CMA Dishmachines GR Series User manual

GR Painting Robot Series
Electrical Operation and Maintenance Manual
Version No.：ZL-GR6150-003-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-GR6150-003-V1 Electrical Operation and Maintenance 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 are 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-GR6150-003-V1 Electrical Operation and Maintenance 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 the electrical maintenance instructions of the GR6150 painting robot and
the matters needing attention during maintenance. It is applicable to the GR6150 painting robot of CMA
company.
In order to effectively draw the attention of the users of the manual to a specific subject or aspect, the
following symbols will be used, each with the following meanings.
The safety precautions in this manual are classified into four categories: "Danger", "Warning",
"Caution", and "Important".
In addition, even the content recorded in the “Attention” will lead to serious consequences due to
different circumstances. Therefore, any one of the precautions is extremely important, so please be sure to
strictly observe it.
Please read the manual and the files attached carefully and master all the required knowledge
about the robot and the safety instructions before use.
The illustrations in the manual are drawn by removing the cover or safety shield to illustrate
the details. Please ensure to restore the cover or safety shield according to the regulations before any
operation.
The pictures and photos in this manual are representative examples and may be different from
the purchased product.
The manual is subject to change without prior notice for the purpose of product improvements,
specification changes and more convenient use for the manual itself .
The manual will be reissued and a new version number will be specified if the contents are
renewed.
Contact the nearest sales office on the back cover to purchase a new manual if the present one
is damaged or lost, and order according to the data number on the cover.
Danger! Fatal accidents may occur if operated improperly.
Attention! Minor injuries or property damage accidents
may occur if operated improperly.
Special attention should be paid to certain important operation.
Danger! Fatal accidents or serious injury may occur if
operated improperly.
Danger
Warning
Attention
Important

ZL-GR6150-003-V1 Electrical Operation and Maintenance Manual
CMA (WUHU) Robotics Company Limited
CMA is not responsible for any consequence caused by unauthorized modification of the
robot which is not within the scope of the company’s warranty.

ZL-GR6150-003-V1 Electrical Operation and Maintenance Manual
CMA (WUHU) Robotics Company Limited
Contents
CHAPTER ONE SAFETY .................................................................... 1
1.1 SAFETY INSTRUCTIONS ...............................................................................................................................1
1.2 ABOUT SAFETY SIGNS ..............................................................................................................................1
1.3 SAFETY REGULATIONS ................................................................................................................................3
1.3.1 THE SAFETY REGULATIONS FOLLOWED BY THE ROBOT SYSTEM: .....................................................3
1.3.2 SAFETY REGULATIONS THE SAFETY MODULE COMPLIES WITH .......................................................3
1.4 SAFETY PRECAUTIONS DURING EACH WORK PROCESS ...........................................................................4
1.4.1 SAFETY IN ROBOT INSTALLATION AND CONNECTION ...................................................................... 4
1.4.2 SAFETY BEFORE STARTING THE ROBOTS ..........................................................................................5
1.4.3 SAFETY OF STARTING ROBOT ........................................................................................................... 5
1.4.4 SAFETY IN ROBOT TEST RUN ............................................................................................................6
1.4.5 SAFETY IN TEACHING ....................................................................................................................... 7
1.4.6 Safety in Automatic Operation ........................................................................................................8
1.4.7 SAFETY IN REPAIR .............................................................................................................................9
1.4.8 SAFETY IN EQUIPMENT CHECK AND MAINTENANCE ..................................................................... 10
CHAPTER TWO INSTALLATION AND CONNECTION ......................................... 12
2.1 OVERVIEW .............................................................................................................................................. 12
2.2 BASICS DESCRIPTION ............................................................................................................................. 12

