Mitsubishi Industrial Robot

RH-3FH/6FH/12FH/20FH Series
INSTRUCTION MANUAL
ROBOT ARM SETUP & MAINTENANCE

BFP-A8865-E
 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.

CAUTION 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

CAUTION 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

WARNING 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

CAUTION 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

WARNING Provide a fence or enclosure during operation to prevent contact of the

operator and robot.
Installation of safety fence

CAUTION Establish a set signaling method to the related operators for starting work, and
follow this method.
Signaling of operation start

CAUTION 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

CAUTION 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
 The points of the precautions given in the separate "Safety Manual" are given below.
Refer to the actual "Safety Manual" for details.

CAUTION 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.)

CAUTION 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.

CAUTION Always use the robot installed on a secure table. Use in an instable posture
could lead to positional deviation and vibration.

CAUTION Wire the cable as far away from noise sources as possible. If placed near a noise
source, positional deviation or malfunction could occur.

CAUTION 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.

CAUTION 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.

WARNING 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.

WARNING Securely ground the robot and controller. Failure to observe this could lead to
malfunctioning by noise or to electric shock accidents.

CAUTION Indicate the operation state during robot operation. Failure to indicate the state
could lead to operators approaching the robot or to incorrect operation.

WARNING 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.

CAUTION 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.

CAUTION 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.

CAUTION Make sure that if the safety fence entrance door is opened during automatic
operation, the door is locked or that the robot will automatically stop. Failure to
do so could lead to personal injuries.

CAUTION Never carry out modifications based on personal judgments, or use non-
designated maintenance parts.
Failure to observe this could lead to faults or failures.
WARNING 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 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.

CAUTION 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.

CAUTION Use the network equipments (personal computer, USB hub, LAN hub, etc)
confirmed by manufacturer. The thing unsuitable for the FA environment
(related with conformity, temperature or noise) exists in the equipments
connected to USB. When using network equipment, measures against the noise,
such as measures against EMI and the addition of the ferrite core, may be
necessary. Please fully confirm the operation by customer. Guarantee and
maintenance of the equipment on the market (usual office automation
equipment) cannot be performed.

*CR751-D or CR751-Q controller

Notes of the basic component are shown.

CAUTION 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.

AC200V
Earth
漏電遮断器leakage breaker
(NV)

CR751-D controller/CR751-Q drive unit

CR751コントローラ(前面)

Cover
端子カバー

Grounding
アース接続ネジ Connector
コネクタ
screw
Cover
端子カバー

Grounding
保護アース端子terminal
(PE)
(PE)
 CAUTION 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.

Short cut

Arch movement (example)

(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.
 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.
*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 MITSUBISHI ELECTRIC CORPORATION

 CONTENTS
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

i
 CONTENTS
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

ii
 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.

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.

Safety Manual 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

Standard
configuration and maintenance parts, etc. Precautions for safety and technology, when
Specifications
incorporating the robot, are also explained.

Robot Arm Explains the procedures required to operate the robot arm (unpacking, transportation,
Setup & installation, confirmation of operation), and the maintenance and inspection procedures.
Maintenance

Explains the procedures required to operate the controller (unpacking, transportation,

Controller
installation, confirmation of operation), basic operation from creating the program to auto-
Setup, Basic
matic operation, and the maintenance and inspection procedures.
Operation and
Maintenance

Detailed Explains details on the functions and operations such as each function and operation, com-
Explanation of mands used in the program, connection with the external input/output device, and parame-
Functions and ters, etc.
Operations

Explains the causes and remedies to be taken when an error occurs. Explanations are given
Troubleshooting
for each error No.

Additional axis Explains the specifications, functions and operations of the additional axis control.
function

Tracking Func-
Explains the control function and specifications of conveyor tracking
tion Manual

Extended Func- Explains the detailed description of data configuration of shared memory, monitoring, and
tion Instruc- operating procedures, about the PLC(CR750-Q/CR751-Q controller) and the GOT(CR750-
tion Manual D/CR751-D controller).

Using the instruction manuals 1-1

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

iQ Platform

Indicates the controller which controls the robot arm.

Controller
It consists of the robot CPU system and the drive unit.

Indicates the CPU unit for the robots which installed to the sequencer
The robot CPU unit or robot CPU base unit (Q3 □ DB) of MELSEC-Q series. It is connected with the
Item drive unit by the dedicated cable.

Multi-CPU system.
The robot CPU system It consists of MELSEC units, such as the sequencer base unit, the
sequencer CPU unit, and the robot CPU unit, etc.

Indicates the box which mounts the servo amplifier for robot, and the
Drive unit
safety circuit, etc.

Stand-alone type
Item Indicates the box which arranged control parts, such as robot CPU,
Controller
servo amplifier, and the safety circuit.

Symbol Precaution indicating cases where there is a risk of operator fatality or

DANGER 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

WARNING 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

CAUTION or physical damage could occur if handling is mistaken. Always
observe these precautions to safely use the robot.

If a word is enclosed in brackets or a box in the text, this refers to a

[JOG]
key on the teaching pendant.

This indicates to press the (B) key while holding down the (A) key.
[RESET] + [EXE]
In this example, the [RESET] key is pressed while holding down the
(A) (B)
[+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

1-2 Using the instruction manuals

 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.

CAUTION 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

CAUTION 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

WARNING 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

CAUTION 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

DANGER Provide a fence or enclosure during operation to prevent contact of the operator
and robot.
Installation of safety fence

CAUTION Establish a set signaling method to the related operators for starting work, and fol-
low this method.
Signaling of operation start

CAUTION 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

CAUTION 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

Safety Precautions 1-3

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.

DANGER 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.

CAUTION 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.)

CAUTION 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.

CAUTION Always use the robot installed on a secure table. Use in an instable posture could
lead to positional deviation and vibration.

CAUTION Wire the cable as far away from noise sources as possible. If placed near a noise
source, positional deviation or malfunction could occur.

CAUTION 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.

CAUTION 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.

WARNING 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.

WARNING Securely ground the robot and controller. Failure to observe this could lead to
malfunctioning by noise or to electric shock accidents.

