CMA Dishmachines GR Series User manual

GR 6160
Industrial Robot
工业机器人
6 axis GR series
6轴GR 系列
Mechanical useand maintenance manual
机械使用维护手册
The first edition
第一版
CMA (WuHu) Robotics CO.,LTD
希美埃（芜湖）机器人技术有限公司

CMA（WuHu）Robotics co., Ltd
希美埃（芜湖）机器人技术有限公司
CMA(WuHu) Robotics co., ltd is a Joint-Venture company specialized for painting
robots. In 2015, it is established byAnhui Efort Intelligent Equipment co., Ltd and Italy
CMA Robotics spa. The company is located in National Robots Industry Park-Wuhu
City.
希美埃（芜湖）机器人技术有限公司是一家专业从事喷涂机器人研发、制造和
应用的的中外合资企业。2015 年由安徽埃夫特智能装备有限公司与意大利 CMA
机器人技术有限公司共同创立。公司位于国家级机器人产业聚集区——国家(芜
湖)机器人产业园。
CMA Robotics spa is established in 1994, and the headquarter is located in North
Italy Udine City. As the first supplier that has proposed painting robots self-learning
function, CMA has a great influence in Italy and European market for automobile and
the components, metals, mechanical, furniture, wood, ceramics, sanitary ware and
plastic products
意大利 CMA 机器人技术有限公司成立于 1994 年，总部位于意大利北部的乌
迪内市, 是全球第一家提出机器人自学习功能的喷涂机器人供应商。 CMA 在意
大利乃至欧洲的汽车及零部件、五金、机械、家具、木材、陶瓷、卫浴、塑料制
品等喷涂机器人市场有着重要的影响力。

Anhui Efort Intelligent Equipment co., Ltdis one of the first enterprises engaged in
the development and application of industry robots in China.It is established in 2007,
Efort has experienced an eight-year continued development, currently has been an
advanced manufacturer of national Robots.The company has leaded some important
scientific and technological projects of national class, and has accumulated fruitful
achievements in robot industry field.
安徽埃夫特智能装备有限公司是国内较早从事工业机器人的研发和应用企
业之一。公司于 2007 年成立，经过 8年多的发展，目前已跻身于国产机器人的
第一梯队。公司先后牵头承担国家重大科技项目, 在中国机器人产业领域硕果累
累。
The company is based on the goal of recover equipment production industry, with
a long-term prospect,sustainable innovation and development.
公司以振兴装备制造业为目标，立足长远，不断创新，永续发展。

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目录
CHAPTER 1-SAFETY...................................................................................................................1
第一章安全 ......................................................................................................................................1
1.1 FOR SAFE USE OF THE ROBOT...........................................................................................................1
1.1 机器人安全使用须知 ....................................................................................................................1
1.1.1 Precautions when performing adjustment, operation or maintenance....................................1
1.1.1 进行调整、操作、保全等作业时的安全注意事项 .............................................................1
1.1.2 Safety measures for robot........................................................................................................5
1.1.2 机器人本体的安全对策 .........................................................................................................5
1.2 MOVEMENT,ALIENATION AND SELLING OF THE ROBOT..................................................................12
1.2 机器人的转移、转让、变卖 ......................................................................................................12
1.3ABANDON THE ROBOT ...................................................................................................................13
1.3 机器人的废弃 .............................................................................................................................13
CHAPTER 2-BASIC SPECIFICATIONS..................................................................................15
第二章基本说明 ............................................................................................................................15
2.1 ROBOT MODELAND NAMEPLATE DETAILS......................................................................................15
2.1 型号规格说明 .............................................................................................................................15
2.2 MECHANICAL SYSTEM...................................................................................................................16
2.2 机械系统组成 .............................................................................................................................16
2.3 THE MECHANICAL PERFORMANCE PARAMETERS............................................................................17
2.3 机械性能参数 .............................................................................................................................17
2.3.1 The definition of performance parameters............................................................................17
2.3.1 性能参数定义 .......................................................................................................................17
2.3.2 The performance parameters of the robot.............................................................................19
2.3.2 机器人性能参数 ...................................................................................................................19
2.4 HOME POSITION ADJUSTMENT .......................................................................................................22
2.4 零点校对......................................................................................................................................22
2.4.1Home position adjustment method .........................................................................................22
2.4.1 零点校对方法 .......................................................................................................................22
2.4.2 Mechanicalhome position adjustmentof all axes...................................................................24
2.4.2 各轴机械零点校对 ...............................................................................................................24
2.5 ALLOWABLE WRIST LOAD .............................................................................................................25
2.5 手腕部分负荷允许值 ..................................................................................................................25
2.5.1 Allowable pay load mass.......................................................................................................25
2.5.1 可允许搬运重量 ...................................................................................................................25
2.5.2 Allowable maximum static load torque .................................................................................25
2.5.2 容许最大静态负荷扭矩 .......................................................................................................25
2.5.3 Allowable maximum inertia moment.....................................................................................26
2.5.3 容许最大惯性矩 ...................................................................................................................26
CHAPTER3-INSPECTIONAND MAINTENANCE................................................................27