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2.2.1 UNPACKING AND INSPECTION ........................................................................................................... 12
2.2.2 Preparation Before Installation ........................................................................................................ 14
2.2.3 STORAGE ENVIRONMENT FOR ROBOT ............................................................................................ 14
2.2.4 Operation Environment for Robot ................................................................................................... 15
2.2.5 Start Robot in Cold Environment .................................................................................................... 15
2.3 CONNECTION ............................................................................................................................................ 15
2.3.1 TRANSPORTATION .............................................................................................................................. 17
2.3.2 INSTALLATION ................................................................................................................................. 18
2.3.3 SET UP A SAFETY FENCE .................................................................................................................20
2.3.4 CONNECTION OF GROUND WIRE ...................................................................................................... 21
2.3.5 CONNECTION OF POWER CORD ........................................................................................................ 22
2.3.6 CONNECTION OF TEACH PENDANT ...................................................................................................25
2.3.7 CONNECTION OF THE ROBOT ..........................................................................................................26
2.3.8 CONNECTION OF SAFETY SIGNAL (SAFETY DOOR) .......................................................................... 27
2.3.9 CONNECTION OF SAFETY SIGNAL (SAFETY LIGHT CURTAIN) .......................................................... 29
2.3.10 CONNECTION OF SAFETY SIGNAL (EXTERNAL EMERGENCY STOP) ...............................................32
2.3.11 INPUT SIGNALS AVAILABLE .......................................................................................................... 34
2.3.12 OUTPUT SIGNALS AVAILABLE .......................................................................................................36

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2.3.13 ETHERNET CONNECTION (STANDARD) ...........................................................................................39
2.3.14 CONNECTION OF PROFIBUS BUS MODULE (PROFI ACCESSORIES) ............................................. 40
CHAPTER THREE CONTROL CABINET ......................................................43
3.1 DESCRIPTION OF ELECTRIC CABINET .......................................................................................................43
3.1.1 Basic Parameters .............................................................................................................................. 45
3.1.2 LAYOUT OF CONTROL CABINET ..................................................................................................... 46
3.1.3 BUTTONS ......................................................................................................................................... 47
3.2 TEACH PENDANT ......................................................................................................................................48
3.2.1 PARAMETERS OF TEACH PENDANT ................................................................................................. 48
3.2.2 BUTTONS ON THE TEACH PENDANT ............................................................................................... 48
3.2.3 HOW TO HOLD THE TEACH PENDANT .............................................................................................. 52
3.2.4 OPERATION AND CLEANING ............................................................................................................53
3.3 MOTION CONTROLLER ............................................................................................................................. 54
3.3.1 CONTROLLER X20CP3584 ................................................................................................................54
3.3.2 INDUSTRIAL COMPUTER APC2100 ..................................................................................................58
3.4 DRIVE POWER MODULE AND SERVO DRIVE ............................................................................................59
3.4.1 MAIN POWER MODULE ...................................................................................................................59
3.4.2 AUXILIARY POWER MODULE ..........................................................................................................62

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3.4.3 SERVO DRIVE .................................................................................................................................. 64
3.4.4 BUS MODULE .................................................................................................................................. 69
3.5 SAFETY PLC .............................................................................................................................................70
CHAPTER FOUR MAINTENANCE ...........................................................72
4.1 INTRODUCTION ......................................................................................................................................... 72
4.2 MAINTENANCE PLANS ..............................................................................................................................72
4.2.1 CLEAN THE INTERIOR OF THE ELECTRICAL CABINET .................................................................... 73
4.3.2 CHECK THE VENTILATION OF THE OPERATION CABINET (FORCED VENTILATION VERSION) ........ 74
4.3.3 CHECK THE OPERATION OF THE DRIVE AND RADIATOR FAN .........................................................75
4.3.4 CHECK WHETHER THE SAFETY DEVICE IS WORKING PROPERLY .................................................. 76
4.3.5 CHECK THE SEALING OF THE ELECTRICAL CABINET ..................................................................... 77
4.3.6 CHECK THE WIRING HARNESS ........................................................................................................77
4.3.7 CHECK THE WORKING CONDITION OF MAIN ELECTRICAL COMPONENTS ..................................... 78
4.3.8 CHECK THE EMERGENCY STOP SWITCH ......................................................................................... 78
4.3 TEMPORARY WORK ................................................................................................................................ 79
4.4 NON-ROUTINE MAINTENANCE ............................................................................................................... 79
4.4.1 REPLACE THE FUSE .........................................................................................................................80
4.4.2 REPLACE THE DRIVE .......................................................................................................................81