CAUTION Indicate the operation state during robot operation. Failure to indicate the state
could lead to operators approaching the robot or to incorrect operation.

WARNING 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.

CAUTION 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.

CAUTION 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.

CAUTION 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.

WARNING 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.

1-4 Safety Precautions

 1Before starting use

CAUTION 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.

CAUTION 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.

DANGER 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.

DANGER 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.)

CAUTION 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

Safety Precautions 1-5

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
1 Robot arm 1 unit
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 Fixing plates 1 set For robot arm transportation
7 Fixing plates installation bolt 1 set
8 Installation bolt for machine-cable M4 x 8 4 pcs. To fix to the back of robot arm base
RH-6FH series
1 Robot arm 1 unit
2 Guarantee card 1 copy
3 Installation bolts Ｍ12 x 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 Fixing plates 1 set For robot arm transportation
7 Fixing plates installation bolt 1 set
RH-12FH/20FH series
1 Robot arm 1 unit
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 Fixing plates 1 set For robot arm transportation
7 Fixing plates installation bolt 1 set
8 Hanging jig 1 set
9 Hanging jig fixing bolt 1 set

2-6 Confirming the product

 2Unpacking to Installation

2.2 Installation
2.2.1 Unpacking

<2>
②上ブタ
Upper lid Pull
引き抜く out

<1>
①テープTape

Fixing
固定台
board
（ａ） （ｂ）

<3> Hexagon socket

③六角穴付ボルト
bolts
(Four
（４箇所）positions)
Robot
ロボット本体arm

! CAUTION
!
Always unpack the
robot at a flat place.
The robot could tilt
Fixing plate A Fixing
固定具B plate B over if unpacked at an
固定具A unstable place.

（ｃ）
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.

CAUTION 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.

CAUTION When repackaging the robot in the wooden frame, always use the fixing plate.

Installation 2-7
2Unpacking to Installation

2.2.2 Transportation procedures (RH-3FH/6FH series)

Mass
RH-3FH35** series: Approx. 31kg
RH-3FH45** series: Approx. 32kg
No.2 arm RH-3FH55** series: Approx. 33kg

RH-6FH35** series: Approx. 39kg

RH-6FH45** series: Approx. 40kg
No.1 arm RH-6FH55** series: Approx. 41kg

注意 CAUTION
(C) (B) VORSICHT

(A) Fixing plate B

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。
Fixing plate A 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.

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.

CAUTION To prevent accidents, do not hold the robot from the left/right sides, or hold covers that
have no grips .

CAUTION 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.

CAUTION When installing the fixing tool again, place the robot in the posture where each axis
shows the values listed in the table below.

CAUTION 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

2-8 Installation
 2Unpacking to Installation

2.2.3 :Transportation procedures (RH-12FH/20FH series)

Mass
RH-12FH55** series: Approx. 65kg
RH-12FH70** series: Approx. 67kg
wire RH-12FH85** series: Approx. 69kg
No.2 arm
RH-20FH85** series: Approx. 75kg
RH-20FH100** series: Approx. 77kg
wire hook

Eye bolt

Suspension
fitting
No.1 arm

Fixing plate
Base

Self-supporting plate

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.

CAUTION When transporting a robot, always attach four wires.

CAUTION 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°

Note1)
J3 340mm

J4 Not fixed

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.

Installation 2-9
2Unpacking to Installation

2.2.4 Installation procedures

The installation procedure of the robot arm is shown below.

ＦＶ
ＭＴ

4-M8x40 (RH-3FH/6FH series)

4-M8×40 series)
4-M12x45 (RH-12FH/20FH
(Four
(4箇所)positions)
Spring
バネ座金 washer

Plain
平座金 washer ＦＨ ＭＬ
ＦＨ

20
ＭＬ
ＦＨ
ＦＶ ＦＨ

<Base bottom>

reference surface)
reference surface)

RH-3FH/6FH series RH-12FH/20FH series

(据付基準)
Rz25 (Installation
(据付基準)
Rz25 (Installation

212 280
92 2-φ6 holes 122
2-φ6 holes 2-φ6穴 2-φ6穴
(for φ8 positioning pins) (for φ8 positioning pins)
(φ8位置決めピン用下穴) 120 (158)
(φ8位置決めピン用下穴) 90 (120)
4-φ9据付用穴
4-φ9 installation holes 150 4-φ16据付用穴
4-φ16 installation holes 200

(Installation ref- 60 (Installation ref- 60

Rz25 erence surface) Rz25
erence surface)
(据付基準) (据付基準)
122
92

200

200
242

240
182

150

174
180

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
2-10 Installation
 2Unpacking to Installation

rigidity. Table 2-4 shows the maximum reaction force (design values) that may be applied to an installation
stand. Please use these values as reference when designing the installation stand.

Table 2-4 ： Magnitude of each reaction force

Unit Value
RH-3FH series
Tilt moment : ML N･m 240
Torsional moment : MT N･m 255
Horizontal direction translation force : FH N 810
Vertical direction translation force : FV N 380
RH-6FH series
Tilt moment : ML N･m 1,640
Torsional moment : MT N･m 710
Horizontal direction translation force : FH N 1,653
Vertical direction translation force : FV N 2,318
RH-12FH/20FH series
Tilt moment : ML N･m 3,190
Torsional moment : MT N･m 1,840
Horizontal direction translation force : FH N 2,240
Vertical direction translation force : FV N 5,500

CAUTION When installing the robot, secure enough space behind the robot for future maintenance
to allow the connection of cables and the replacement of the backup battery. And don't
install the robot arm in the position where direct rays or the heat of lighting hits. The
skin temperature of the robot arm may rise, and the error may occur.

