Mitsubishi Electric RH-6FHM-SE Series User manual

Mitsubishi Industrial Robot
RH-6/12/20FHM-SE Series 
INSTRUCTION MANUAL
ROBOT ARM SETUP & MAINTENANCE
BFP-A3321-P

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.
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.
DANGER
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
WARNING
WARNING
CAUTION
WARNING
CAUTION
CAUTION
CAUTION
CAUTION

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 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 emer-
gency stop, and door switch) are working properly after the wiring setup is com-
pleted.
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 security (confidentiality, integrity, and availability) of the robot
and the system against unauthorized access, DoS*1 attacks, computer viruses,
and other cyberattacks from unreliable networks and devices via network, take
appropriate measures such as firewalls, virtual private networks (VPNs), and
antivirus solutions.
Mitsubishi Electric shall have no responsibility or liability for any problems
involving robot trouble and system trouble by unauthorized access, DoS
attacks, computer viruses, and other cyberattacks.
*1 DoS: A denial-of-service (DoS) attack disrupts services by overloading sys-
tems or exploiting vulnerabilities, resulting in a denial-of-service (DoS) state.
WARNING
CAUTION
CAUTION
DANGER
DANGER
DANGER
CAUTION
CAUTION
CAUTION

*CR751-D or CR751-Q controller
Notes of the basic component are shown.
Please install the earth leakage breaker in the primary side supply power supply
of the controller of CR751-D or CR751-Q because of leakage protection.
1) Please prepare the following: Leakage current breaker (with the terminal cover), cable for connecting the
primary power supply (AWG #14 (2mm2 or above), cables to ground the primary power supply (AWG #12
(3.5mm2 or above).
The secondary power cable (with the ACIN connector) for single phase or three phase power is supplied with
the product to match the specifications. When you build a cable suitable for your environment using the ACIN
connector and the ACIN terminal supplied, prepare a secondary power cable (AWG #14 (2mm2) or above).
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 secondary power cable.
a) When using the supplied power cable with the ACIN connector
Refer to the figure above and connect the cable from the secondary side of the earth leakage breaker.
b) When building a power cable using the ACIN connector and the ACIN terminals supplied
Connect the ACIN terminals with the secondary power cable (prepared by customers), and insert the ACIN
terminals to the ACIN connector pins with the following numbers. Crimping caulking is recommended to
connect the ACIN terminals.
For single phase: 1 and 3
For three phase: 1, 2, and 3
Refer to the figure above and connect the cable from the secondary side of the earth leakage breaker.
5) Connect this ACIN connector to the ACIN connector on the front of the controller.
6) Connect the grounding cable to the PE terminal. (M4 screw)
7) Connect the primary power cable to the primary side terminal of the earth leakage breaker.
CAUTION
PE terminal
Grounding screw
Controller
ACIN connector
AC200V AC200V
Primary
Secondary
PE terminal
Grounding screw
123 123
ACIN connector
ACIN connector
Note 2)
Note 1) Crimping swage is recommended for connecting the attachment ACIN connector (soldering is also possible)
Recommendation compression tools: 234171-1(Tyco Electronics)
Note 2) The earth leakage breaker is the customer preparation. Always use the cover below.
Recommendation: For single primary power supply ......... NV30FAU-2P-10A-AC100-240V-30mA, (Cover: TCS-05FA2)
For three primary power supply .......... NV30FAU-3P-10A-AC100-240V-30mA, (Cover: TCS-05FA3)
Note 3) If necessary, as shown in the figure, connects the noise filter between ACIN terminal blocks and primary power supply.
(Recommended noise filter: SUP-EL20-ER6 *OKAYA ELECTRIC INDUSTRIES)
Controller
<4> LINE/LOAD
<3> LINE/LOAD
<1> LINE/LOAD
<2> LINE/LOAD
Noise filter
Label
ACIN connector or
power cable
(Attachment)
Note 1)
For three phaseFor single phase
Three phase Single phase
Earth leak-
age breaker
(NV)
Note 3)
* The controller is an
example.