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4.4.3 REPLACE THE RADIATOR COOLING FAN ........................................................................................ 84
4.4.4 REPLACE THE COOLING FAN OF THE DRIVE .................................................................................... 85
CHAPTER FIVE TROUBLESHOOTING ....................................................... 86
5.1 TROUBLESHOOTING METHODS ................................................................................................................ 86

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1
Chapter One Safety
1.1 Safety Instructions
According to relevant national and local laws, regulations, and ordinances, safety instructions are the
most basic focus in operating industrial systems including robots.
The factory using robots are liable for personal injury and property damage led by the operation of robot.
Therefore, this manual and relevant materials together with regulations and standards concerning health and
safety must be understood and abide by.
For safety concerns, complying with the requirements in other manuals offered by CMA is also strongly
advised. Safety information recorded in this manual is general and does not include all the aspects of the
operating system of robots. Therefore, necessary safety measures should be taken and strictly abide by
according to the real operation situations.
1.2 About Safety Signs
When operating the robot in accordance with the contents of this manual, you may encounter dangerous
situations of different degrees. Therefore, in the attachments of the operating instructions that may cause
danger, there will be a special safety mark prompt box to remind the user to pay attention to precautions. The
content of the prompt box includes:
An icon indicating the safety level and the corresponding name, such as warning, danger, reminder, etc.;
A brief description to explain the possible consequences if the operator does not eliminate the danger;
Instructions on how to eliminate dangerous operations;
Icon
Name
Description
Danger
Danger
If the content with this logo is not operated in accordance with the
regulations, it will cause serious or even fatal injury to personnel, and
will/may cause serious damage to the robot. Operations related to such
hazards include contacting high-voltage devices in the control cabinet,
entering the work area of the robot while it is running, and so on.
Warning
Warning
If the content with this logo is not operated in accordance with the
regulations, it may cause serious injury to personnel, or even fatal, and
cause great damage to the robot.

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Risk of electric
shock
It is reminded that the current operation may have the risk of electric
shock and cause serious or even fatal injury.
Caution
If the content with this logo is not operated in accordance with the
regulations, it may cause injury to personnel and damage to the robot.
Anti-static
It is reminded that the parts involved in the current operation are
sensitive to static electricity. Failure to follow the standard operation
may cause damage to the device.
Prompt
Tips for some important information or preconditions.
Extrusion
Operators, maintenance personnel may be injured when entering the
robot’s motion range at the time of debugging, maintenance, repair, and
tool clamping.
Pinching hands
When the maintenance personnel are performing activities, there is a
risk of pinching the hands when approaching the belt drive components.
Hitting
Operators, maintenance personnel may be seriously injured when
entering the robot’s motion range at the time of debugging, maintenance,
repair, and tool clamping.
Friction
Operators, maintenance personnel may be injured when entering the
robot’s motion range at the time of debugging, maintenance, repair, and
tool clamping.
Flying out of
parts
When operators, maintenance personnel enter the robot’s motion range
at the time of debugging, maintenance, repair, and tool clamping, tools
or workpieces may fly out due to loose clamping and cause serious
injury.
Fire
When a short circuit occurs, a wire or a part catches fire, a fire may
occur and may cause serious injury.
High
temperature
surface
When maintenance personnel are performing equipment repair and
maintenance, contacting with the hot surface of the robot may cause
burns and injury.