Installation 2-11
2Unpacking to Installation

2.2.5 Grounding procedures

(1) Grounding methods

1) There are three grounding methods as shown in

Fig. 2-5, but the dedicated grounding (Fig. 2-5 (a))
should be used for the robot arm and controller
Controller Controller Controller when possible. (Refer to the separate " Controller
Robot arm and Robot arm and Robot arm and
personal personal personal Setup, Basic Operation and Maintenance" for
computer computer computer
details on the controller grounding.)
2) Use Class D grounding (grounding resistance
100Ω or less).
Dedicated grounding separated from the other
devices should be used.
3) Use a AWG#11(4.2mm2) or more stranded wire for
(a) Dedicated grounding (b) Common grounding (c) Common grounding
(Optimum) (Good) (Normal) the grounding wire. The grounding point should be
as close to the robot arm and controller as possi-
ble, and the length of the grounding wire should
be short.
Fig.2-5 ： Grounding methods

(2) Grounding procedures

1) Prepare the grounding cable (AWG#11(4.2mm2) or

M4×10 more) and robot side installation screw and washer.
ばね座金
Spring washer
2) If there is rust or paint on the grounding screw sec-
平座金
Plain washer tion (A), remove it with a file, etc.

3) Connect the grounding cable to the grounding screw

section.

A
本体接地用ケーブル
Robot grounding #11（3.5mm
(AWG(4.2mm
cable (AWG#11 2) or2）以上）
more）
（お客様にてご手配ください）
(Prepared by customer)

Fig.2-6 ： Connecting the grounding cable

2-12 Installation
 2Unpacking to Installation

2.2.6 Connecting with the controller

(1) RH-3FH series (No-CE specification)

Robot
ロボット本体arm

Note 1) Although the picture is the CR751-D controller,

also the connection method is the same in the
CR751-Q controller

コントローラ Note 1)
Controller
The connectors are
左から and "BRK"
"AMP1", "AMP2",
from the left.AMP1、AMP2、BRK CN2
CN2

Motor power cable

モータ電源ケーブル

Motor signal cable

モータ信号ケーブル

Machine cables
AMP2 CN2 Controller side
AMP1

Plate fixing the

Robot arm side cable clamp
(two plates)
Hollow
Cable clamp fixing plate
The cables are passed
The each boards are fixed in the con- into the opening
dition of having been inserted in the
hollow.
Fig.2-7 ： Connecting the machine cables (RH-3FH, No-CE specification)

Carry out the following procedure after installing the controller referring to the separate "Controller Setup, Basic
Operation and Maintenance" manual.
The procedure of connecting the machine cable is shown below.

1) Make sure that the power switch of the controller is turned OFF.
2) Connect the machine cable to its corresponding connector on the robot arm side.
a) Refer to Page 68, "5.3.2 Installing/removing the cover", and remove the CONBOX cover.
b) Feed the connector of robot side to the opening on the back of the robot base.

Installation 2-13
2Unpacking to Installation

c) Insert the cable clamp fixing plate attached to the machine cable into the hollow just under the opening.
Fixing the plate by two screws securely under the condition that the plates inserted into the hollow.
d) Connect the machine cable to its corresponding connector on the robot arm side. Connect the connector
(AMP1, AMP2, CN2) securely.
e) Install the CONBOX cover securely as before.
3) Connects the machine cable to the corresponding connector of the controller. Connects the connector
(AMP1, AMP2, BRK, CN2) surely.
This completes connecting the machine cables.

CAUTION The machine cable connectors are dedicated for the controller side and robot arm
side, so take special care when connecting.
If connected incorrectly, the connector pins could bend or break. Thus, even if
connected correctly, the robot will not operate correctly, creating a dangerous
situation.

CAUTION Take special care to the leading of the connection cable. If the cable is pulled with
force or bent excessively, wires could break or the connector could be damaged.

CAUTION Connect the machine cable at the place without the effect of the dust or oil mist.
Please keep the dust and oil mist from being applied to of the robot-arm connector
section, in the condition that the machine cable is removed. Since it becomes the
cause of failure.

CAUTION Please be careful not to catch the hand at installation and removal.

2-14 Installation
 2Unpacking to Installation

(2) RH-6FH/12FH/20FH series, and RH-3FH-S15 (CE specification)

The machine-cable connection method about the RH-6FH series and the CE Marking specification of RH-3FH
is shown. Although the robot arm shown in the figure is RH-6FH, the connection method is the same also by the
CE specification of RH-3FH.

Robot
ロボット本体arm

Note 1)
Controller
コントローラ CN2
CN2

CN1
CN1

CN1
CN1

CN2
CN2 モータ信号ケーブル（5ｍ）
Motor signal cable

Motor power cable

モータ電源ケーブル（5ｍ）
Note 1) Although the picture is the CR750-D controller, also the connection method is the same in the CR750-Q controller

Fig.2-8 ： Connecting the machine cables (RH-6FH/12FH/20FH series and RH-3FH-S15 (CE specification))

Carry out the following procedure after installing the controller referring to the separate "Controller Setup, Basic
Operation and Maintenance" manual.

CAUTION The machine cable connectors are dedicated for the controller side and robot arm
side, so take special care when connecting.
If connected incorrectly, the connector pins could bend or break. Thus, even if
connected correctly, the robot will not operate correctly, creating a dangerous
situation.

CAUTION Take special care to the leading of the connection cable. If the cable is pulled with
force or bent excessively, wires could break or the connector could be damaged.

CAUTION Connect the machine cable at the place without the effect of the dust or oil mist.
Please keep the dust and oil mist from being applied to of the robot-arm connector
section, in the condition that the machine cable is removed. Since it becomes the
cause of failure.

CAUTION Please be careful not to catch the hand at installation and removal.

Installation 2-15
2Unpacking to Installation

Robot arm
ロボット本体
The procedure of connecting the machine cable is shown
below. (Although the figure of the robot arm is the example of
RV-12SD of our company, it is the same)

Connector on the 1) Make sure that the power switch on the front of the
robot arm side
ロボット本体側コネクタ controller is turned OFF.
Hook
固定フック
Projection
突起部
2) Connect the machine cable to its corresponding connector
on the robot arm side.
Connector on the
machine cable side
機器間ケーブル側コネクタ

3) After connecting the connector, insert the hook attached

to the connector on the machine cable side to the rear of
the projection of the robot arm connector to fix securely in
place.