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 begin-
ning 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 instruc-
tion 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
2014-08-20 BFP-A3321 ・ First print
2014-12-19 BFP-A3321-A ・ ”(1) Replacing the battery (robot arm)” was changed.
・ The explanation of the origin setting method were added. The description of the setting
range of ABS origin method was added.
・ The cautions in lubrication and the procedure to lubrication for the shaft were added.
・ The lubrication amount guide for J1 and J2 axis reduction gears of RH-12/20FH series
were changed.
(formerly: 49 g for J1 axis, 39 g for J2 axis)
・ The description of how to change the operating range was added.
・ The corporate logo mark of illustrations in this manual was changed.
・ In recommended grease gun, CH-400 was deleted and KH-120 was added.
2015-02-09 BFP-A3321-B ・ The special hexagon flange bolts are also used for SE1502 model.
・The belt type of J3 axis timing belt of RH-6FH series was corrected. (error: 264-3GT-6)
2015-03-10 BFP-A3321-C ・ The value of the vertical direction translation force of RH-12/20FH series is corrected.
(error: 5,500 N)
2016-04-06 BFP-A3321-D ・ ”2.2.2 Transportation procedures” and “3.1 Installing the solenoid valve set” were sup-
plemented.
2016-10-21 BFP-A3321-E ・ Timing belt type was changed.
2017-05-23 BFP-A3321-F ・ Parameter settings when using a solenoid valve was added.
・ The J1 axis lubrication point of the RH-6FH series was changed.
・ Contact information of the authorised representative was updated.
2017-09-25 BFP-A3321-G ・ "5.4 About Overhaul" was modified.
2018-06-01 BFP-A3321-H ・ Description of countermeasures against unauthorized access was added.
・ “3.7 Connector protection when the option devices are installed” was added.
・ Mechanical stopper position in Fig 3-5 were corrected.
2018-12-25 BFP-A3321-J ・ ”5.6.3 ABS origin method” was corrected.
2019-04-19 BFP-A3321-K ・ Installation dimensions in Fig. 2-4 was corrected.
2020-01-24 BFP-A3321-M ・ Changed the grease used for the shaft shown in Table 5-4.
・ Revised ”5.3.5 Replacing the bellows”.
2020-10-30 BFP-A3321-N ・ Amended the precautions regarding the prevention of unauthorized access.
・ Corrected the battery name. (ER6 → ER6V)
・ Corrected other mistakes and changed some sections.
2023-04-17 BFP-A3321-P ・ Corrected mistakes and changed some sections.

*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-6FH series
･ RH-12FH series
･ RH-20FH series
･ 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) 2014 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 .......................................................................................................................................... 2-8
(1) RH-6FH series .............................................................................................................................................................. 2-8
(2) RH-12FH/20FH series .............................................................................................................................................. 2-9
2.2.3 Installation procedures ................................................................................................................................................ 2-11
2.2.4 Grounding procedures .................................................................................................................................................. 2-13
(1) Grounding methods ................................................................................................................................................... 2-13
(2) Grounding procedures ............................................................................................................................................. 2-13
2.2.5 Connecting with the controller ................................................................................................................................ 2-14
(1) CR750 controller ....................................................................................................................................................... 2-14
(2) CR751 controller ....................................................................................................................................................... 2-16
2.2.6 Ethernet Cables .............................................................................................................................................................. 2-18
(1) No.2 arm ........................................................................................................................................................................ 2-18
(2) Base area ...................................................................................................................................................................... 2-19
2.2.7 Passing air hoses and cables through the shaft ............................................................................................... 2-21
(1) Specifications of internal air hoses and cables ............................................................................................ 2-21
(2) Customer prepared products ............................................................................................................................... 2-21
(3) Installation procedure .............................................................................................................................................. 2-22
(4) RH-6FH series ............................................................................................................................................................ 2-24
(5) RH-12FH/20FH series ............................................................................................................................................ 2-25
(6) Arrangement of the ventilation duct ................................................................................................................. 2-26
2.3 Setting the origin ................................................................................................................................................................... 2-27
2.3.1 Installing the teaching pendant (T/B) ................................................................................................................... 2-27
(1) CR750 controller ....................................................................................................................................................... 2-27
(2) CR751 controller ....................................................................................................................................................... 2-28
2.3.2 Setting the origin with the origin data input method ...................................................................................... 2-29
(1) Confirming the origin data ..................................................................................................................................... 2-29
(2) Turning ON the control power ............................................................................................................................. 2-29
(3) Preparing the T/B ..................................................................................................................................................... 2-30
(4) Selecting the origin setting method ................................................................................................................... 2-31
(5) Inputting the origin data ......................................................................................................................................... 2-32
(6) Installing the battery cover. .................................................................................................................................. 2-33
2.4 Confirming the operation .................................................................................................................................................... 2-34
(1) JOINT jog operation ................................................................................................................................................. 2-39
(2) XYZ jog operation ...................................................................................................................................................... 2-41
(3) TOOL jog operation .................................................................................................................................................. 2-43
(4) 3-axis XYZ jog operation ....................................................................................................................................... 2-45
(5) CYLNDER jog operation ......................................................................................................................................... 2-47
(6) Work jog operation ......................................................................................................... 2-49
3 Installing the option devices ..................................................................................................................................................... 3-56
3.1 Installing the solenoid valve set ...................................................................................................................................... 3-56
(1) RH-6FH series ............................................................................................................................................................ 3-56
(2) RH-12FH/20FH series ............................................................................................................................................ 3-58
(3) Hand number and solenoid valve ports (common to RH-FH series) ................................................... 3-59
3.2 Installing the hand input cable ......................................................................................................................................... 3-60
3.3 Installing the hand output cable ...................................................................................................................................... 3-61