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1.3 Safety Regulations
1.3.1 The Safety Regulations Followed by the Robot System:
Standard
Description
2006/42/EC
machinery directive
2014/30/EU
electromagnetic compatibility directive
EN 61508-1:2010
general requirements for functional safety of
electrical/electronic/programmable electronic related safety systems
EN 61508-2:2010
functional safety of electrical/electronic/programmable electronic related
safety systems- requirements for electrical/electronic/programmable
electronic related safety systems
EN 61508-3:2010
functional safety of electrical/electronic/programmable electronic related
safety systems- requirements for software
EN 61508-4:2010
functional safety of electrical/electronic/programmable electronic related
safety systems- definitions and abbreviations
EN ISO 13849-1:2008
safety of machinery- safety-related parts of control system components-
part one: general design guidelines
BS EN 60204-1
2006+A1 2009
safety of machinery- electrical equipment of machines- part one: general
requirements
ISO 10218-1:2011
safety requirements for robot and industrial robot machinery and
equipment -part one: robot
ISO 10218-2:2011
safety requirements for robot and industrial robot machinery and
equipment -part two: robot system and integration
GBT 15706:2012
general principles of domestic machinery safety design- risk assessment
and risk reduction
GB 5226.1:2008
domestic machinery and electrical safety machinery and electrical
equipment- part one: general technical requirements
1.3.2 Safety Regulations the Safety Module Complies with
The safety module safety level of GR series painting robots is SIL3, PLe, and the safety standards
followed are:
Standard
Description
2006/42/EC
machinery directive
2014/30/EU
electromagnetic compatibility directive
2014/35/EU
low voltage directive
EN 61496-1:2013
safety of machinery- electro-sensitive protective equipment- general
requirements and tests
EN 61131-2:2007
programmable controller- part two: equipment requirements and testing
EN 61508-1:2010
general requirements for functional safety of
electrical/electronic/programmable electronic related safety systems

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EN 61508-2:2010
functional safety of electrical/electronic/programmable electronic related
safety systems-requirements for electrical/electronic/programmable electronic
related safety systems
EN 61508-3:2010
functional safety of electrical/electronic/programmable electronic related
safety systems- requirements for software
EN 61508-4:2010
functional safety of electrical/electronic/programmable electronic related
safety systems- definitions and abbreviations
EN 62061:2005
safety of machinery- functional safety of safety-related electrical, electronic
and programmable electronic control systems
EN ISO
13849-1:2008
safety of machinery- safety-related parts of control system components- part
one: general design guidelines
IEC 61784-3:2008
industrial communication network- profile- part three: functional safety
fieldbus- general rules and profile definition
ANSI/UL 1998
safety software in programmable components
1.4 Safety Precautions during Each Work Process
1.4.1 Safety in Robot Installation and Connection
1. Please read and understand all manuals, specifications and other related documents provided by CMA
before operation. In addition, fully understand the whole process such as operation, teaching, and
maintenance. Meanwhile, confirm that all safety measures are in place and effective.
2. Avoid exceeding the specified height when transporting the robot. Only personnel who are qualified
to operate forklifts and cranes are allowed to move/transport robot arms, walking axes, etc. Never
approach or walk under the lifted robot arm or walking axis during transportation. Do not stay on the
robot arm or walking axis during transportation, and never touch or support them manually.
3. When using the wire rope to lift the robot, please remove the teach pendant and its bracket to prevent
the cables from hooking other equipment.
4. Please remove all unnecessary objects and clear the passage to the installation location before
transporting the robot.
5. The robot may tilt if carried by a forklift. Use a belt to secure the control cabinet to the forklift to
prevent the robot from tilting.
6. Since the robot is composed of sophisticated components, please protect the robot from collisions and
impacts.
7. When the main power supply of the installation site is turned on, the power cable of the controller
must not be connected. Otherwise, it will be extremely dangerous and may cause electric shock. Make
sure that the main power supply is off when connecting the input power cable. Meanwhile, in order to
prevent the input power supply or circuit breaker from being turned on by mistake, please place a clear
shut-off mark on all power supply units and circuit breakers to indicate that inspection/maintenance and
repair are in progress, and lock or place a chuck to clamp the main power supply switch.
8. Be sure to cover the plate of the input power connection end when the wiring work is completed.
Otherwise, it will be extremely dangerous. It may cause an electric shock if the terminal is touched by
mistake.