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第三章检修及维护 ........................................................................................................................27
3.1 PREVENTIVE INSPECTION...............................................................................................................27
3.1 预防性维护..................................................................................................................................27
3.1.1 Daily inspection ....................................................................................................................28
3.1.1 日常检查 ...............................................................................................................................28
3.1.2 Quarterly inspection..............................................................................................................28
3.1.2 每季度检查 ..........................................................................................................................28
3.1.3 Annual inspection..................................................................................................................29
3.1.3 每年检查 ...............................................................................................................................29
3.1.4 Inspection every two years ....................................................................................................29
3.1.4 每 2 年检查 ..........................................................................................................................29
3.2 INSPECTION ON MAJOR BOLTS........................................................................................................30
3.2 主要螺栓的检修 ..........................................................................................................................30
3.3 INSPECTION OF GREASE .................................................................................................................31
3.3 润滑油的检查..............................................................................................................................31
3.4 GREASE REPLACEMENT.................................................................................................................33
3.4 更换润滑油..................................................................................................................................33
3.4.1 Lubricationamount................................................................................................................33
3.4.1 润滑油供油量 .......................................................................................................................33
3.4.2 Robot orientation of lubricate grease....................................................................................34
3.4.2 润滑的空间方位 ...................................................................................................................34
3.4.3Procedure of grease replacement in reducer of J1,J2,J3,J4 and gear box of motor base ......35
3.4.3 J1/J2/J3/J4 轴减速机、马达座齿轮箱的润滑油更换步骤 ................................................35
3.4.4 Procedure of grease replacement in wrist .............................................................................35
3.4.4 手腕部件的润滑油更换步骤 ...............................................................................................35
3.4.5Residual pressure release lubricant chamber.........................................................................39
3.4.5 释放润滑油腔内残压 ...........................................................................................................39
CHAPTER 4-MAINTENANCE..................................................................................................41
第四章 故障处理 ..........................................................................................................................41
4.1 INVESTIGATE THE CAUSE OF THE FAILURE METHOD.......................................................................41
4.1 调查故障原因的方法 ..................................................................................................................41
4.2 THE FAULT AND THE REASON.........................................................................................................43
4.2 故障现象和原因 ..........................................................................................................................43
4.3 CHECKINGAND PROCESSING METHOD OF EVERY PARTS AND COMPONENTS....................................44
4.3 各个零部件的检查方法及处理方法 ..........................................................................................44
4.3.1Reducer ..................................................................................................................................44
4.3.1 减速机 ...................................................................................................................................44
4.3.2Motor......................................................................................................................................45
4.3.2 马达 .......................................................................................................................................45
4.4REPLACEPARTS ...............................................................................................................................46
4.4 更换零部件..................................................................................................................................46
4.4.1 Replace the wrist parts ......................................................................................................47
4.4.1 更换手腕部件 ......................................................................................................................47

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4.4.2 Replace the motor..................................................................................................................49
4.4.2 更换马达 ...............................................................................................................................49
4.4.3Sealant Application ................................................................................................................64
4.4.3 密封胶应用 ...........................................................................................................................64
4.5 PIPELINE MAINTENANCE PACKAGE ................................................................................................65
4.5 本体管线包的维护 ......................................................................................................................65
4.6 MAINTENANCE AREA.....................................................................................................................66
4.6 机器人维护和使用区域 ..............................................................................................................66
CHAPTER 5-HANDLING AND INSTALLATION..................................................................69
第五章搬运及安装 ........................................................................................................................69
5.1 HANDLING ROBOT.........................................................................................................................69
5.1 机器人搬运..................................................................................................................................69
5.1.1Handling Precautions.............................................................................................................69
5.1.1 搬运注意事项 .......................................................................................................................69
5.1.2 TransportMethod...................................................................................................................70
5.1.2 搬运方法 ...............................................................................................................................70
5.2 INSTALLATION ...............................................................................................................................71
5.2 安装..............................................................................................................................................71
5.2.1External Interface Dimensions...............................................................................................71
5.2.1 外部接口尺寸图 ...................................................................................................................71
5.3 INSTALLATION SPECIFICATIONS AND ENVIRONMENTAL CONDITIONS..............................................76
5.3 安装规范及环境条件 ..................................................................................................................76
5.3.1Environment and climate adaptation should meet the requirements of Table 2. ....................76
5.3.1 环境气候适应性应符合表 2 的规定 ..................................................................................76
APPENDIX....................................................................................................................................77
附录 ................................................................................................................................................77
ASCREW TIGHTENING TORQUE TABLE.................................................................................................77
A螺钉上紧力矩表 ............................................................................................................................77
BSPARE PARTS LIST.............................................................................................................................78
B备件清单 ........................................................................................................................................78

