Mitsubishi RH-3FH Series User manual

Mitsubishi Industrial Robot
RH-3FH/6FH/12FH/20FH Series
INSTRUCTION MANUAL
ROBOT ARM SETUP & MAINTENANCE
BFP-A8865-F

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
WARNING
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.
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.
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
WARNING
WARNING
CAUTION
WARNING
CAUTION
CAUTION
CAUTION
CAUTION
WARNING

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.
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.
*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.
CAUTION
CAUTION
CAUTION
CAUTION
保護アース端子
(PE)
漏電遮断器
(NV)
端子カバー
端子カバー
アース接続ネジ コネクタ
AC200V
CR751コントローラ(前面)
CR751-D controller/CR751-Q drive unit
Earth leakage breaker
Cover
Cover
Connector
Grounding 
screw
Grounding terminal
(PE)

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
2012-03-13 BFP-A8865 ・First print
2012-04-25 BFP-A8865-A ・ RH-3FH series robot arm mass was corrected.
・ The attention seal illustration of the 2.2.2 transportation point was corrected.
・ The RH-6FH series transportation position was corrected.
・ The Note was added to Fig.5-4: Installing/removing the cover.
・ The CE marking specification was added.
2012-05-28 BFP-A8865-B ・ RH-12FH/20FH series robot arm mass was added.
・ "Installation bolt for machine-cable"was added to Standard configuration of RH-3FH
・ The size of the ground cable was corrected. (error in writing, formerly
"AWG#11(3.5mm2) or more")
・ The grease for application to the shaft of CE specification was corrected. (RH-3FH/
6FH)
2012-08-31 BFP-A8865-C ・ Removing the No.2 arm cover U was added, in J3 and J4 axis origin setting (mechanical
stopper) of RH-3FH series.
・ The installing procedure of Hand internal wiring and piping set of RH-6FH series was
changed.
2012-10-04 BFP-A8865-D ・ "How to input symbols" was added to "(5) Inputting the origin data".
・ The notes about installation of the controller and the robot arm were added. (neither
direct rays nor the heat of lighting)
2012-11-20 BFP-A8865-E ・ The lithium battery type was corrected to "Table 5-9: Consumable part list".
・ The statement about trademark registration was added.
・ The metal plate which fixes "Hand internal wiring and piping set (option)" was changed
to attachment of the robot arm in standard.
2013-01-21 BFP-A8865-F ・The connectors of RH-3FH series machine cable (AMP1, AMP2, BRK) were combined as
CN1 connector.

*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-3FH series
･ 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) 2012-2013 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 (RH-3FH/6FH series) ............................................................................................ 2-8
2.2.3 :Transportation procedures (RH-12FH/20FH series) ...................................................................................... 2-9
2.2.4 Installation procedures ................................................................................................................................................ 2-10
2.2.5 Grounding procedures .................................................................................................................................................. 2-12
(1) Grounding methods ................................................................................................................................................... 2-12
(2) Grounding procedures ............................................................................................................................................. 2-12
2.2.6 Connecting with the controller ................................................................................................................................ 2-13
(1) RH-3FH series (No-CE specification) .............................................................................................................. 2-13
(2) RH-6FH/12FH/20FH series, and RH-3FH-S15 (CE specification) ..................................................... 2-15
2.2.7 Ethernet Cables .............................................................................................................................................................. 2-17
2.2.8 No.2 arm ............................................................................................................................................................................ 2-17
2.2.9 Base area .......................................................................................................................................................................... 2-18
2.2.10 About oil mist specification ..................................................................................................................................... 2-20
(1) Piping for pressurization inside robot arm ...................................................................................................... 2-20
2.2.11 About clean specification ......................................................................................................................................... 2-20
(1) Piping for suction inside robot arm .................................................................................................................... 2-20
(2) Duct installation ......................................................................................................................................................... 2-21
2.3 Setting the origin ................................................................................................................................................................... 2-22
2.3.1 Installing the teaching pendant (T/B) ................................................................................................................... 2-22
(1) Installing the T/B (CR750 controller) ............................................................................................................... 2-22
(2) Installing the T/B (CR751 controller) ............................................................................................................... 2-23
2.3.2 Setting the origin with the origin data input method ...................................................................................... 2-24
(1) Confirming the origin data ..................................................................................................................................... 2-24
(2) Turning ON the control power ............................................................................................................................. 2-24
(3) Preparing the T/B ..................................................................................................................................................... 2-25
(4) Selecting the origin setting method ................................................................................................................... 2-26
(5) Inputting the origin data ......................................................................................................................................... 2-27
(6) Installing the battery cover. .................................................................................................................................. 2-28
2.4 Confirming the operation .................................................................................................................................................... 2-29
(1) JOINT jog operation ................................................................................................................................................. 2-33
(2) XYZ jog operation ...................................................................................................................................................... 2-35
(3) TOOL jog operation .................................................................................................................................................. 2-37
(4) 3-axis XYZ jog operation ....................................................................................................................................... 2-39
(5) CYLNDER jog operation ......................................................................................................................................... 2-41
(6) Work jog operation ......................................................................................................... 2-43
3 Installing the option devices ..................................................................................................................................................... 3-49
3.1 Installing the solenoid valve set ...................................................................................................................................... 3-49
(1) RH-3FH/6FH series ................................................................................................................................................. 3-49
(2) RH-12FH/20FH series ............................................................................................................................................ 3-51
(3) Hand number and solenoid valve ports (common to RH-FH series) ................................................... 3-52
3.2 Installing the hand input cable ......................................................................................................................................... 3-53
3.3 Installing the hand output cable ...................................................................................................................................... 3-54
3.4 Hand internal wiring and piping set ................................................................................................................................ 3-55
(1) RH-3FH/6FH series ................................................................................................................................................. 3-55