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9. Please place the motor/signal cable connecting the robot in the cable duct to prevent damage. Please
also take measures to prevent them from extrusion. Do not connect to the power supply until all the
connections between the control cabinet and the robot are completed. Otherwise it is very dangerous and
may cause accidents such as electric shock.
Prompt: For all operations of installation and connection, please strictly abide by the above
items and refer to the following domestic/international standards. Painting robots are
designed for safety functions in accordance with the safety requirements for robots used in
industrial environments (GB 11291.1-2011/ISO10218-1:2006).
1.4.2 Safety Before Starting the Robots
1. Be sure to install the robot’s control cabinet, operation panel and all other control devices outside the
safety protection device (fence). Only in this way can the entire robot’s motion range be monitored.
2. Confirm that there are no personnel, packaging materials, fixtures or other obstacles in the motion
range of the robot arm.
3. Eliminate any areas where people may be trapped between fixed equipment and mobile equipment.
4. Please confirm the voltage, frequency, and cable specifications of the power supply meet the
requirements before connecting the power cable.
5. Ensure that the control box and peripheral equipment are properly grounded. The grounding wire of
the control box and peripheral equipment should be grounded separately instead of being connected
together. Meanwhile, if electromagnetic switches, contactors and other devices are added to peripheral
equipment, please install a power filter or equivalent device on the power inlet near the control box.
6. Please confirm that the installation of the robot meets the requirements before powering on the robot,.
7. An observer must be on site for monitoring while the operator is operating the robot, and the observer
must also complete the corresponding training of the CMA company.
8. For application items (water, compressed air, protective gas, etc.), the system must be equipped with
monitoring instruments to automatically detect abnormal conditions of water supply and gas supply in
time.
9. If a large amount of waste, metal dust, fine particles, etc. are generated during the robot's working
process, please cover a suitable shield on the robot, control cabinet, and peripheral devices.
Warning
Warning: Please read and understand all manuals, specifications and other related
documents provided by Efort before operation. In addition, fully understand the whole
process such as operation, teaching, and maintenance. Meanwhile, confirm that all safety
measures are in place and effective.
1.4.3 Safety of Starting Robot
1.Please read and understand all manuals, specifications and other related documents provided by CMA
before operation. In addition, fully understand the whole process such as operation, teaching, and
maintenance. Meanwhile, confirm that all safety measures are in place and effective.
2. Check the names and functions of all switches, displays and signals necessary for the operation of the