Hook
固定フック
CAUTION Be careful not to get your hand
pinched.
Projection
突起部

To remove the cable, insert a minus screwdriver into the hook

Hook while padding with a cloth, and remove the cable by lifting the
Projection hook.
Minus screwdriver

CAUTION
When installing or removing the connector, to the connector
of the other party in parallel, install or remove. If load strong
against one side is applied, the connector pin may be
Padding
damaged and it may not be connected securely.

CAUTION The machine cable connectors are dedicated for the controller side and robot arm
side, so take special care when connecting.
If connected incorrectly, the connector pins could bend or break. Thus, even if
connected correctly, the robot will not operate correctly, creating a dangerous
situation.

CAUTION Take special care to the leading of the connection cable. If the cable is pulled with
force or bent excessively, wires could break or the connector could be damaged.

CAUTION Connect the machine cable at the place without the effect of the dust or oil mist.
Please keep the dust and oil mist from being applied to of the robot-arm connector
section, in the condition that the machine cable is removed. Since it becomes the
cause of failure.

CAUTION Please be careful not to catch the hand at installation and removal.

2-16 Installation
 2Unpacking to Installation

2.2.7 Ethernet Cables

Ethernet cables (4 pairs, totaling 8 lines, of AWG#24 (0.2mm22) cabtyre cables) are installed within the robot arm
from the base unit up to the No. 2 arm, and can be used.
LAN connectors are mounted to both ends of the cables, and can therefore be used to connect to LAN
connection devices. Users may also remove the LAN connectors, replace them with their own connectors, and use
them as spare wiring by connecting them to user supplied cables.
Further, when passing through the inside of the shaft and using, please use the optional hand internal wiring and
piping set in order to prevent the cable disconnection. (Re-cover the connector of the hand input cable that is
attached to this option before using)

2.2.8 No.2 arm

<a> Ethernet cable: 4 pairs, totaling 8 lines, of AWG#24 (0.2mm2)

When using as the Ethernet cable LAN connector

Shaft Customer prepared Robot side

When using as spare wiring

Cut the LAN con-
nectors

Connect the customer's con-

Customer prepared Robot side

Note) When using by passing through the shaft, please use the optional
hand internal wiring and piping set to prevent the cable disconnection.

Note) Although the figure is RH-6FH, the connection method is the same also in RH-3FH/12FH/20FH.

Fig.2-9 ： Pulling out the Ethernet cable

How to connect the Ethernet cable is shown below.

1) Remove the screws used to fix the No. 2 arm cover U, and then remove the No. 2 arm cover U.
2) Ethernet cables are located in the positions shown in Fig. 2-9 <a> (coiled and stored).
3) Remove the tying band used to coil the Ethernet cable.
4) Connect the cable on the customer supplied tool.
(When using as spare wiring please remove the LAN connectors and replace with customer's connector)
5) It is possible to use the optional hand internal wiring and piping set to feed the tool cable through the inside of
the shaft.
Replace the connector of the hand input cable that is attached to the hand wiring and piping set, and then
connect. Please reference Page 55, "3.4 Hand internal wiring and piping set".
6) After the optional hand wiring and piping set has been installed, install the No. 2 arm cover U to its original
position. When installing the cover please take care not to damage the spongy sealant material.

This completed connection of the Ethernet cables on the No. 2 arm.

CAUTION When installing the No. 2 arm cover U to its original position please take care not to
trap any cables or air hoses. If the cables/hoses are trapped when fixing the cover
then cables may be disconnected or hoses punctured, leading to the robot and air
driving devices to not operate properly. The sealing property of the packing may also
become seriously impaired and there is a risk that the specified level of product
protection may not be achievable.

CAUTION When fixing the cable, please keep too much load from being applied to the cables. If
too much load is applied, the may break, when the robot moves.

Installation 2-17
2Unpacking to Installation

CAUTION When operating the robot, friction may result in dust being generated from the tip of
the shaft.
On the clean specification, please be sure to seal the shaft tip with a gasket. If this is
not done there is a risk that the level of cleanliness will be reduced.
2.2.9 Base area

Expansion

Inside of ADD
cover
Ethernet cable
Inside the robot arm
ロボットアーム内へ Fix the Ethernet cable to the ADD cover by cable clamp.
* The recommendation the cable clamp
OA-W1608 (OHM ELECTRIC INC.)

ADD cover
ADDカバー ロックナット
Lock nut
[Note]: Measures against the noise
If the communication error considered to originate by the
noise occurs, specify and remove the noise source.
And, implement the measures against the noise by
Cable clamp grounding of the Ethernet cable, and the addition of the
ケーブルクランプ
ferrite core if needed.
The recommendation the ferrite core
Type: E04SR301334 (SEIWA ELECTRIC MFG. CO., LTD.)
Ethernet cable
イーサネットケーブル

Fig.2-10 ： Pull out the Ethernet cable (Base side)

1) Loosen the two screws and remove the ADD cover located at the back of the robot base.
2) Pull out the Ethernet cable that is stored inside the cover (coiled and stored).
3) Remove the cable tie of Ethernet cable.
4) Remove the lock nut attached to the cable clamp (customer prepared) and pass through the Ethernet cable
5) Remove the grommet of ADD cover. After removing the grommet please remove the sealant material that
remains in the hole in the plate.
6) Feed the Ethernet cable through the hole that was created by removing the grommet.
7) Feed the end of the Ethernet cable through the cable clamp and securely fasten the ADD cover with the
lock nut.
8) Install the ADD cover in its original position. When installing the cover please take care not to damage the
spongy sealing material stuck to the hole.

This completed pull out the Ethernet cables of the base section.

CAUTION Take care against applying big force to the Ethernet cable, other cables, and the air
hose.

2-18 Installation
 2Unpacking to Installation

CAUTION Please confirm not having broken or not having stripped the packing when installing
or removing the cover. Contact to the dealer if packing is broken or has stripped.
Failure will be caused if the robot is used under the condition that the packing is
broken or stripped, because oil mist etc. will invade in the arm.

CAUTION When ADD cover is installed, please keep too much load from being applied to the
cables and the air hoses. If too much load is applied, the cable will be broken and the
hose is bent, therefore robot and pneumatic drive equipment cannot operate
normally.