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Chapter 1-Safety
第一章安全
1.1 For safe use of the robot
1.1机器人安全使用须知
Read this section carefully prior to installation, operation, maintenance, or inspection and
use equipment correctly. Use the robot only after fully understanding the equipment, all safety
points, and comments/suggestions. Thefollowing table shows the importance of the following
tags/marks in this Operation manual.
实施安装、运转、维修保养、检修作业前，请务必熟读本书及其它附属文件，正
确使用本产品。请在充分掌握设备知识、安全信息以及全部注意事项后，再行使用本产
品。本说明书采用下列记号表示各自的重要性。
Case where a mistake made in handling is likely to cause the user to be
exposed to the dangerof death or serious injury and where the degree of
the urgency (imminence) of the warning.
表示处理有误时，会导致使用者死亡或者负重伤，且危险性非常高的情形。
Given for the danger to occur is at the high end of the scales (including
high-level danger).
表示处理有误时，会导致使用者死亡或者负重伤的情形。
Cases where a mistake made in handling is likely to cause the user to be
exposed to thedanger of death or serious injury.
表示处理有误时，会导致使用者轻伤或发生财产损失的情形。
1.1.1 Precautions when performing adjustment, operation or maintenance
1.1.1 进行调整、操作、保全等作业时的安全注意事项
1). Operators must be involved in industrial robot operating professional training, andmust

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wear overalls, helmets, safety glasses and safety shoes.
1）作业人员须经过工业机器人操作专业培训，须穿戴工作服、安全帽、安全鞋等。
2). Make sure there is no one in the robot work area when the power is turned ON. Take off
gloves when operating,save the data on a regular basis; Please confirm that the axial limited
block be intactand effective.
2）投入电源时，请确认机器人的动作范围内没有作业人员，操作时摘下手套，定期保
存数据；请确认各轴限位块完好有效。
3). Only perform work within the robot work area after making sure the motor power is OFF.
3）必须切断电源后，方可进入机器人的动作范围内进行作业。
4). In cases where inspection or maintenance work has to be done with motor power
ON,perform the work in pairs. One person must stand guard and ready to press an
emergencystop button. The other person must work quickly and carefully within the robot
operatingarea. Always allocate, confirm and know an escape route prior to beginning work.
4）有时，检修、维修保养等作业必须在通电状态下进行。此时，应2人1组进行作业。1
人保持可立即按下紧急停止按钮的姿势，另1人则在机器人的动作范围内，保持警惕
并迅速进行作业。此外，应确认好撤退路径后再行作业。
5). Ensure payload on the wrist and forearm is within specifications. Excessive loads
maycause poor robot operation and eventually damage the robot.
5）手腕部位及机械臂上的负荷必须控制在允许搬运重量以内。如果不遵守允许搬运重
量的规定，会导致异常动作发生或机械构件提前损坏。
6).Please read carefully the instructions of robot electrical maintenance manual "safety notes"
section.
6) 请仔细阅读使用说明书《机器人电气维护手册》的“安全注意事项”章节的说明。
7). Do not disassemble or operate any part that is not explained in the Maintenance manuals.
7) 禁止进行维修手册未涉及部位的拆卸和作业。
It is possible the robot will make an emergency/safe stop if an abnormal situation occurs,
this is due to various self diagnostic functions and abnormality detecting functions provided.
However, the robot is not 100% safe.
机器人配有各种自我诊断功能及异常检测功能，即使发生异常也能安全停止。即便

