Mitsubishi Electric MELFA RH-3CRH Series User manual

Mitsubishi Electric Industrial Robot
RH-3CRH/6CRH INSTRUCTION MANUAL
ROBOT ARM SETUP & MAINTENANCE
RH-3CRH series
RH-6CRH series
BFP-A3609-B

All teaching work must be carried out by an operator who has received
special training. (This also applies to maintenance work with the power
source turned ON.)
Enforcement of safety training
For teaching work, prepare a work plan related to the methods and
procedures of operating the robot, and to the measures to be taken when
an error occurs or when restarting. Carry out work following this plan. (This
also applies to maintenance work with the power source turned ON.)
Preparation of work plan
Prepare a device that allows operation to be stopped immediately during
teaching work. (This also applies to maintenance work with the power
source turned ON.)
Setting of emergency stop switch
During teaching work, place a sign indicating that teaching work is in
progress on the start switch, etc. (This also applies to maintenance work
with the power source turned ON.)
Indication of teaching work in progress
Provide a fence or enclosure during operation to prevent contact of the
operator and robot.
Installation of safety fence
Establish a set signaling method to the related operators for starting work,
and follow this method.
Signaling of operation start
As a principle turn the power OFF during maintenance work. Place a sign
indicating that maintenance work is in progress on the start switch, etc.
Indication of maintenance work in progress
Before starting work, inspect the robot, emergency stop switch and other
related devices, etc., and confirm that there are no errors.
Inspection before starting work
Always read the following precautions and the separate
"Safety Manual" before starting use of the robot to learn the
required measures to be taken.
Safety Precautions
CAUTION
CAUTION
WARNING
CAUTION
DANGER
CAUTION
CAUTION
CAUTION

The points of the precautions given in the separate "Safety Manual" are given below.
Refer to the actual "Safety Manual" for details.
When automatic operation of the robot is performed using multiple control
devices (GOT, programmable controller, push-button switch), the
interlocking of operation rights of the devices, etc. must be designed by the
customer.
Use the robot within the environment given in the specifications. Failure to
do so could lead to a drop or reliability or faults. (Temperature, humidity,
atmosphere, noise environment, etc.)
Transport the robot with the designated transportation posture.
Transporting the robot in a non-designated posture could lead to personal
injuries or faults from dropping.
Always use the robot installed on a secure table. Use in an instable posture
could lead to positional deviation and vibration.
Wire the cable as far away from noise sources as possible. If placed near a
noise source, positional deviation or malfunction could occur.
Do not apply excessive force on the connector or excessively bend the
cable. Failure to observe this could lead to contact defects or wire
breakage.
Make sure that the workpiece weight, including the hand, does not exceed
the rated load or tolerable torque. Exceeding these values could lead to
alarms or faults.
Securely install the hand and tool, and securely grasp the workpiece.
Failure to observe this could lead to personal injuries or damage if the
object comes off or flies off during operation.
Securely ground the robot and controller. Failure to observe this could lead
to malfunctioning by noise or to electric shock accidents.
Indicate the operation state during robot operation. Failure to indicate the
state could lead to operators approaching the robot or to incorrect
operation.
When carrying out teaching work in the robot's movement range, always
secure the priority right for the robot control. Failure to observe this could
lead to personal injuries or damage if the robot is started with external
commands.
Keep the jog speed as low as possible, and always watch the robot. Failure
to do so could lead to interference with the workpiece or peripheral devices.
After editing the program, always confirm the operation with step operation
before starting automatic operation. Failure to do so could lead to
interference with peripheral devices because of programming mistakes,
etc.
DANGER
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
WARNING
WARNING
CAUTION
WARNING
CAUTION
CAUTION