CAUTION When ADD cover is installed, catch neither the cable nor the air hose.
If the bolt is tightened while it had been caught, the cable will be broken and the hose
is bent, and the robot and pneumatic drive equipment cannot operate normally.
Moreover, packing does not stick securely and protection specification cannot be
secured.

Installation 2-19
2Unpacking to Installation

2.2.10 About oil mist specification

(1) Piping for pressurization inside robot arm
In use in oil mist environment, protection performance can be improved by pressurizing the inside of the robot
arm. Please connect the φ8 air hose to the joint for pressurization of the robot arm base portion "AIR PURGE",
and pressurize the inside of the robot arm.
Refer to the separate "Standard specifications manual" for specification of air purge.

Coupling for
pressurization(φ8)

Note) Although the figure is RH-6FH, the position of the

joint is the same also in RH-3FH/12FH/20FH.

Fig.2-11 ： Air purge

2.2.11 About clean specification

(1) Piping for suction inside robot arm
In use of the robot of clean specification, please connect the φ8 air hose to the coupling for suction of the
robot body base portion "VACUUM", and suck the inside of the robot arm.
Refer to the separate "Standard specifications manual" for vacuum condition.

Coupling for
suction(φ8)

Note) Although the figure is RH-6FH, the position of the

joint is the same also in RH-3FH/12FH/20FH.

Fig.2-12 ： Vacuum

2-20 Installation
 2Unpacking to Installation

(2) Duct installation

Remove the CONBOX cover on the robot arm rear and install the attached ventilation duct (reference Fig. 2-
13). As the Z axis moves up and down the volume of the bellows varies, and air is sucked in and released out of
the robot’s ventilation duct opening. Be sure to locate the ventilation duct’s opening in a position that will not
affect the robot’s cleanliness.
Furthermore, whilst it is only a small amount, internal suction results in external air flowing into the robot through
the ventilation duct’s opening, and therefore the following two points should be considered when deciding where
to locate the ventilation duct’s opening.
・ The opening should be facing downwards
・ The opening should not be located in the vicinity of dust/dirt or liquids, etc.
(Recommended cleanliness of surrounding area: less than ISO class 5)

CONBOX cover CONBOX cover

Robot Robot
base base
Ventilation duct Ventilation duct
(with attached (with attached
plate cover) plate cover)

Opening Opening

Internal suction Internal suction

Machine cable Machine cable
RH-3FH RH-6FH/12FH/20FH

Fig.2-13 ： Installation of Exhaust Duct

Note) When using the optional electromagnetic valve set, we recommend using the primary piping’s spare piping
(φ6 air hose) to release the exhaust fumes.
Please take care as leaking exhaust fumes inside the robot may have an impact on the robot’s
cleanliness.

Installation 2-21
2Unpacking to Installation

2.3 Setting the origin

The origin is set so that the robot can be used with a high accuracy. After purchasing the robot, always carry out
this step before starting work. This step must also be carried out if the combination of robot and controller being
used is changed.
There are several methods for setting the origin, but the origin data input method will be explained here. Refer to
Page 96, "5.6 Resetting the origin" for the other methods.
The teaching pendant is required for this operation.
[Caution] If the origin data at shipment is erased due to out of battery, it is necessary to set the origin again.
Refer to Page 96, "5.6 Resetting the origin" and reset the origin using the jig method, mechanical stop-
per method or ABS method.

2.3.1 Installing the teaching pendant (T/B)

When installing and removing the T/B, turn off the controller power supply. If T/B is installed or removed in the
state of power supply ON, emergency stop alarm will occur.
If you use the robot wherein T/B is removed, please install the attached dummy connector. With the connector,
put the dummy connector or draw it out.

CAUTION Please do not pull the cable of T/B strongly or do not bend it too much.
It becomes the breaking of a wire of the cable and the cause of breakage of the
connector. Please installing and removing so that stress does not start the cable
with the connector itself.

(1) Installing the T/B (CR750 controller)

Explain the installation method of T/B below.
1) Check that the POWER (power supply) switch of the robot controller is OFF.
2) Connects T/B connector to the robot controller. Use as the upper surface the lock lever shown in Fig. 2-14,
and push in until there is sound.

Dummy connector
ダミーコネクタ Details of the A section
A部詳細
Controller
Lock lever
ロックレバー

B
When removing the connector for
T/B接続用コネクタを取り外す時は、
T/B connection, use lock release
ロック解除（ロックレバーを上側に起
A こした状態）にし、B部のケースを手前
(state which raised the lock lever to
T/B connector
T/B接続用コネクタ にスライドさせてラッチを外し引き抜き
the up side), make the case of the
ます。
B section slide to the front, and
remove and pull up out the latch.

Teaching pendant
ティーチングボックス
(T/B)
(T/B)

Fig.2-14 ： Installing and removing the T/B (CR750 controller)

The installation of T/B is finished.

◇◆◇ If error C0150 occurs ◇◆◇

At the time of the first power supply injection, error:C0150 (the serial number of the robot arm has not been
set up) occur the robot after purchase.
Parameter: Please input the serial number of the robot body into RBSERIAL. Refer to "instructions manual /
controller setup, and basic operation & maintenance" for the operation method.

2-22 Setting the origin

 2Unpacking to Installation

(2) Installing the T/B (CR751 controller)

Explain the installation method of T/B below.
1) Check that the POWER (power supply) switch of the robot controller is OFF.
2) Connect the T/B connector to the controller’s T/B connector. Make sure to fix it securely by fastening the
hand locks (in 2 places), as shown in Fig. 2-15.

Controller
T/B connector
Teaching pendant
ティーチングボックス
(T/B)
Details of the A section
A部詳細

A部
A

T/B connector
T/B接続用コネクタ

Hand lock (Two places)

手回しロック（2箇所）

Fig. 2-15 ： Installing and removing the T/B (CR751controller)

The installation of T/B is finished.