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如此，因机器人造成的事故仍然时有发生。
Robot accidents that occurred in the past were mostly due to the following
situations:
机器人事故以下列情况居多：
1、Auto operation started without confirming there were no workers
within the robot operating area.
2、People being within the robot operating area when the robot was in auto
operationmode and the robot unexpectedly started.
3、People carefully watching one robot but forgetting another one was
operating withinreach of them.
1、未确认机器人的动作范围内是否有人，就执行了自动运转。
2、自动运转状态下进入机器人的动作范围内，作业期间机器人突然起动。
3、只注意到眼前的机器人，未注意别的机器人。
We can summarize the above as unsafe activities caused by human error such as“careless
mistakes” and “not following the established procedures.” Workers not be ableto take
appropriate actions, such as “emergency stop” or “escape from the danger”, whenunexpected
robot motion occurs which may result in disastrous accidents.Unexpected robot motion
includes:
上述事故都是由于“疏忽了安全操作步骤”、“没有想到机器人会突然动作”的相同
原因而造成的。换句话说，都是由于“一时疏忽”、“没有遵守规定的步骤”等人为的不
安全行为而造成的事故。“突发情况”使作业人员来不及实施“紧急停止”、“逃离”等
行为避开事故，极有可能导致重大事故发生。“突发情况”一般有以下几种。
1) Sudden change of movement from low speed to high speed.
2) Manipulation by other workers.
3) Robot operated by a different program due to program mistakes or faulty peripheral
equipment.
4) Abnormal behavior due to noise, faults or errors.
5) Mishandling.
6) Operation at a high speed in spite of intended low speed playback.

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7) Work-piece being handled by the robot is dropped or thrown.
8) Work-piece is suddenly released during a stop waiting for interlocking.
9) Adjacent or rear robots started operation unexpectedly.
1）低速动作突然变成高速动作。
2）其他作业人员执行了操作。
3）因周边设备等发生异常和程序错误，启动了不同的程序。
4）因噪声、故障、缺陷等原因导致异常动作。
5）误操作。
6）原想以低速执行动作，却执行了高速动作。
7）机器人搬运的工件掉落、散开。
8）工件处于夹持、联锁待命的停止状态下，突然失去控制。
9）相邻或背后的机器人执行了动作。
The above are a few examples; there are of course many other unexpected robot motion
patterns. It may beimpossible to stop a robot or escape from a robot that started unexpectedly.
The best way to avoid such accidents is;
上述仅为一部分示例，还有很多形式的“突发情况”。大多数情况下，不可能“停
止”或“逃离”突然动作的机器人，因此应执行下列最佳对策，避免此类事故发生。
“Do not get near the robot as much as possible”.
小心，勿靠近机器人。
The robot is not used, should be taken to "press the emergency stop
button", "power off" measures, such as making robots unable to action.
不使用机器人时，应采取“按下紧急停止按钮”、“切断电源”等措施，
使机器人无法动作。
Robot movement during configuration, please immediately press the
emergency stop button on the monitor (third party), monitor the security
situation.
机器人动作期间，请配置可立即按下紧急停止按钮的监视人（第三者），

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IMPORTANT
In order to comply with these principles, must fully understand the above notice, and actually
do.
为了遵守这些原则，必须充分理解后述注意事项，并切实遵行。
1.1.2 Safety measures for robot
1.1.2 机器人本体的安全对策
监视安全状况。
During the robot movement, should be immediately press the emergency
stop button for homework.
机器人动作期间，应以可立即按下紧急停止按钮的态势进行作业。
The robot is of such design that no unnecessary protrusions or sharp
corners exist. It is made ofsuitable material for use in the environment for
which it was designed and has fail-safeconstruction to minimize damage or
accidents during operation. The robot maintains a good levelof safety
because various safety functions exist; such as those to detect incorrect
operation andstop the robot, or to make emergency stops, inter-locking
with peripheral equipment, when either
device threatens to damage the other.
机器人的设计应去除不必要的突起或锐利的部分，使用适应作业环境的材
料，采用动作中不易发生损坏或事故的故障安全防护结构。
此外，应配备在机器人使用时的误动作检测停止功能和紧急停止功能，以
及周边设备发生异常时防止机器人危险性的联锁功能等，保证安全作业。
The robot is of multi-articular arm construction, thus each articular angle
varies all the time withrobot movement. Take care and avoid getting
pinched in various articulations, especially whenteaching. Pay careful