CONTENTS
ii
Page
3.4 Changing the operating range .......................................................................................................................................... 3-62
(1) Operating range changeable angle ..................................................................................................................... 3-62
(2) The change method of the operating range ................................................................................................... 3-63
3.5 Hand internal wiring and piping set ................................................................................................................................ 3-64
(1) Installation procedure .............................................................................................................................................. 3-64
(2) RH-6FH series ............................................................................................................................................................ 3-66
(3) RH-12FH/20FH series ............................................................................................................................................ 3-67
3.6 External Wiring and Piping Box ........................................................................................................................................ 3-68
3.7 Connector protection when the option devices are installed ............................................................................. 3-70
4 Basic operations ............................................................................................................................................................................ 4-72
5 Maintenance and Inspection ..................................................................................................................................................... 5-73
5.1 Maintenance and inspection interval ............................................................................................................................. 5-73
5.2 Inspection items ..................................................................................................................................................................... 5-74
5.2.1 Daily inspection items .................................................................................................................................................. 5-74
5.2.2 Periodic inspection ........................................................................................................................................................ 5-75
5.3 Maintenance and inspection procedures ..................................................................................................................... 5-76
5.3.1 Robot arm structure ..................................................................................................................................................... 5-76
5.3.2 Installing/removing the cover ................................................................................................................................... 5-77
5.3.3 Packing Replacement Procedure ............................................................................................................................ 5-79
(1) Packing Replacement Instructions ..................................................................................................................... 5-79
5.3.4 Inspection, maintenance and replacement of timing belt .............................................................................. 5-83
(1) Timing belt replacement period ......................................................................................................................... 5-83
(2) RH-6FH/12FH/20FH series: Inspecting/Adjusting the J3 axis timing belt ..................................... 5-84
(3) RH-6FH/12FH/20FH series: Replacing the J3 axis timing belt ............................................................ 5-85
(4) RH-6FH/12FH/20FH series: Inspecting/Adjusting the J4 axis timing belt ..................................... 5-87
(5) Timing belt tension ................................................................................................................................................... 5-90
5.3.5 Replacing the bellows ................................................................................................................................................... 5-91
5.3.6 Lubrication ........................................................................................................................................................................ 5-93
(1) Lubrication position and specifications ............................................................................................................ 5-93
(2) Lubrication method to the J1, J2 axis ............................................................................................................. 5-94
(3) Lubrication method to the shaft ......................................................................................................................... 5-95
5.3.7 Replacing the backup battery ................................................................................................................................... 5-97
(1) Replacing the battery (robot arm) ...................................................................................................................... 5-98
5.4 About Overhaul ...................................................................................................................................................................... 5-99
5.5 Maintenance parts .............................................................................................................................................................. 5-100
5.6 Resetting the origin ........................................................................................................................................................... 5-102
5.6.1 Mechanical stopper method ................................................................................................................................... 5-103
(1) J1 axis origin setting (mechanical stopper) ................................................................................................ 5-103
(2) J2 axis origin setting (mechanical stopper) ................................................................................................ 5-105
(3) J3 and J4 axis origin setting (mechanical stopper) ................................................................................. 5-107
(4) All axis origin setting ............................................................................................................................................. 5-110
5.6.2 Jig method ..................................................................................................................................................................... 5-111
(1) J1 axis origin setting ............................................................................................................................................. 5-112
(2) J2 axis origin setting ............................................................................................................................................. 5-114
(3) J3 and J4 axis origin setting ............................................................................................................................. 5-115
5.6.3 ABS origin method ..................................................................................................................................................... 5-116
(1) Select the T/B ........................................................................................................................................................ 5-118
5.6.4 User origin method ..................................................................................................................................................... 5-120
5.6.5 Recording the origin data ........................................................................................................................................ 5-122
(1) Confirming the origin data label ........................................................................................................................ 5-122
(2) Confirming the origin data .................................................................................................................................. 5-122
(3) Recording the origin data .................................................................................................................................... 5-122
(4) Installing the battery cover ................................................................................................................................ 5-122
6Appendix ............................................................................................................................................................................ Appendix-123
Appendix 1 ： Configuration flag .......................................................................................................................... Appendix-123