Make sure that if the safety fence entrance door is opened during automatic
operation, the door is locked or that the robot will automatically stop. Failure
to do so could lead to personal injuries.
Never carry out modifications based on personal judgments, or use non-
designated maintenance parts.
Failure to observe this could lead to faults or failures.
When the robot arm has to be moved by hand from an external area, do not
place hands or fingers in the openings. Failure to observe this could lead to
hands or fingers catching depending on the posture.
Do not stop the robot or apply emergency stop by turning the robot
controller's main power OFF. If the robot controller main power is turned
OFF during automatic operation, the robot accuracy could be adversely
affected. Moreover, it may interfere with the peripheral device by drop or
move by inertia of the arm.
Do not turn off the main power to the robot controller while rewriting the
internal information of the robot controller such as the program or
parameters.
If the main power to the robot controller is turned off while in automatic
operation or rewriting the program or parameters, the internal information of
the robot controller may be damaged.
Do not connect the Handy GOT when using the GOT direct connection
function of this product. Failure to observe this may result in property
damage or bodily injury because the Handy GOT can automatically operate
the robot regardless of whether the operation rights are enabled or not.
Do not remove the SSCNET III cable while power is supplied to the multiple
CPU system or the servo amplifier. Do not look directly at light emitted from
the tip of SSCNET III connectors or SSCNET III cables of the Motion CPU
or the servo amplifier. Eye discomfort may be felt if exposed to the light.
(Reference: SSCNET III employs a Class 1 or equivalent light source as
specified in JIS C 6802 and IEC60825-1 (domestic standards in Japan).)
Do not remove the SSCNET III cable while power is supplied to the
controller. Do not look directly at light emitted from the tip of SSCNET III
connectors or SSCNET III cables. Eye discomfort may be felt if exposed to
the light. (Reference: SSCNET III employs a Class 1 or equivalent light
source as specified in JIS C 6802 and IEC60825-1 (domestic standards in
Japan).)
Attach the cap to the SSCNET III connector after disconnecting the
SSCNET III cable. If the cap is not attached, dirt or dust may adhere to the
connector pins, resulting in deterioration connector properties, and leading
to malfunction.
Make sure there are no mistakes in the wiring. Connecting differently to the
way
specified in the manual can result in errors, such as the emergency stop not
being released. In order to prevent errors occurring, please be sure to
check that all functions (such as the teaching box emergency stop,
customer emergency stop, and door switch) are working properly after the
wiring setup is completed.
CAUTION
CAUTION
WARNING
CAUTION
CAUTION
DANGER
DANGER
DANGER
DANGER
CAUTION

Use the network equipments (personal computer, USB hub, LAN hub, etc)
confirmed by manufacturer. The thing unsuitable for the FA environment
(related with conformity, temperature or noise) exists in the equipments
connected to USB. When using network equipment, measures against the
noise, such as measures against EMI and the addition of the ferrite core,
may be necessary. Please fully confirm the operation by customer.
Guarantee and maintenance of the equipment on the market (usual office
automation equipment) cannot be performed.
To maintain the safety of the robot system against unauthorized access
from external devices via the network, take appropriate measures.
To maintain the safety against unauthorized access via the Internet, take
measures such as installing a firewall.
CAUTION
CAUTION

*CR800 controller
Notes of the basic component are shown.
Please install the earth leakage breaker in the primary side power supply of
the controller because of leakage protection.
1) Prepare the following items.
2) Confirm that the primary power matches the specifications.
3) Confirm that the primary power is OFF and that the earth leakage breaker power switch is OFF.
4) Connect the ACIN cable to the breaker.
Connect the power terminals of the ACIN cable to the secondary side terminals of the earth leakage
breaker. Also, ground the FG terminal of the cable.
5) Connect the ACIN cable to the ACIN connector on the rear of the controller.
<1> Face the main key on the ACIN cable plug upwards. (Refer to the "ACIN cable connection" illustra-
tion.)
<2> Align the main key of the ACIN cable plug with the grooves on the ACIN connector. Push the plug
into the connector as far as it will go.
The plug may be damaged if it is not correctly aligned with the connector.
<3> Tighten the coupling on the ACIN cable, turning it to the right until it locks.
6) Connect one end of the grounding cable to the PE (protective earth) terminal on the controller and ground
the other end (2-point grounding) in order to comply with the requirements of EN 61800-5-1 for the
touch current of 3.5 mA AC or more.
7) Connect the primary power cable to the primary side terminal of the earth leakage breaker.
Part name Specifications Remarks
Earth leakage breaker The following is recommended product. Prepared by customer.
Single phase: NV30FAU-2P-10A-AC100-240V-30mA
(Terminal cover: TCS-05FA2)
Cable for primary power supply AWG14 (2mm2) or above Prepared by customer.
Tightening torque for terminal
fixing screw is 2 ～ 3Nm.
Grounding cable AWG14 (2mm2) or above Prepared by customer.
Tightening torque for terminal
fixing screw is 2 ～ 3Nm.
ACIN cable Terminal: M5, cable length: 3m Supplied with the product.
CAUTION
LN
Controller rear
ACIN cable
(attachment)
PE terminal
PE terminal
Primary side
Secondry side
Single phase
AC200V
ACIN connector
PE (protective earth) terminal
M4 screw
Grounding cable
Note 1)
Earth leakage
breaker (NV)
ACIN cable connection
ACIN cable
(male)
ACIN connector
(female)
Main key (wide)
Groove for main
key (wide) Top
Top
Coupling
<3>
<1> <2>
Note 1) Always use the terminal cover for the earth leakage breaker.
Note 1)