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robot.
3. Never enter the safety fence unless the robot is powered off. Meanwhile, please confirm that the
safety protection devices are working normally before starting the robot.
4. If there are several operators working together in the robot application system, make sure that all
operators and related personnel know that the robot has been activated before starting the robot.
5. Please reconfirm that there are no workers or remaining obstacles in the robot safety fence and around
the robot before powering on the motor, starting teaching or operating automatically.
6. When starting the robot and resuming operation from a faulty state, please put your hand on the
emergency stop switch after powering on the motor, so that in the event of an abnormal situation, you
can immediately power off the motor.
7. Please reconfirm that the following requirements are fulfilled before activating the robot. Confirm
that the installation state of the robot is correct and stable; confirm that the various connections of the
control box are correct, and that the power supply specifications (power supply voltage, frequency, etc.)
meet the requirements; confirm various application connections (water, compressed air, protective gas)
etc.) are correct and consistent with the specification and model; confirm that the connection with the
peripheral devices is correct; please confirm that in addition to the software motion limit, mechanical
limit stops/or limit switches have also been installed to limit the robot’s motion range; when the robot is
stopped by a mechanical limit stop, please make sure to check the relevant parts or replace the failed
mechanical limit stop (if necessary). Confirm that safety measures have been taken: safety protective
devices such as fences or alarm devices and interlock signals have been installed; please confirm that
the function of safety protective devices and interlock are normal; confirm that the environmental
conditions (temperature, humidity, light, noise, dust, etc.) meet the requirements, or that they do not
exceed the specification requirements of the system and robot.
Warning
Warning: Confirm the emergency stop switch is working properly before starting the robot.
1.4.4 Safety in Robot Test Run
In the process of testing, there may be design errors, teaching errors, and working errors in various
elements such as teaching programs, fixtures, and logic controllers. Therefore, safety awareness must be
further enhanced during test runs. The following points need to be paid attention to during the test run:
1. First, confirm whether the buttons, switches, and signals used to stop the robot such as emergency
stop button, hold/run switch, etc. operate properly. Accidents cannot be prevented if robot cannot be
stopped in case of dangerous situations.
2. Set the operating speed to low speed (about 5% to 10%) and confirm the teaching action during robot
test run. Check the operation repeatedly in 2 to 3 cycles. If problems are detected, stop the robot
immediately and make adjustment. Gradually increase the speed (50% →70% →100%) after no
problems are found. Then repeat the action in 2 to 3 cycles each.

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1.4.5 Safety in Teaching
CMA advises teaching should be administered outside the safety fence. However, if it is necessary to
enter it, strictly follow the precautions below.
1.Please read and understand all manuals, specifications and other related documents provided by CMA
before operation. In addition, fully understand the whole process such as operation, teaching, and
maintenance. Meanwhile, confirm that all safety measures are in place and effective.
2. Please confirm all protective devices (safety fences) work properly before starting the robot.
3. Teaching should be administered by one operator and one supervisor, who bears the responsibility of
safety supervision. Confirm signals, such as "start work", before teaching.
4. Before entering the safety fence, the operator must turn the teaching switch on the teach pendant to
manual to prevent accidental switch of the control cabinet to automatic mode. Once the robot makes any
abnormal movement, the emergency stop switch must be immediately pressed and robot exits the work
area from the preset evacuation route.
5. Please install an emergency stop switch which enables the supervisor to monitor the overall robot
movement outside the fence. Once the robot makes incorrect movement, the supervisor must be able to
press the switch very conveniently to stop the robot immediately. In addition, if you need to restart the
robot after an emergency stop, please reset and restart the manual operation outside the safety fence. The
operator and the supervisor must be specially trained and qualified personnel.
6. Please clearly mark teaching is in progress to prevent other people from making wrong operations on
the control cabinet, operation panel, teaching pendant, or any robot system devices.
7. Before confirming the trajectory and teaching data, please clear all the personnel and obstacles left
within the safety fence and around the robot. The confirmation work should be done outside the safety
fence. The speed of the robot should be equal to or less than safety speed (250mm/s) until being
confirmed normal.
8. If robot needs to be restarted after an emergency stop, please reset and restart manually outside the
safety fence. At the same time, confirm all safety conditions are met and no humans or obstacles left are
around the robot or within the safety fence.
9. During the teaching, please confirm the robot's motion range, and never carelessly approach the robot
or enter the underside of the robot arm. In particular, when there is a workpiece in the gripper of the
robot, never approach it or go under it, because the workpiece may suddenly fall due to misoperation at
any time.
10. For safety concern, the maximum speed of the robot is limited to 250mm/s (safe operating speed) in
teaching or inspection mode. However, after teaching is completed or robot is recovered from errors, the
operator should set the speed as low as possible in verifying teaching data.
11. Both the operator and the supervisor should continuously monitor the robot for abnormal
movements, possible collisions and squeezing points on and around the robot. Meanwhile, please
confirm the safe passage for the operator is clear in case of emergency evacuation.
12. Please set the robot's software limit beyond the robot’s motion range after teaching is completed.

