket of electric control
cabinet power line
Encoder-line
Power-line

ZL-GR6150-001-V1 Installation and Connection Instruction Manual
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3.5 Robot wrist end tool installation
Attention
When installing tools for the robot, it must be confirmed that the power supply of the robot
control cabinet and the main power supply have been cut off, and the installation must be
carried out according to the relevant installation requirements.
1）Dimension of flange surface for wrist end mounting
The flange of the mounting tool is at the end of the robot's wrist. The installation interface is shown in
the figure below, on the flange φ 104 threaded hole on the circumference, tighten the fastening screw. At
the same time, use the locating pin and the stop seam in the shaft to position the end tool.
Flange dimensions of end load mounting
2）Description of fixing screw
Please select the length of the fixed screw according to the depth of the screw hole of the mounting
flange to ensure the reliable threaded connection, as shown in the figure below. At the same time, tighten
the screw in the threaded hole according to the specified torque shown in the appendix "screw tightening
torque table".
Schematic diagram of end load mounting screw
Depth of screw hole
Mounting flange
Meshing length
Tool parts
Mounting screws
8-M5 depth 10
Uniform distribution