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