CONTENTS
ii
Page
(2) RH-12FH/20FH series ............................................................................................................................................ 3-58
3.5 External Wiring and Piping Box ........................................................................................................................................ 3-60
4 Basic operations ............................................................................................................................................................................ 4-62
5 Maintenance and Inspection ..................................................................................................................................................... 5-63
5.1 Maintenance and inspection interval ............................................................................................................................. 5-63
5.2 Inspection items ..................................................................................................................................................................... 5-64
5.2.1 Daily inspection items .................................................................................................................................................. 5-64
5.2.2 Periodic inspection ........................................................................................................................................................ 5-65
5.3 Maintenance and inspection procedures ..................................................................................................................... 5-66
5.3.1 Robot arm structure ..................................................................................................................................................... 5-66
5.3.2 Installing/removing the cover ................................................................................................................................... 5-68
5.3.3 Packing Replacement Procedure ............................................................................................................................ 5-70
(1) Packing Replacement Instructions ..................................................................................................................... 5-70
5.3.4 Inspection, maintenance and replacement of timing belt .............................................................................. 5-74
(1) Timing belt replacement period ......................................................................................................................... 5-74
(2) RH-3FH series: Inspecting/Adjusting the J3 axis timing belt ................................................................ 5-75
(3) RH-3FH series: Replacing the J3 axis timing belt ...................................................................................... 5-76
(4) RH-6FH/12FH/20FH series: Inspecting/Adjusting the J3 axis timing belt ..................................... 5-79
(5) RH-6FH/12FH/20FH series: Replacing the J3 axis timing belt ............................................................ 5-80
(6) RH-3FH/6FH/12FH/20FH series: Inspecting/Adjusting the J4 axis timing belt ........................... 5-82
(7) Timing belt tension ................................................................................................................................................... 5-85
5.3.5 Replacing the bellows ................................................................................................................................................... 5-86
(1) Clean specification ................................................................................................................................................... 5-86
(2) Oil mist specification ............................................................................................................................................... 5-87
5.3.6 Lubrication ........................................................................................................................................................................ 5-88
(1) Lubrication position and specifications ............................................................................................................ 5-88
(2) Lubrication method to the J1, J2 axis ............................................................................................................. 5-90
(3) Lubrication method to the shaft ......................................................................................................................... 5-90
5.3.7 Replacing the backup battery ................................................................................................................................... 5-91
(1) Replacing the battery (robot arm) ...................................................................................................................... 5-92
5.4 About Overhaul ...................................................................................................................................................................... 5-93
5.5 Maintenance parts ................................................................................................................................................................. 5-94
5.6 Resetting the origin .............................................................................................................................................................. 5-96
5.6.1 Mechanical stopper method ...................................................................................................................................... 5-97
(1) J1 axis origin setting(mechanical stopper) ..................................................................................................... 5-97
(2) J2 axis origin setting(mechanical stopper) ..................................................................................................... 5-99
(3) J3 and J4 axis origin setting (mechanical stopper) ................................................................................. 5-101
(4) All axis origin setting ............................................................................................................................................. 5-104
5.6.2 Jig method ..................................................................................................................................................................... 5-105
(1) J1 axis origin setting ............................................................................................................................................. 5-106
(2) J2 axis origin setting ............................................................................................................................................. 5-108
(3) J3 and J4 axis origin setting ............................................................................................................................. 5-109
5.6.3 ABS origin method ..................................................................................................................................................... 5-110
(1) Select the T/B ........................................................................................................................................................ 5-111
5.6.4 User origin method ..................................................................................................................................................... 5-112
5.6.5 Recording the origin data ........................................................................................................................................ 5-114
(1) Confirming the origin data label ........................................................................................................................ 5-114
(2) Confirming the origin data .................................................................................................................................. 5-114
(3) Recording the origin data .................................................................................................................................... 5-114
(4) Installing the cover ................................................................................................................................................ 5-114
6Appendix ............................................................................................................................................................................ Appendix-115
Appendix 1 ： Configuration flag .......................................................................................................................... Appendix-115