1-1 Using the instruction manuals
1Before starting use
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 (R33TB) in instruction manuals. If using other T/B, such as R56TB (R57TB), 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 doc-
uments according to the application.
For special specifications, a separate instruction manual describing the special section may be enclosed.
Explains the common precautions and safety measures to be taken for robot handling, sys-
tem design and manufacture to ensure safety of the operators involved with the robot.
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.
Explains the procedures required to operate the robot arm (unpacking, transportation,
installation, confirmation of operation), and the maintenance and inspection procedures.
Explains the procedures required to operate the controller (unpacking, transportation,
installation, confirmation of operation), basic operation from creating the program to auto-
matic operation, and the maintenance and inspection procedures.
Explains details on the functions and operations such as each function and operation, com-
mands used in the program, connection with the external input/output device, and parame-
ters, etc.
Explains the causes and remedies to be taken when an error occurs. Explanations are given
for each error No.
Explains the specifications, functions and operations of the additional axis control.
Explains the control function and specifications of conveyor tracking
Explains the detailed description of data configuration of shared memory, monitoring, and
operating procedures, about the PLC(CR750-Q/CR751-Q controller) and the GOT(CR750-
D/CR751-D controller).
Safety Manual
Standard
Specifications
Robot Arm
Setup &
Maintenance
Controller
Setup, Basic
Operation and
Maintenance
Detailed
Explanation of
Functions and
Operations
Troubleshooting
Additional
axis function
Tracking Func
-
tion Manual
Extended
Function
Instruction
Manual

1Before starting use
Using the instruction manuals 1-2
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
Controller Indicates the controller which controls the robot arm.
It consists of the robot CPU system and the drive unit.
The robot CPU unit or robot CPU
Indicates the CPU unit for the robots which installed to the sequencer
base unit (Q3 □DB) of MELSEC-Q series. It is connected with the
drive unit 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.
Drive unit Indicates the box which mounts the servo amplifier for robot, and the
safety circuit, etc.
Item
Stand-alone type
Controller Indicates the box which arranged control parts, such as robot CPU,
servo amplifier, and the safety circuit.
Symbol Precaution indicating cases where there is a risk of operator fatality or
serious injury if handling is mistaken. Always observe these precau-
tions 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.
O/P Indicates the operating panel on the front of controller or drive unit for
the controller which installed the operating panel
CR751 (Thin type)
CR751 (Heavy type)
There are two kinds of CR751 controller; one is "Thin type" (the
height is 98mm) and the other is "Heavy type" (the height is 174mm),
each of which are different in height.
Thin type: CR751-03HD/Q, CR751-06HD/Q, CR751-12HD/Q,
CR751-20HD/Q, CR751-03HRD/Q, CR751-02VD/Q,
CR751-04VD/Q, CR751-04VJD/Q, CR751-07VD/Q.
Heavy type: CR751-13VD/Q, CR751-20VD/Q, CR751-07VLD/Q.
* Refer to separate Standard Specifications Manual for the outside
dimension of CR751 controller.
DANGER
WARNING
CAUTION

1-3 Safety Precautions
1Before starting use
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 fol-
low 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