◇◆◇ If error C0150 occurs ◇◆◇

At the time of the first power supply injection, error:C0150 (the serial number of the robot arm has not been
set up) occur the robot after purchase.
Parameter: Please input the serial number of the robot body into RBSERIAL. Refer to "instructions manual /
controller setup, and basic operation & maintenance" for the operation method.

Setting the origin 2-23

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2.3.2 Setting the origin with the origin data input method
(1) Confirming the origin data
● Origin data history table (Origin Data History) Serial No.ES804008
Date Default . . . . . . . . .
The origin data to be input is noted in the
origin data sheet enclosed with the arm,
Ｄ V!#S29
or on the origin data history table
Ｊ １ 06DTYY attached to the back side of the battery
Ｊ ２ 2?HL9X cover. (Refer to Fig. 2-16).
Ｊ ３ 1CP55V
Ｊ ４ T6!M$Y Referring to Page 68, "5.3.2 Installing/
Ｊ ５ removing the cover", remove the battery
Ｊ ６ cover and confirm the value.
Method Ｅ Ｅ ・ Ｎ ・ ＳＰ Ｅ ・Ｎ・ Ｅ ・ Ｎ ・ ＳＰ
ＳＰ
The value given in the default setting
(O: O(Alphabet), 0: Zero) column is the origin settings set with the
Note) Meanings of symbols in method column calibration jig before shipment.
E: Jig method
N: Not used
SP: Not used

Fig.2-16 ： Origin data label (an example)

* The origin data to input is found on also the robot examination report sheet.

WARNING Always install/remove the cover with the controller control power turned OFF.
Failure to do so could lead to physical damage or personal injury should the robot
start moving due to incorrect operations.

(2) Turning ON the control power

CAUTION Confirm that there are no operators near the robot before turning the power ON.

1) Turn the controller [POWER] switch ON.

The CR750 controller turns ON the front power switch.
The CR751 controller turns ON the switch of the earth leakage breaker of installation outside.

2-24 Setting the origin

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(3) Preparing the T/B

Next, prepare to use the T/B
1) Set the mode of the controller to "MANUAL".
(The figure is example for CR750 controller)

MODE
MANUAL AUTOMATIC

2) Set the T/B [ENABLE] switch to "ENABLE". The menu selection

screen will appear.
The following operations are carried out with the T/B.

Up: Disable
上：DISABLE
Down: Enable
下：ENABLE
(Lighting)
*ランプ点灯
Ｔ／Ｂ背面

◇◆◇ Operating from the T/B ◇◆◇

Always set the mode of the controller to "MAMNUAL", and then set the T/B [ENABLE] switch to "ENABLE".
When the T/B is valid, only operations from the T/B are possible. Operations from the controller or external
signals will not be accepted.

Setting the origin 2-25

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(4) Selecting the origin setting method

<MENU>
1) Press the [4] key on the menu screen, and display the
1.FILE/EDIT 2.RUN ORIGIN/BRAKE screen.
3.PARAM. 4.ORIGIN/BRK
5.SET/INIT. 6.ENHANCED

123 CLOSE

<ORIGIN/BRAKE>
2) Press the [1] key on the ORIGIN/BRAKE screen, and
1.ORIGIN 2.BRAKE display the origin setting method selection screen.

123 CLOSE

<ORIGIN>
1.DATA 2.MECH 3) Press the [1] key on the origin setting method selection
3.TOOL 4.ABS
screen, and select the data input method.
5.USER

123 CLOSE

<ORIGIN> DATA 4) Display the origin data input screen

D:(■ )
J1( ) J2( ) J3( )
J4( ) J5( ) J6( )
J7( ) J8( )
123 CLOSE

◇◆◇ Selecting a menu ◇◆◇

The menu can be selected with one of the following methods.
A: Press the numeral key for the No. of the item to be selected.
B: Using the [ ↓ ] and [ ↑ ] keys, etc., move the cursor to the item to be selected, and then press the [INP] key.

◇◆◇ The input method of numeral ◇◆◇

The number can be inputted if the key displayed on the lower left of each key is pressed. Press the
[CHARACTER] key, and in the condition that "123" is displayed on the screen lower side, press the number key.

2-26 Setting the origin

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(5) Inputting the origin data

T/B screen Origin data label

(D,J1,J2,J3,J4,J5,J6,J7,J8) Input the value confirmed in section Page 24, "(1)
Confirming the origin data".
<ORIGIN> DATA The correspondence of the origin data label value and axis to
D:(■ ) be input is shown in Fig. 2-17.
J1( ) J2( ) J3( )
J4( ) J5( ) J6( )
J7( ) J8( )
123 CLOSE

Fig.2-17 ： Correspondence of origin data label and axis

The method for inputting the origin data is explained below. The value shown in Fig. 2-16 will be input as an
example.

<ORIGIN> DATA
D:(■ )
1) Confirm that the cursor is at the "D" position on the T/B
J1( ) J2( ) J3( ) display screen.
J4( ) J5( ) J6( )
J7( ) J8( )
123 CLOSE
2) Input the D value "V!%S29".
<ORIGIN> DATA Inputting "V"
D:(V )
J1( ) J2( ) J3( )
Press the [CHARACTER] key and set to the character input
J4( ) J5( ) J6( ) mode. (Condition that "ABC" was displayed under the
J7( ) J8( ) screen)
ABC
123 CLOSE Press the [TUV] key three times. "V" will be set.

Inputting "!"
<ORIGIN> DATA Press the [ , % ] key five times. "!" will be set.
D:(V! ) , Press the [ → ] key once and advance the cursor.
J1( ) J2( ) J3( )
J4( ) J5( ) J6( )
Press the [ , % ] key twice (input "%"), and press the [PQRS]
J7( ) J8( ) key four times (input "S").
ABC
123 CLOSE
,
Press the [CHARACTER] key and set to the numeral input
<ORIGIN> DATA mode. (Condition that "123" was displayed under the
D:(V!%S29) screen)
J1( ) J2( ) J3( )
Press the [2] key (input "2"), and press the [9] key (input
J4( ) J5( ) J6( )
"9").
J7( ) J8( )
123 CLOSE
"V!%S29" will appear at the "D" data on the teaching
pendant screen.