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Warning
Warning: Confirm the emergency stop switch is working properly before teaching .
1.4.6 Safety in Automatic Operation
Since the teaching program generally reproduces the edited trajectory at high speed, please strictly
follow the precautions below and refer to national/international standards.
1.Please read and understand all manuals, specifications and other related documents provided by CMA
before operation. In addition, fully understand the whole process such as operation, teaching, and
maintenance. Meanwhile, confirm that all safety measures are in place and effective.
2. In automatic operation, any part of the body should never enter the safety fence. Please confirm no
personnel or obstacles left are within the safety fence before starting operation.
3. In automatic operation, the robot may seem to stop while waiting for the delay of the timer or external
signal input. However, do not approach it at this time because it immediately resumes operation when
the two conditions mentioned above are met.
4. In automatic operation, this situation will be extremely dangerous: if the gripping force of the
workpiece is not enough, the workpiece may be thrown off during the movement of the robot. Be sure to
confirm that the workpiece has been firmly grasped. When the workpiece is grasped by a pneumatic
gripper, an electromagnetic mechanism or suction cups, etc., please use a fail-safe system to ensure that
the workpiece will not be ejected once the driving force of the mechanism is suddenly disconnected.
Even in the event of an error, when the possibility of the workpiece coming out is minimal, please install
a safety fence, such as a net cover.
5. Tag Automatic Operation on the safety fence and do not enter the work area. Please also confirm the
safety passage for operators is clear in case of emergency evacuation.
6. If the robot stops due to a fault during automatic operation, please check the displayed fault
information and follow the correct recovery steps to recover and restart the robot.
7. After recovery, please confirm all safe working conditions are met and no personnel, clamps,
peripheral devices, or obstacles left are within the safety fence or around the robot before restarting it.
Warning
Warning: Confirm all switches and buttons on the teach pendant are working properly
before automatic operation.

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Warning
Warning: In automatic operation, the robot may seem to stop while waiting for the delay of
the timer or external signal input. However, do not approach it at this time because it
immediately resumes operation when the two conditions mentioned above are met.
1.4.7 Safety in Repair
For repair, please strictly follow the precautions below and refer to relevant national/international
standards.
1.Please read and understand all instruction and other relevant documents provided before operation. In
addition, completely understand procedures of operation, teaching, and maintenance. Meanwhile, make
sure all safety measures are in place and effective.
2. Please confirm all necessary safety measures are ready and function properly before entering the
safety fence.
3. Please switch off the control power supply to the main power supply before entering the safety fence.
Meanwhile, place a clear sign displaying shutdown and repair in progress and lock or clamp the main
power switch to prevent mistakenly turning on power.
4. Only qualified personnel who have received special training on corresponding robot series can
perform repair.
5. Enough space around the robot should be guaranteed to prevent interference from peripheral devices
which should be fastened in case of any sudden movement.
6. Please be sure to switch off the automatic operation before entering the safety fence. If robot moves
abnormally, immediately press the emergency stop switch and evacuate from the preset route.
7. Please install an emergency stop switch which enables the supervisor to monitor the overall robot
movement outside the fence. Once the robot makes incorrect movement in repair, the supervisor must be
able to press the switch very conveniently to stop the robot immediately. In addition, if you need to
restart the robot after an emergency stop, please reset and restart the manual operation outside the safety
fence. The operator and the supervisor must be specially trained and qualified personnel.
8. Both the operator and the supervisor must continuously pay close attention to any abnormal
movements, possible collisions, and the surroundings of the robot.
9. Only use parts provided by CMA for replacement.
10. Please support the robot arm with proper lifting device before removing any servo motor of joint
axis. The removal causes fail of the brake mechanism of the axis. Without reliable support, the arm falls.
11. If compressed air or water is supplied, please cut off the supply source and release the remaining
pressure in pipelines before repair.
12. Make sure the emergency stop signal of the auxiliary axis and the emergency stop circuit of the
control cabinet are concatenated when auxiliary axes are added.
13. When changing robot parts, be sure to confirm whether the replaced parts match the original parts,
and carefully check the schematic diagram to prevent the wrong wiring. Otherwise, the components of
the robot control cabinet and external components may be damaged.