Be careful of interference with peripheral equipment.
Especially don't give a shock to the shaft (J3 axis). When you install the
hand, be careful not to knock at the shaft end by the hammer etc. The shaft
may be damaged.
Take care also of the following items.
(1)The robot's locus of movement may change with specified speed.
Especially as for the corner section, short cut distance may change. Therefore, when
beginning automatic operation, moves at low speed at first, and you should gather speed
slowly with being careful of interference with peripheral equipment.
(2)It can be confirmed whether the specified position exist in the defined area by using the
instruction command "Zone". It can utilize as one of the methods for collision evasion. Refer to
the "detailed description of the instructions manual/function, and operation" of the separate
volume for the details of the instruction command.
CAUTION
Short cut
Arch movement (example)

Revision history
Date of Point Instruction Manual No. Revision Details
2018-03-01 BFP-A3609 • First print
2018-12-25 BFP-A3609-A • Added further explanation of the ACIN cable.
• Revised the instructions for replacing machine cables (replaceable type).
• Revised the instructions for replacing the backup battery.
• Revised the positions of the ABS marks.
2020-01-24 BFP-A3609-B • Corrected the type of timing belt used for the J3 axis of the RH-6CRH.
• Added information on the recommended tightening torque for installation bolts.

*Introduction
Thank you for purchasing the Mitsubishi industrial robot.
This instruction manual explains the method of unpacking, installation and maintenance and
inspection of the robot arm.
Always read through this manual before starting use to ensure correct usage of the robot.
The information contained in this document has been written to be accurate as much as possible.
Please interpret that items not described in this document "cannot be performed."
This document explains for the following robot type.
Robot type
•RH-3CRH/-S15/-S19
•RH-6CRH/-S15/-S19
Note)
Only the standard models (RH-3CH, RH-6CH) are available in Japan and China.
• No part of this manual may be reproduced by any means or in any form, without prior consent
from Mitsubishi.
• The details of this manual are subject to change without notice.
• The information contained in this document has been written to be accurate as much as
possible.
Please interpret that items not described in this document "cannot be performed." or "alarm
may occur".
Please contact your nearest dealer if you find any doubtful, wrong or skipped point.
• This specifications is original.
• Company names and production names in this document are the trademarks or registered
trademarks of their respective owners.
Copyright(C) 2018-2020 MITSUBISHI ELECTRIC CORPORATION