1Before starting use
Safety Precautions 1-4
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 oper-
ation, 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-desig-
nated 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 fin-
gers catching depending on the posture.
DANGER
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1-5 Safety Precautions
1Before starting use
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 connect the Handy GOT to a programmable controller when using an iQ
Platform compatible product with the CR750-Q/CR751-Q/CR760-Q controller. Fail-
ure to observe this may result in property damage or bodily injury because the
Handy GOT can automatically operate the robot regardless of whether the opera-
tion 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) con-
firmed 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 security (confidentiality, integrity, and availability) of the robot and
the system against unauthorized access, DoS*1 attacks, computer viruses, and
other cyberattacks from unreliable networks and devices via network, take appro-
priate measures such as firewalls, virtual private networks (VPNs), and antivirus
solutions.
Mitsubishi Electric shall have no responsibility or liability for any problems involv-
ing robot trouble and system trouble by unauthorized access, DoS attacks, com-
puter viruses, and other cyberattacks.
*1 DoS: A denial-of-service (DoS) attack disrupts services by overloading systems
or exploiting vulnerabilities, resulting in a denial-of-service (DoS) state.
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2Unpacking to Installation
Confirming the product 2-6
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".
Table 2-1 ： Standard configuration
Note1) RH-6FH series: Items No. 3 to 7 are contained in the plastic bag of attachment in the robot arm.
RH-12FH/20FH series: Items No. 3 to 6 are contained in the plastic bag of attachment in the robot arm.
No. Part name Type Qty. Remarks
RH-6FH series
1 Robot arm RH-6FH****M-SExx
1 unit
SExx means the following.
SExx01: Chemical-resistant specifica-
tions
SExx02: Food machinery grade H1
grease specifications
2 Guarantee card 1 copy
3 Installation bolts M8 x 40 4 pcs. For robot arm installation
4 Spring washer for installation bolts For M8 4 pcs.
5 Plain washer for installation bolts For M8 4 pcs.
6 Grease nipple WA-610 1 pc.
7 Rubber plug
4 pcs.
For sealing of the screw hole which is
used by optional stopper for operating
range change.
Attachment for SExx01 only.
8 Fixing plates 1 set For robot arm transportation
9 Fixing plates installation bolt 1 set
RH-12FH/20FH series
1 Robot arm RH-12FH****M-SExx
RH-20FH****M-SExx
1 unit
SExx means the following.
SExx01: Chemical-resistant specifica-
tions
SExx02: Food machinery grade H1
grease specifications
2 Guarantee card 1 copy
3 Installation bolts M12×45 4 pcs For robot arm installation
4 Spring washer for installation bolts For M12 4 pcs
5 Plain washer for installation bolts For M12 4 pcs
6 Rubber plug
4 pcs.
For sealing of the screw hole which is
used by optional stopper for operating
range change.
Attachment for SExx01 only.
7 Fixing plates 1 set For robot arm transportation
8 Fixing plates installation bolt 1 set
9 Transporting jig 1 set
10 Transporting jig fixing bolt 1 set