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Prompt: Please confirm all switches function properly before repair.
1.4.8 Safety in Equipment Check and Maintenance
Please strictly follow the precautions below and refer to relevant national/international standards
for robot clean, check, maintenance, and replacement of parts to prevent system faults.
1.Please read and understand all instruction and other relevant documents provided before operation. In
addition, completely understand procedures of operation, teaching, and maintenance. Meanwhile, make
sure all safety measures are in place and effective.
2. Please remove unnecessary object and clear passage to the installation position before check and
maintenance.
3. Only qualified personnel who have completed special training on this specific robot or robots in the
same series can perform check and maintenance.
4. Enough space around the robot should be guaranteed to prevent interference from peripheral devices
which should be fastened in case of any sudden movement.
5. Please cut off the power supply of the entire line or the power of the robot. Also cut off the power
supply up to the main power supply as needed before entering the safety fence. Place a clear sign
displaying shutdown, check or repair in progress and lock or clamp the main power supply switch to
prevent the power being turned on mistakenly. If cutting off the entire line fails, please install temporary
safety fence between the target robot and neighbouring robots.
6. Please correctly switch off all the power of signal related equipment to ensure safety during check
and maintenance on interlocking signal chain. Do not enter the safety fence during work. Please confirm
that the safety protection devices (safety fences, safety pins, emergency stop switches, etc.), peripheral
equipment, interlocking circuits and other safety devices are working properly after completing the
inspection and maintenance work.
7. Please install an emergency stop switch which enables the supervisor to monitor the overall robot
movement outside the fence. Once the robot makes incorrect movement in repair, the supervisor must be
able to press the switch very conveniently to stop the robot immediately. In addition, if you need to
restart the robot after an emergency stop, please reset and restart the manual operation outside the safety
fence. The operator and the supervisor must be specially trained and qualified personnel.
8. Before entering the safety fence, the operator must turn the teaching switch on the teach pendant to
manual to prevent accidental switch-on of the control cabinet to automatic mode. Once the robot makes
any abnormal movement, the emergency stop switch must be immediately pressed and robot exits the
work area from the preset evacuation route.
9. Both the operator and the supervisor must continuously monitor the robot for any abnormal
movement, collisions, or squeezing during check and maintenance. Meanwhile, please confirm the
safety passage for the operator is clear for evacuation.
10. If it is necessary to remove the safety fence during check and maintenance, please take adequate
safety measures.
11. Only use parts supplied by CMA for replacement. Be sure to use teaching mode and as far as
possible to stop the robot from working or moving in check and maintenance.

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12. The robot must remain the same posture before and after the maintenance. Please record posture
data before the replacement of parts.
13. When the application devices (water, compressed air, protective gas, etc.) are used, please turn off
their supply sources and release the remaining pressure in the pipeline before check/maintenance.
14. Please confirm all the protective devices function properly after check and maintenance.
15. CMA will not be liable for any change or modification without authorization.
16. Make sure the emergency stop signal of the auxiliary axis and the emergency stop circuit of the
control cabinet are concatenated when auxiliary axes are added.
17. When changing robot parts, be sure to confirm whether the replaced parts match the original parts,
and carefully check the schematic diagram to prevent the wrong wiring. Otherwise, the components of
the robot control cabinet and external components may be damaged.
Prompt: Please confirm all the emergency stop switches function properly before check and
maintenance.