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attention to the stopper blocks mounted on the moving tip of
thearticulations. The arm may fall under its own weight when motors are
removed or brakes arereleased. Therefore take action to prevent dropping
and check that conditions are safe beforestarting work.
机器人主体为多关节的机械臂结构，动作中的各关节角度不断变化。
进行示教等作业，必须接近机器人时，请注意不要被关节部位夹住。各关
节动作端设有机械挡块，被夹住的危险性很高，尤其需要注意。
此外，若拆下马达或解除制动器，机械臂可能会因自重而掉落或朝不定方
向乱动。因此必须实施防止掉落的措施，并确认周围的安全情况后，再行
作业。

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The motors in this robot have built-in brakes to hold the robot arm in
position. As such, when amotor is removed without supporting the arm
properly, the arm may drop or move forward orbackward. PROPERLY
SUPPROT THE ARM BEFORE REMOVING THE MOTOR.
没有固定机械臂便拆除马达，机械臂有可能会掉落，或前后移动。请先固
定机械臂，然后再拆卸马达。
To prevent the arm from dropping, use a wooden block, nylon sling, crane
or other means tosupport the arm securely before removing the motor. The
zeroing pins and zeroing blocks areused for zero position alignment and
not for supporting the arm. And, do not support the robotarm by a
human’s hand.
插入零点栓后，用木块或起重机固定机械臂以防掉落，然后再拆除马达。
（零点栓和挡块用于对准原位置，不可以用来固定机械臂。）
此外，请勿在人手支撑机械臂的状态下拆除马达。

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Use specified bolt sizes and number. Tighten them to specified torque with
a torque wrenchwhen fitting equipment onto the end effecter flange or
arms. Use clean rust-free bolts. When transportation it should be fixed on
the end executor and accessory machine or remove the end executor and
auxiliary machines.
Otherwisebolts may loosen during operation causing serious accidents and
injuries.
在末端执行器及机械臂上安装附带机器时，应严格遵守本书规定尺寸、数
量的螺栓，使用扭矩扳手按规定扭矩紧固，运输时应固定牢末端执行器及
附属机器或拆下末端执行器及附属机器。
此外，不得使用生锈或有污垢的螺栓。
规定外的紧固和不完善的方法会使螺栓出现松动，导致重大事故发生。
When fabricating the end effecter, set its weight, static torque and the
moment of inertia withinthe range of the permissible load levels of the
robot wrist.
设计、制作末端执行器时，控制在机器人手腕部位的负荷容许值范围内。
Provide a failsafe construction which will ensure that the work gripped will
not be released orscattered even when the power or air supply to the end
actuator is cut off. Also remove any sharpedges or protrusions in its
construction to prevent injury to personnel and damage to property.
应采用故障安全防护结构，即使末端执行器的电源或压缩空气的供应被切
断，也不致发生把持物被放开或飞出的事故，并对边角部或突出部进行处
理，防止对人、对物造成损害。
In order to operate the robot, services such as electric power, plant air and
cooling water forwelding should be supplied. However, services out of

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specification may affect the robotperformance and cause abnormal
behavior, errors, or damage, resulting in dangerous situations.
Never use unspecified resources.
严禁供应规格外的电力、压缩空气、焊接冷却水，会影响机器人的动作性
能，引起异常动作或故障、损坏等危险情况发生。
It is not possible to eliminate electromagnetic interference completely using
the technologyavailable today although the extent of its elimination
depends on the type and strength of theinterference concerned. In terms of
what action to take while the robot is operating and while thepower is ON,
follow the precautions to be observed during operation. In some
cases,electromagnetic waves, other forms of noise or defective circuit
boards may erase the recordedwork programs. As a safeguard, make
backups of the programs, constants, etc. on a Compact flash card or other
media.
电磁波干扰虽与其种类或强度有关，但以当前的技术尚无完善对策。机器
人操作中、通电中等情况下，应遵守操作注意事项规定。由于电磁波、其
它噪声以及基板缺陷等原因，会导致所记录的数据丢失。
因此请将程序或常数备份到闪存卡（Compact flash card）等外部存储介
质内。
Consider method to communicate with other workers such as hand signals
when conversationtakes place between a numbers of workers positioned
separately, in a large system (plant) forexample. Accidents are likely to
occur due to misinterpreted intentions in a noisy site.
Examples of hand signals for industrial robot operation
大型系统中由多名作业人员进行作业，必须在相距较远处作交谈时，应通
过使用手势等方式正确传达意图。
环境中的噪音等因素会使意思无法正确传达，而导致事故发生。
产业用机器人手势法（示例）

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Keep a safe place (escape route) in mind at all times to quickly escape on
an emergency.
作业人员在作业中，也应随时保持逃生意识。必须确保在紧急情况下，可
以立即逃生。
Pay attention to the robot’s movement at all times and never work with
your back toward therobot. An operator may not notice the start of robot if
he/she is not facing it resulting in anaccident.
时刻注意机器人的动作，不得背向机器人进行作业。
对机器人的动作反应缓慢，也会导致事故发生。
Press the emergency stop button immediately if you notice any
abnormality.Make thispractice very clear to every operator. A sudden
movement may be imminent if you arewatching something abnormal.