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.
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 Func
-
tion Instruc
-
tion Manual

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
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
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 fol-
low this method.
Signaling of operation start
As a principle turn the power OFF during maintenance work. Place a sign indicat-
ing 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.
If the automatic operation of the robot is operated by two or more control equip-
ment, design the right management of operation of each equipment of the cus-
tomer.
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
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
WARNING
WARNING
CAUTION
WARNING
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.
When the SSCNETIII cable is removed, install the cap in the connector.
If the cap is not installed, there is a possibility of malfunctioning by adhesion of the
dust etc.
Don't remove the SSCNETIII cable, when the power supply of the robot controller is
turned on. Don't face squarely the light emitted from the tip of the SSCNETIII con-
nector or the cable. If light strikes the eyes, there is a possibility of feeling the sense
of incongruity for the eyes. (The light source of SSCNETIII is equivalent to the class
1 specified to JIS C 6802 and IEC 60825-1.)
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
CAUTION
CAUTION
DANGER
DANGER
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".
Table 2-1 ： Standard configuration
No. Part name Type Qty. Remarks
RH-3FH series
1Robot arm 1 unit
2Guarantee card 1 copy
3Installation bolts Ｍ8 x 40 4 pcs. For robot arm installation
4Spring washer for installation bolts For M8 4 pcs.
5Plain washer for installation bolts For M8 4 pcs.
6Fixing plates 1 set For robot arm transportation
7Fixing plates installation bolt 1 set
8Installation bolt for machine-cable M4 x 8 4 pcs. To fix to the back of robot arm base
RH-6FH series
1Robot arm 1 unit
2Guarantee card 1 copy
3Installation bolts Ｍ12 x 45 4 pcs. For robot arm installation
4Spring washer for installation bolts For M12 4 pcs.
5Plain washer for installation bolts For M12 4 pcs.
6Fixing plates 1 set For robot arm transportation
7Fixing plates installation bolt 1 set
RH-12FH/20FH series
1Robot arm 1 unit
2Guarantee card 1 copy
3Installation bolts M12×45 4 pcs For robot arm installation
4Spring washer for installation bolts For M12 4 pcs
5Plain washer for installation bolts For M12 4 pcs
6Fixing plates 1 set For robot arm transportation
7Fixing plates installation bolt 1 set
8Hanging jig 1 set
9Hanging jig fixing bolt 1 set

2Unpacking to Installation
Installation 2-7
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.
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
CAUTION
CAUTION

2-8 Installation
2Unpacking to Installation
2.2.2 Transportation procedures (RH-3FH/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 (A) and No.2 arm (B)
and another person should hold the fixing plate A of base (C). 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.
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.
The robot should keep vertical. (not be horizontal)
It becomes the cause of the grease leakage or the trouble.
Table 2-2 ： Transportation posture
Axis RH-3FH35**RH-3FH45**RH-3FH55**RH-6FH35** RH-6FH45** RH-6FH55**
Ｊ1 49.5 deg. 25 deg. 17 deg. 57.5 deg. 28 deg. 19 deg.
Ｊ2 -139.5 deg. -115 deg. -107 deg. -147.5 deg. -118 deg. -109 deg.
Ｊ3 290.4mm 290.4mm
Ｊ4 Not fixed Not fixed
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
Personen an den in der
Abbildung gezeigten Stellen
angehoben werden.
Fixing plate B
No.1 arm
No.2 arm
(A)
(C)
Mass
RH-3FH35** series: Approx. 31kg
RH-3FH45** series: Approx. 32kg
RH-3FH55** series: Approx. 33kg
RH-6FH35** series: Approx. 39kg
RH-6FH45** series: Approx. 40kg
RH-6FH55** series: Approx. 41kg
Fixing plate A
(B)
CAUTION
CAUTION
CAUTION
CAUTION