CONTENTS
i
Page
1 Before starting use .......................................................................................................................... 1-1
1.1 Using the instruction manuals ................................................................................................... 1-1
1.1.1 The details of each instruction manuals ............................................................................. 1-1
1.1.2 Symbols used in instruction manual ................................................................................... 1-2
1.2 Safety Precautions .................................................................................................................... 1-3
1.2.1 Precautions given in the separate Safety Manual .............................................................. 1-4
2 Unpacking to Installation ................................................................................................................. 2-6
2.1 Confirming the product .............................................................................................................. 2-6
2.2 Installation ................................................................................................................................. 2-7
2.2.1 Unpacking ........................................................................................................................... 2-7
2.2.2 Transportation procedures .................................................................................................. 2-9
(1) Transportation procedure when unpacking ...................................................................... 2-9
(2) Transportation procedure at secondary transportation .................................................. 2-10
2.2.3 Installation procedures ...................................................................................................... 2-12
2.2.4 Grounding procedures ...................................................................................................... 2-14
(1) Grounding methods ........................................................................................................ 2-14
(2) Grounding procedures .................................................................................................... 2-14
2.2.5 Connecting with the controller .......................................................................................... 2-15
2.3 Confirming the operation ......................................................................................................... 2-17
2.3.1 Installing the teaching pendant (T/B) ................................................................................ 2-18
2.3.2 Turning ON the control power ........................................................................................... 2-18
2.3.3 Preparing the T/B .............................................................................................................. 2-19
(1) JOINT jog operation ....................................................................................................... 2-24
(2) XYZ jog operation ........................................................................................................... 2-26
(3) TOOL jog operation ........................................................................................................ 2-28
(4) 3-axis XYZ jog operation ................................................................................................ 2-30
(5) CYLNDER jog operation ................................................................................................ 2-32
(6) Work jog operation ......................................................................................................... 2-34
2.3.4 Setting the hand parameters ............................................................................................ 2-41
3 Installation of optional equipment ................................................................................................. 3-42
3.1 Operation range change ......................................................................................................... 3-42
(1) Angle setting for changing the operation range .............................................................. 3-42
(2) Operation range change method .................................................................................... 3-43
3.2 Replacement procedure for machine cables (replaceable type) ............................................. 3-44
4 Basic operations ........................................................................................................................... 4-46
5 Maintenance and Inspection ......................................................................................................... 5-47
5.1 Type of inspection and maintenance works ............................................................................ 5-47
5.2 Inspection items ...................................................................................................................... 5-48
5.2.1 Daily inspection items ....................................................................................................... 5-48
5.2.2 Periodic inspection ............................................................................................................ 5-49
(1) Inspection item ............................................................................................................... 5-49
(2) Schedule ........................................................................................................................ 5-50
5.3 Maintenance and inspection procedures ................................................................................ 5-51
5.3.1 Robot arm structure .......................................................................................................... 5-51
5.3.2 Installing/removing the cover ............................................................................................ 5-52
5.3.3 Inspection replacement of timing belt ............................................................................... 5-54
(1) Timing belt replacement period ..................................................................................... 5-55
(2) Timing belt tension measurement .................................................................................. 5-56
(3) Inspection of timing belt .................................................................................................. 5-57
(4) Timing belt tension ......................................................................................................... 5-58
(5) Amount of movement of each axis during the timing belt tension measurement ........... 5-58
5.3.4 Lubrication ........................................................................................................................ 5-59

CONTENTS
ii
Page
(1) Lubrication position and specifications ........................................................................... 5-59
(2) Lubrication method to the J1, J2 axis ............................................................................. 5-60
(3) Lubrication method to the shaft ...................................................................................... 5-61
5.3.5 Replacing the backup battery ........................................................................................... 5-63
(1) Replacing the battery (robot arm) ................................................................................... 5-64
5.3.6 Felt replacement ............................................................................................................... 5-65
(1) Replacing the felt ............................................................................................................ 5-65
5.4 About Overhaul ....................................................................................................................... 5-66
5.5 Maintenance parts .................................................................................................................. 5-67
5.6 Resetting the origin ................................................................................................................. 5-68
5.6.1 Setting the origin with the origin data input method .......................................................... 5-69
(1) Confirming the origin data .............................................................................................. 5-69
(2) Selecting the origin setting method ................................................................................ 5-70
(3) Inputting the origin data .................................................................................................. 5-71
5.6.2 Jig method ........................................................................................................................ 5-73
(1) J1 axis origin setting ....................................................................................................... 5-74
(2) J2 axis origin setting ....................................................................................................... 5-76
(3) J3 and J4 axis origin setting ........................................................................................... 5-78
5.6.3 ABS origin method ............................................................................................................ 5-81
(1) Origin setting procedure ................................................................................................. 5-82
5.6.4 User origin method ........................................................................................................... 5-83
5.6.5 Recording the origin data .................................................................................................. 5-85
(1) Confirming the origin data .............................................................................................. 5-85
(2) Recording the origin data ............................................................................................... 5-85
5.7 How to release the brake in an emergency ............................................................................ 5-86
6Appendix ............................................................................................................................. Appendix-87
Appendix 1: Configuration flag ......................................................................................... Appendix-87