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Prepare an appropriate working code and checklists for start up of the
robot, how to operateit and what actions to take in an emergency. Proceed
with operation according to the workingcode. Accidents are likely to occur
due to forgetfulness and error of operators if relying onmemory alone.
应根据设置场所及作业内容，编写机器人的起动方法、操作方法、发生异
常时的解决方法等相关的作业规定和核对清单。并按照该作业规定进行作
业。仅凭作业人员的记忆和知识进行操作，会因遗忘和错误等原因导致事
故发生。
Proceed with work with the robot’s power OFF when operation or
manipulation of the robot isnot necessary. It can never run with its power
OFF.
不需要使机器人动作和操作时，请切断电源后再执行作业。
When teaching, always check the program number and step number
before operating therobot. Editing of incorrect programs or steps may
cause accidents
示教时，应先确认程序号码或步骤号码，再进行作业。
错误地编辑程序和步骤，会导致事故发生。
Protect completed programs from accidental editing by using the memory
protect function.
对于已经完成的程序，使用存储保护功能，防止误编辑。
发现有异常时，应立即按下紧急停止按钮。
必须彻底贯彻执行此规定。

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Check robot movement at a low speed using the check go/back function
and the velocityoverride function after completing teaching. Accidents due
to collision are likely to occur if aprogram containing a mistake is run at a
100% of full speed in the playback mode.
示教作业完成后，应以低速状态手动检查机器人的动作。
如果立即在自动模式下，以100%速度运行，会因程序错误等因素导致事故
发生。
Clean the area within the guard fence and check that tools, etc. are not left
there after teaching iscomplete. A workplace fouled with oil or grease and
tools is a hazardous place and may lead toan accident due to stumbling.
“Cleaning the workplace” is a step toward safety.
示教作业结束后，应进行清扫作业，并确认有无忘记拿走工具。作业区被
油污染，遗忘了工具等原因，会导致摔倒等事故发生。
确保安全首先从整理整顿开始。
1.2 Movement, alienation and selling of the robot
1.2机器人的转移、转让、变卖
Hand over all manuals and documents received when purchasing the robot
to the new ownerwhen moving, alienating or selling a robot. In particular,
if the robot is to be moved, transferred orsold overseas, the user is
responsible for preparing and supplying the operating
maintenancemanuals in the appropriate language, amending the language
used for the labels and displaysand complying with the laws of the country
concerned. Accidents may occur if the new robotowner (operator) operates
the robot incorrectly or performs unsafe work tasks due to notreceiving
and reading the operating instructions.
机器人转移、转让、变卖时，必须确保编程手册、维修保养手册等机器人

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When the robot is moved, transferred or sold (either in the country or
overseas) by the user,whatever was agreed upon at the time of the robot’s
initial sale inclusive of the safety relateditems is not transferable to the new
owner unless a special agreement has been concluded. Theuser must
conclude a new agreement with the new owner.
机器人转移、转让、变 卖到国外时，最初出售时的合同条项若无特别规定，
则包含与安全有关的条项不得由新承受人继承。
原客户与新承受人之间，必须重新签订合同。
1.3 Abandon the robot
1.3 机器人的废弃
Do not disassemble, heat or burn batteries used in the controller and robot
as they may catchfire, burst or burn.
请勿分解、加热、焚烧用于控制装置、机器人主体的电池。否则会发生起
火、破裂、燃烧事故。
Do not disassemble the controller in detail smaller than PCBs or units.
Sharp edges or electricwire of small disassembled pieces may cause injury.
请勿将控制装置的基板、组件等分解后再废弃。破裂或切口等尖锐部分及
电线等可能会造成伤害。
附属文件类移交给新的使用者。
转移、转让、变卖到国外时，客户必须负责准备适当语言的操作维修保养
说明书，修改显示语言，并保证符合当地法律规定。
新使用者由于没有阅读使用说明书而进行错误操作或不安全作业，会导致
事故发生。