3) Press the [ ↓ ] key, and move the cursor to the J1 input

<ORIGIN> DATA position.
D:(V!%S29) ：
4) Input the J1 value in the same manner as above.
J1( ) J2( ) J3( ) ：
J4( ) J5( ) J6( ) ：
J7( ) J8( ) 5) Input the J2, J3 and J4 values in the same manner.
123 CLOSE

Setting the origin 2-27

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<ORIGIN> DATA 6) After inputting all of the values, press the [EXE] key. The
D:( V!%S29)
J1( 06DTYY) J2( 2?HL9X) J3( 1CP55V)
origin setting confirmation screen will appear.
J4( T6!MSY) J5( Z21J%Z) J6( A12%Z0)
J7( ) J8( )
ABC CLOSE
7) Press [F1] (Yes) to end the origin setting
<ORIGIN> DATA

CHANGE TO ORIGIN. OK?

Yes 123 No

◇◆◇ Moving the cursor ◇◆◇

Press the [ ↑ ], [ ↓ ], [ ← ] and [ → ] keys.

◇◆◇ Inputting characters ◇◆◇

Press the [CHARACTER] key and set to the character input mode. (Condition that "ABC" was
displayed under the screen). The displayed character is scrolled each time at pressing the key.

◇◆◇ How to input symbols ◇◆◇

The symbol is allocated to ['()], [@=], and [,%] key. Please repress each key until the symbol to wish is displayed.
a) ['()] key .......................... ' ( ) " ^ : ; \ ?
b) [@=] key......................... @ = + - * / < >
c) [,%] key........................... ， % # $ ! & _ .

◇◆◇ Correcting an input ◇◆◇

After returning one character by pressing the [CLEAR] key, input the character again.

(6) Installing the battery cover.

Return the battery cover removed in section Page 24, "(1) Confirming the origin data" to its original position.
This completes the setting of the origin with the origin data input method.

WARNING Removing and installing the cover by always turning off the controller power.
Failure to do so could lead to the robot moving because of incorrect operations, or
to physical damage or personal injury.

◇◆◇ If the origin input data is incorrect ◇◆◇

If the origin input data is incorrect, the alarm No. 1760 (origin setting data illegal) will occur when origin data input.
In this case, reconfirm the value input for the origin data.

2-28 Setting the origin

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2.4 Confirming the operation

In this section, the robot will be moved manually using the T/B to confirm that the operation is correct.
Moving the robot manually is called "jog operation". This operation includes the JOINT jog that moves each axis,
the XYZ jog that moves along the base coordinate system, the TOOL jog that moves along the tool coordinate
system, and the CYLNDER jog that moves along the circular arc.
This operation is carried out while pressing the deadman switch on the back of the T/B.

CAUTION The robot will move during this operation. Make sure that there are no operators
near the robot, and that there are no obstacles, such as tools, in the robot operation
range.

CAUTION To immediately stop the robot, release the deadman switch on the back of the T/B.
The servo power will turn OFF, and the robot will stop.
The robot will also stop if the [EMG.STOP] switch (emergency stop switch) on the
front of the T/B or the [EMG.STOP] switch (emergency stop) on the front of the
controller is pressed.

WARNING Confirm that the origin has been set. If the origin has not been set, "****" will
appear at the current position display on the teaching pendant, the JOINT jog oper-
ation will take place in any jog mode selected.
Refer to Page 22, "2.3 Setting the origin" for details on setting the origin.

J2 J2軸
axis
－ ＋

J1J1軸
axis

－ ＋

J3 axis
J3軸

－
－ ＋

J4J4軸
axis
* Each axis moves independently.

Fig.2-18 ： JOINT jog operation

Confirming the operation 2-29

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＋Z * While maintaining the end axis posture,

the axis moves straight along the base
coordinate system.
Also, while maintaining the end axis
position, the end axis posture changes..

＋Z

End
先端軸 axis
－X
Base coordinate sys-
－Y tem reference origin
直交座標系原点
＋Y
－ ＋ －X
＋X C －Y
－Z ＋Y

＋X
－Z

Fig.2-19 ： XYZ jog operation

＋Z * While maintaining the end axis posture,

the axis moves straight along the tool
coordinate system.
Also, while maintaining the end axis
position, the end axis posture changes

End axis
Tool先端軸
coordinate sys-
temシール座標原点
reference origin
－X

－Y
＋Y
－ ＋

＋X
C
－Z
Fig.2-20 ： TOOL jog operation

2-30 Confirming the operation

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＋Z * The axis moves straight along the base

coordinate system. At this time, the end
axis posture is not maintained.
Also, the end axis posture changes.

＋Z

End
先端軸 axis
－X
Base coordinate sys-
－Y tem reference origin
直交座標系原点
＋Y
－ ＋ －X
＋X J4
J4軸axis －Y
－Z ＋Y

＋X
－Z
Fig.2-21 ： 3-axis XYZ jog operation

Vertical
上下 * The current position is set as the arc
centering on the Z axis, and the axis
moves along that arc, expands and
contracts in the radius direction, and
moves vertically. At this time, the end axis
posture is maintained. Also, while
maintaining the axis posture position, the
end axis posture changes.

＋Z

Arc
円弧
Radius
半径 － －X
＋
－Y
C ＋Y

＋X
－Z

Fig.2-22 ： CYLINDER jog operation

Confirming the operation 2-31

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+Z * While maintaining the end axis

posture, the axis moves straight
along the work coordinate system.
Also, while maintaining the end axis
position, the end axis posture
changes.