1Before starting use
Using the instruction manuals 1-1
1 Before starting use
This chapter explains the details and usage methods of the instruction manuals, the basic terminology and
the safety precautions. Moreover, handling and operation of a teaching pendant (T/B) are described based
on R32TB in instruction manuals. If using other T/B, such as R56TB, refer to a supplied instruction manual
of the T/B.
1.1 Using the instruction manuals
1.1.1 The details of each instruction manuals
The contents and purposes of the documents enclosed with this product are shown below. Use these
documents according to the application.
For special specifications, a separate instruction manual describing the special section may be enclosed.
Manual name Description
Safety Manual Explains the common precautions and safety measures to be taken for robot handling, system
design and manufacture to ensure safety of the operators involved with the robot.
Standard Specifications Explains the product's standard specifications, factory-set special specifications, option
configuration and maintenance parts, etc.
Precautions for safety and technology, when incorporating the robot, are also explained.
Robot Arm Setup & Maintenance Explains the procedures required to operate the robot arm (unpacking, transportation,
installation, confirmation of operation), and the maintenance and inspection procedures.
Controller setup, basic operation,
and maintenance
Explains the procedures required to operate the controller (unpacking, transportation,
installation, confirmation of operation), basic operation from creating the program to automatic
operation, and the maintenance and inspection procedures.
Detailed explanations of functions
and operations
Explains details on the functions and operations such as each function and operation,
commands used in the program, connection with the external input/output device, and
parameters, etc.
Troubleshooting Explains the causes and remedies to be taken when an error occurs. Explanations are given for
each error No.
Additional axis function Explains the specifications, functions and operations of the additional axis control.
Tracking Function Explains the control function and specifications of conveyor tracking.
GOT Direct Connection Extended
Function
Explains the detailed description of data configuration of shared memory, monitoring, and
operating procedures about the GOT (standalone type robot).
Ethernet Function Explains the measures to perform communication with personal computers on Ethernet with the
TCP/IP protocol.

1-2 Using the instruction manuals
1Before starting use
1.1.2 Symbols used in instruction manual
The symbols and expressions shown in Table 1-1 are used throughout this instruction manual. Learn the
meaning of these symbols before reading this instruction manual.
Table 1-1:Symbols in instruction manual
Terminology Item/Symbol Meaning
Item
iQ Platform compatible type
Controller Indicates the controller which controls the robot arm.
The robot CPU unit or robot CPU
Indicates the CPU unit for the robots which installed to the sequencer
base unit of MELSEC iQ-R series. It is connected with the controller
by the dedicated cable.
The robot CPU system
Multi-CPU system.
It consists of MELSEC units, such as the sequencer base unit, the
sequencer CPU unit, and the robot CPU unit, etc.
Standalone type
Controller Indicates the controller which controls the robot arm.
Symbol
Precaution indicating cases where there is a risk of operator fatality or
serious injury if handling is mistaken. Always observe these
precautions to safely use the robot.
Precaution indicating cases where the operator could be subject to
fatalities or serious injuries if handling is mistaken. Always observe
these precautions to safely use the robot.
Precaution indicating cases where operator could be subject to injury
or physical damage could occur if handling is mistaken. Always
observe these precautions to safely use the robot.
[JOG] If a word is enclosed in brackets or a box in the text, this refers to a
key on the teaching pendant.
[RESET] + [EXE]
(A) (B)
This indicates to press the (B) key while holding down the (A) key.
In this example, the [RESET] key is pressed while holding down the
[EXE] key.
T/B This indicates the teaching pendant.
Descriptions in this manual are based on R32TB.
DANGER
WARNING
CAUTION

1Before starting use
Safety Precautions 1-3
1.2 Safety Precautions
Always read the following precautions and the separate "Safety Manual" before starting use of the robot to
learn the required measures to be taken.
All teaching work must be carried out by an operator who has received special
training. (This also applies to maintenance work with the power source turned ON.)
Enforcement of safety training
For teaching work, prepare a work plan related to the methods and procedures of
operating the robot, and to the measures to be taken when an error occurs or when
restarting. Carry out work following this plan. (This also applies to maintenance
work with the power source turned ON.)
Preparation of work plan
Prepare a device that allows operation to be stopped immediately during teaching
work. (This also applies to maintenance work with the power source turned ON.)
Setting of emergency stop switch
During teaching work, place a sign indicating that teaching work is in progress on
the start switch, etc. (This also applies to maintenance work with the power source
turned ON.)
Indication of teaching work in progress
Provide a fence or enclosure during operation to prevent contact of the operator
and robot.
Installation of safety fence
Establish a set signaling method to the related operators for starting work, and
follow this method.
Signaling of operation start
As a principle turn the power OFF during maintenance work. Place a sign indicating
that maintenance work is in progress on the start switch, etc.
Indication of maintenance work in progress
Before starting work, inspect the robot, emergency stop switch and other related
devices, etc., and confirm that there are no errors.
Inspection before starting work
CAUTION
CAUTION
WARNING
CAUTION
DANGER
CAUTION
CAUTION
CAUTION