2Unpacking to Installation
Installation 2-9
2.2.3 :Transportation procedures (RH-12FH/20FH series)
Fig.2-3 ： Transportation of robot arm
1) Hook the wires to each of the four eyebolts attached to the suspension fitting. (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.
5) After installing the robot (refer to Page 10, "2.2.4 Installation procedures"), remove the wires, the wire
hooks (the robot will stand by itself as shown in Fig. 2-3), the self-supporting plate, suspension fitting and
fixing plate.
6) Always 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 suspended without using the specified suspension fittings, or if it is suspended 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.
When transporting a robot, always attach four wires.
To reattach the fixing plate again, set the axes of the robot to the positions according to
the table below.
表 2-3 ： Transportation posture (RH-12FH/20FH series)
Axis RH-12FH55** RH-12FH70** RH-12FH85** RH-20FH85** RH-20FH100**
J1 -37.5° -21.4° -15.1° -21.0°
J2 127.5° 111.4° 105.1° 111.0°
J3Note1)
Note1) The bottom surface of the shaft will interfere with the floor if the J3 axis is lowered down to the upper
mechanical stopper. Position the axes as indicated when transporting the robot.
340mm
J4 Not fixed
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
Suspension
fitting
Fixing plate
Eye bolt
No.1 arm
wire hook
wire No.2 arm
CAUTION
CAUTION

2-10 Installation
2Unpacking to Installation
2.2.4 Installation procedures
The installation procedure of the robot arm is shown below.
Fig.2-4 ： Installation dimensions
1) The robot installation surface has been machine finished. Use the installation holes (RH-6FH: 4-φ9 holes,
RH-12FH/20FH: 4-φ16 holes) opened at the four corners of the base, and securely fix the robot with the
enclosed installation bolts (hexagon socket bolts).
2) Install the robot on a level surface.
3) It is recommended that the surface roughness of the table onto which the robot is to be installed by Rz25 or
more. If the installation surface is rough, the contact with the table will be poor, and positional deviation
could occur when the robot moves.
4) When installing, use a common table to prevent the position of the devices and jigs subject to robot work
from deviating.
5) The installation surface must have sufficient strength to withstand the arm reaction during operation, and
resistance against deformation and vibration caused by the static (dynamic) load of the robot arm and
peripheral devices, etc.
6) After installing the robot, remove the self-supporting plate, hanging jig, and fixing plate.
7) If you operate the robot at a high speed, reaction forces are applied to the installation stand by the robot's
operation. Make sure that the installation stand on which the robot is placed has sufficient strength and
92
92
90 (120)
150
60
2-φ6穴
(φ8位置決めピン用下穴)
4-φ9据付用穴
(据付基準)
(据付基準)
Rz25
Rz25
180
150
174
212
182
(4箇所)
バネ座金
平座金
20
4-M8×40
ＦＨ
ＦＶ
ＦＨ
ＦＨ
ＦＨ
ＭＬ
ＭＬ
ＦＶ
ＭＴ
(Four positions)
Spring washer
Plain washer
(Installation 
reference surface)
<Base bottom>
4-φ9 installation holes
2-φ6 holes
(for φ8 positioning pins)
122
122
120 (158)
200
60
2-φ6穴
(φ8位置決めピン用下穴)
4-φ16据付用穴
(据付基準)
(据付基準)
Rz25
Rz25
240
200
200
242
280
(Installation 
reference surface)
2-φ6 holes
(for φ8 positioning pins)
4-φ16 installation holes
(Installation ref-
erence surface)
(Installation ref-
erence surface)
RH-3FH/6FH series RH-12FH/20FH series
4-M8x40 (RH-3FH/6FH series)
4-M12x45 (RH-12FH/20FH series)