2-7 Installation
2Unpacking to Installation
2.2 Installation
2.2.1 Unpacking
Fig.2-1 ： Unpacking the robot arm
The robot is shipped from the factory in cardboard and plywood frame packing. Always refer to Fig. 2-1 and
unpack the robot.
Handle the robot arm according to "2.2.2Transportation procedures".
Always unpack the robot at a flat place. The robot could tilt over if unpacked at an
unstable place.
The unpacking process is shown below.
1) Using a knife, etc., slit the tape <1> fixing the upper lid <2> of the cardboard box. (Fig. 2-1 (a))
2) Pull the upper lid <2> of the cardboard box off with both hands. (Fig. 2-1 (b))
3) Remove the hexagon socket bolts <3> (four positions) which fix the robot. (Fig. 2-1 (c))
This completes the unpacking.
Note) The robot must be transported without removing the fixing plate A and B. Remove after installing.
When repackaging the robot in the wooden frame, always use the fixing plate.
②上ブタ
（ａ） （ｂ）
（ｃ）
引き抜く
①テープ
固定台
③六角穴付ボルト
（４箇所） ロボット本体
固定具A 固定具B
!CAUTION
!
Always unpack the
robot at a flat place.
The robot could tilt
over if unpacked at an
unstable place.
<2> Upper lid Pull out
<1> Tape
Fixing
board
<3> Hexagon socket
bolts
(Four positions) Robot arm
Fixing plate B
Fixing plate A
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2Unpacking to Installation
Installation 2-8
2.2.2 Transportation procedures
(1) RH-6FH series
Fig.2-2 ： Transportation of robot arm
1) The robot must be transported by two workers with putting the fixing plate A and B. Place the robot on a
cart, etc., and move it to near the installation place. Transporting the robot with the following should be lim-
ited to placing the robot on the frame or cart, and to positioning.
2) When transporting the robot arm, one person should hold the fixing plate A of No.2 arm <1> and No.2 arm
<2> and another person should hold the fixing plate A of base <3>. When transporting the robot, do not apply
force to the cover, or apply a strong shock on the robot.
3) Remove the fixtures after installing the robot.
4) When using the model with chemical-resistant specifications (SExx01), install the attached rubber plug.
When you use a stopper for operating range change optional, install them first. And install the attached rub-
ber plug to the screw hole which is not used. Use a liquid type gasket to fix the rubber plug and seal the
screw hole.
Recommendation gasket: 1212 (Supplier: ThreeBond Holdings Co., Ltd.)
5) Always attach the fixing plate, and follow the above procedures and methods to transport the robot for
secondary transportation, such as when changing the installation position.
If the arm is directly holded without using the specified fixing plate, or if it is holded in the work posture, the
configuration devices could be damaged, and the transportation workers will be subject to risk due to an
inadequate center of gravity position.
To prevent accidents, do not hold the robot from the left/right sides, or hold covers that
have no grips.
Be careful not to apply force to the shaft section (J3 axis). The shaft may be damaged
and the overload error may occur at the time of movement.
When installing the fixing tool again, place the robot in the posture where each axis
shows the values listed in the table below.
Fixing plate A
Fixing plate B
No.1 arm
No.2 arm
<1>
<3>
<2>
Base
A
View A
注意 CAUTION
VORSICHT
ロボットの運搬は、図の姿勢のように
２人でおこなってください。
The robot must always be
transported by two workers.
Bei einem Transport sollte
der Roboter von 2
P e r s o n e n a n d e n i n d e r
Abbildung gezeigten Stellen
angehoben werden.
Mass
RH-6FH35** series: Approx. 39kg
RH-6FH45** series: Approx. 40kg
RH-6FH55** series: Approx. 41kg
Screw holes which are used by
optional stopper for operating
range change. (4 places)
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2-9 Installation
2Unpacking to Installation
The robot should keep vertical. (not be horizontal)
It becomes the cause of the grease leakage or the trouble.
The ventilation duct is attached to the robot’s base section rear.
Please handle with care when transporting or installing the robot arm.
If it is difficult to follow the transportation procedure shown in this section, take
countermeasures not to allow the joints of the robot arm freely move by fixing the robot
arm in such a way as to take advantage of the screw holes for fixing plates or the like.
Otherwise, applying an excessive power on the joints by external forces may cause a
malfunction.
Do not apply an excessive load to the robot arm while fixing it. Otherwise, the robot arm
may be damaged.
Table 2-2 ： Transportation posture
(2) RH-12FH/20FH series
Fig.2-3 ： Transportation of robot arm
1) Hook the wires to each of the four eyebolts attached to the transporting jig. (Make sure the bolts are
securely hooked.)
2) Lift with a crane to transport the robot to the designated location.
3) At this time, make sure that the wires, etc., do not interfere with the robot arm or the covers. Always place
the cloth, etc., at interfering places.
4) Be careful not to subject the robot to physical shock during transport.
Axis RH-6FH35** RH-6FH45** RH-6FH55**
Ｊ 1 57.5 deg. 28 deg. 19 deg.
Ｊ 2 -147.5 deg. -118 deg. -109 deg.
Ｊ 3 290.4mm
Ｊ4 Not fixed
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Mass
RH-12FH55** series: Approx. 65kg
RH-12FH70** series: Approx. 67kg
RH-12FH85** series: Approx. 69kg
RH-20FH85** series: Approx. 75kg
RH-20FH100** series: Approx. 77kg
Self-supporting plate
Base
Transport-
ing jig
Fixing plate
Eye bolt
No.1 arm
Wire hook
No.2 arm
A
Screw holes which are used by optional
stopper for operating range change.
(4 places)
View A
Wire Note 1)
Note 1) Use wires that are 1300 mm or more.