1-4 Safety Precautions
1Before starting use
1.2.1 Precautions given in the separate Safety Manual
The points of the precautions given in the separate "Safety Manual" are given below.
Refer to the actual "Safety Manual" for details.
When automatic operation of the robot is performed using multiple control devices
(GOT, programmable controller, push-button switch), the interlocking of operation
rights of the devices, etc. must be designed by the customer.
Use the robot within the environment given in the specifications. Failure to do so
could lead to a drop or reliability or faults. (Temperature, humidity, atmosphere,
noise environment, etc.)
Transport the robot with the designated transportation posture. Transporting the
robot in a non-designated posture could lead to personal injuries or faults from
dropping.
Always use the robot installed on a secure table. Use in an instable posture could
lead to positional deviation and vibration.
Wire the cable as far away from noise sources as possible. If placed near a noise
source, positional deviation or malfunction could occur.
Do not apply excessive force on the connector or excessively bend the cable.
Failure to observe this could lead to contact defects or wire breakage.
Make sure that the workpiece weight, including the hand, does not exceed the
rated load or tolerable torque. Exceeding these values could lead to alarms or
faults.
Securely install the hand and tool, and securely grasp the workpiece. Failure to
observe this could lead to personal injuries or damage if the object comes off or
flies off during operation.
Securely ground the robot and controller. Failure to observe this could lead to
malfunctioning by noise or to electric shock accidents.
Indicate the operation state during robot operation. Failure to indicate the state
could lead to operators approaching the robot or to incorrect operation.
When carrying out teaching work in the robot's movement range, always secure
the priority right for the robot control. Failure to observe this could lead to personal
injuries or damage if the robot is started with external commands.
Keep the jog speed as low as possible, and always watch the robot. Failure to do
so could lead to interference with the workpiece or peripheral devices.
After editing the program, always confirm the operation with step operation before
starting automatic operation. Failure to do so could lead to interference with
peripheral devices because of programming mistakes, etc.
Make sure that if the safety fence entrance door is opened during automatic
operation, the door is locked or that the robot will automatically stop. Failure to do
so could lead to personal injuries.
Never carry out modifications based on personal judgments, or use non-
designated maintenance parts.
Failure to observe this could lead to faults or failures.
When the robot arm has to be moved by hand from an external area, do not place
hands or fingers in the openings. Failure to observe this could lead to hands or
fingers catching depending on the posture.
DANGER
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
WARNING
WARNING
CAUTION
WARNING
CAUTION
CAUTION
CAUTION
CAUTION
WARNING

1Before starting use
Safety Precautions 1-5
Do not stop the robot or apply emergency stop by turning the robot controller's
main power OFF.
If the robot controller main power is turned OFF during automatic operation, the
robot accuracy could be adversely affected.
Do not turn off the main power to the robot controller while rewriting the internal
information of the robot controller such as the program or parameters. If the main
power to the robot controller is turned off while in automatic operation or rewriting
the program or parameters, the internal information of the robot controller may be
damaged.
Do not connect the Handy GOT when using the GOT direct connection function of
this product. Failure to observe this may result in property damage or bodily injury
because the Handy GOT can automatically operate the robot regardless of
whether the operation rights are enabled or not.
Do not remove the SSCNET III cable while power is supplied to the multiple CPU
system or the servo amplifier. Do not look directly at light emitted from the tip of
SSCNET III connectors or SSCNET III cables of the Motion CPU or the servo
amplifier. Eye discomfort may be felt if exposed to the light. (Reference: SSCNET
III employs a Class 1 or equivalent light source as specified in JIS C 6802 and
IEC60825-1 (domestic standards in Japan).)
Do not remove the SSCNET III cable while power is supplied to the controller. Do
not look directly at light emitted from the tip of SSCNET III connectors or SSCNET
III cables. Eye discomfort may be felt if exposed to the light. (Reference: SSCNET
III employs a Class 1 or equivalent light source as specified in JIS C 6802 and
IEC60825-1 (domestic standards in Japan).)
Attach the cap to the SSCNET III connector after disconnecting the SSCNET III
cable. If the cap is not attached, dirt or dust may adhere to the connector pins,
resulting in deterioration connector properties, and leading to malfunction.
Make sure there are no mistakes in the wiring. Connecting differently to the way
specified in the manual can result in failures, such as the emergency stop not
being released. In order to prevent from occurring, please be sure to check that all
functions (such as the teaching box emergency stop, customer emergency stop,
and door switch) are working properly after the wiring setup is completed
Use the network equipments (personal computer, USB hub, LAN hub, etc)
confirmed by manufacturer. The thing unsuitable for the FA environment (related
with conformity, temperature or noise) exists in the equipments connected to USB.
When using network equipment, measures against the noise, such as measures
against EMI and the addition of the ferrite core, may be necessary. Please fully
confirm the operation by customer. Guarantee and maintenance of the equipment
on the market (usual office automation equipment) cannot be performed.
To maintain the safety of the robot system against unauthorized access from
external devices via the network, take appropriate measures.
To maintain the safety against unauthorized access via the Internet, take
measures such as installing a firewall.
CAUTION
CAUTION
DANGER
DANGER
DANGER
DANGER
CAUTION
CAUTION
CAUTION

2-6 Confirming the product
2Unpacking to Installation
2 Unpacking to Installation
2.1 Confirming the product
The standard configuration of the robot arm, part of the purchased product, is shown in Table 2-1.
Confirm the parts.
Users who have purchased optional products should refer to the separate "Standard Specifications Manual".
Table 2-1:Standard configuration
Note) Items No. 2 to 5 are contained in the plastic bag of attachment in the robot arm.
No. Part name Type Qty. Remarks
RH-3CRH
1 Robot arm 1 unit
2 Installation bolts M8×30 4 pcs. For robot arm installation
3 Spring washer for installation bolts For M8 4 pcs.
4 Plain washer for installation bolts For M8 4 pcs.
5 D-sub connector set 2 sets Connector for fixing the tool wiring
RH-6CRH
1 Robot arm 1 unit
2 Installation bolts M8×30 4 pcs. For robot arm installation
3 Spring washer for installation bolts For M8 4 pcs.
4 Plain washer for installation bolts For M8 4 pcs.
5 D-sub connector set 2 sets Connector for fixing the tool wiring

2Unpacking to Installation
Installation 2-7
2.2 Installation
2.2.1 Unpacking
Fig.2-1:Unpacking of the robot arm
* The grease for preventing rust is applied at the tip of the shaft (J3 axis) of the robot.
<1> Tape (two)
Packing box <3> Outer box
Remove the top plate and
the outer box.
Cut the tape. Remove the fixing plate A.
Robot arm
Remove the fixing plate B. Cut the cable tie and open the plastic bag.
Plastic bag
Take the robot arm out of the box.
Grip the cutout sections to lift the controller box.
Controller
Parallel input/
output interface
Take the robot out of the box slowly. Be careful
not to get injured with the edge of the robot
CAUTION
The robot does not stand on its own in the
posture after the unpacking. Fix the robot
securely in place for installation.
CAUTION
Always unpack the robot at a flat place.
Otherwise, the robot may fall down.
CAUTION
Take the controller box straight up slowly. Be
careful not to let the controller slip out of the
box.
CAUTION
The parallel I/O interface is
installed on the controller.
Do not hold the parallel I/O
interface section when taking
out the controller.
Otherwise, the interface may
be fractured.
CAUTION
<4> Fixing plate A
<5> Fixing
plate B
<6> Cable tie
Cutout
<2> Top plate
Controller
(beneath the fixing
plate A)
Accessories
Robot arm
<8> Controller box
* The figure shown is an example. Although the package varies depending
on the model, the basic unpacking procedure is the same.

2-8 Installation
2Unpacking to Installation
The unpacking procedure is shown below.
1) Cut the tape <1> around the packing box with scissors etc.
2) Lift and remove the top plate <2> and the outer box <3>.
3) Lift and remove the fixing plate A <4> and the fixing plate B <5> one after another.
4) Cut the cable tie <6> with nippers etc. and open the plastic bag.
5) Take the robot arm out of the box.
Note that the robot does not stand on its own in the posture after the unpacking.
6) Grip the cutout sections of the controller box <8> and take out the controller.
Unpacking is completed.