＋Z

+Zw

+Xw -Yw
Tool
ツール長 length －X

－Y
-Xw
＋Y
－ ＋
＋X

Control －Z
-Z
-Zw point
+Yw

WORK coordinate system

Fig.2-23 ： WORK jog operation

2-32 Confirming the operation

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(1) JOINT jog operation

Select joint jog mode [JOG] Press the key and display the jog screen.
("JOG" is displayed on the screen bottom)
<CURRENT> JOINT 100% M1 T0
Check that the "joint" in jog mode is displayed on
J1: +0.00 J5: +0.00
J2: +0.00 J6: +0.00 the screen.
J3: +90.00 : If other jog modes are displayed, please press the
J4: +0.00 :
function key corresponding to the "joint." (If the
XYZ TOOL JOG 3-XYZ CYLNDR ⇒ jog mode which he wishes under the screen is not
Joint jog mode displayed, it is displayed that the [FUNCTION]
key is pressed)
Set jog speed
If it finishes jog operation, press the [JOG] key
<CURRENT> JOINT 100% M1 T0 again, or function key which correspond to
J1: +0.00 J5: +0.00 "close."
J2: +0.00 J6: +0.00
J3: +90.00 : Whenever it presses the key of [OVRD ↑ ], the
J4: +0.00 : override goes up. Conversely, if the [OVRD ↓ ]
XYZ TOOL JOG 3-XYZ CYLNDR ⇒ key is pressed, it will go down.
Setting the speed The current setting speed is displayed on screen
upper right, and "STATUS NUMBER" of the
controller.
Set the override to 10% here for confirmation
work

J1 axis jog operation

J1 axis
J1軸回転

－ ＋

・ When the [+X (J1)] keys are pressed, the J1 axis will rotate in the plus direction.
When the [-X (J1)] keys are pressed, Rotate in the minus direction.

J2 axis jog operation J2 axis

J2軸回転
－ ＋

・ When the [+Y (J2)] keys are pressed, the J2 axis will rotate in the plus direction.
When the [-Y (J2)] keys are pressed, Rotate in the minus direction.

Confirming the operation 2-33

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◇◆◇ When the robot is in the transportation posture ◇◆◇

The axes may be outside the movement area. Move these axes toward the inner side of the movement area.

J3 axis jog operation

J3 axis
J3軸

・ When the [+Z (J3)] keys are pressed, the J3 axis will rotate in the plus direction.
When the [-Z (J3)] keys are pressed, Rotate in the minus direction.

J4 axis jog operation

－ ＋

J4 axis
J4軸回転

・ When the [+A (J4)] keys are pressed, the J4 axis will rotate in the plus direction.
When the [-A (J4)] keys are pressed, Rotate in the minus direction.

◇◆◇If the buzzer of T/B sounds and the robot does not move ◇◆◇
If it is going to move the robot across the operation range, the buzzer of T/B sounds and the robot does not
move. In this case, please move to the counter direction.

2-34 Confirming the operation

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(2) XYZ jog operation

Select XYZ jog mode [JOG] Press the key and display the jog screen.
("JOG" is displayed on the screen bottom)
<CURRENT> JOINT 100% M1 T0
Check that the "XYZ" in jog mode is displayed on
J1: +0.00 J5: +0.00
J2: +0.00 J6: +0.00 the screen.
J3: +90.00 : If other jog modes are displayed, please press the
J4: +0.00 :
function key corresponding to the "XYZ." (If the
XYZ TOOL JOG 3-XYZ CYLNDR ⇒ jog mode which he wishes under the screen is not
XYZ jog mode displayed, it is displayed that the [FUNCTION]
key is pressed)
Set jog speed
If it finishes jog operation, press the [JOG] key
<CURRENT> JOINT 100% M1 T0 again, or function key which correspond to
J1: +0.00 J5: +0.00 "close."
J2: +0.00 J6: +0.00
J3: +90.00 : Whenever it presses the key of [OVRD ↑ ], the
J4: +0.00 : override goes up. Conversely, if the [OVRD ↓ ]
XYZ TOOL JOG 3-XYZ CYLNDR ⇒ key is pressed, it will go down.
Setting the speed The current setting speed is displayed on screen
upper right, and "STATUS NUMBER" of the
controller.
Set the override to 10% here for confirmation
work.

Moving along the base coordinate system

＋Z

＋Z

－X

－Y
＋Y －X

＋X
－Y
－Z
＋Y
＋X
－Z
*The direction of the end axis will not change.

・ When the [+X (J1)] keys are pressed, the robot will move along the X axis plus direction.
When the [-X (J1)] keys are pressed, Move along the minus direction.
・ When the [+Y (J2)] keys are pressed, the robot will move along the Y axis plus direction.
When the [-Y (J2)] keys are pressed, Move along the minus direction.
・ When the [+Z (J3)] keys are pressed, the robot will move along the Z axis plus direction.
When the [-Z (J3)] keys are pressed, Move along the minus direction.

Confirming the operation 2-35

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◇◆◇ When the robot is in the transportation posture ◇◆◇

There are directions from which linear movement is not possible from the transportation posture. In this case, the
robot will not move. Refer to section Page 33, "(1) JOINT jog operation"", and move the robot to a position where
linear movement is possible, and then carry out XYZ jog.

◇◆◇If the buzzer of T/B sounds and the robot does not move ◇◆◇
If it is going to move the robot across the operation range, the buzzer of T/B sounds and the robot does not
move. In this case, please move to the counter direction.

Changing the end axis posture ＋Z

＋Z

－X

－Y
＋Y －X
－ ＋
＋X
C －Y
－Z
＋Y
＋X

*The position of the end axis will not change. －Z

・ When the [+C (J6)] keys are pressed, The Z axis will rotate in the plus direction.
When the [-C (J6)] keys are pressed, Rotate in the minus direction.

◇◆◇ When alarm No. 5150 occurs ◇◆◇

If alarm No. 5150 (ORIGIN NOT SET) occurs, the origin has not been set correctly. Reconfirm the value input for
the origin data.

◇◆◇ Tool length ◇◆◇

The default tool length is 0mm, and the control point is the center of the end axis.
After installing the hand, set the correct tool length in the parameters. Refer to the separate manual "Detailed
Explanation of Functions and Operations" for details.

2-36 Confirming the operation

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(3) TOOL jog operation

Select TOOL jog mode [JOG] Press the key and display the jog screen.
("JOG" is displayed on the screen bottom)
<CURRENT> JOINT 100% M1 T0
Check that the "TOOL" in jog mode is displayed
J1: +0.00 J5: +0.00
J2: +0.00 J6: +0.00 on the screen.
J3: +90.00 : If other jog modes are displayed, please press the
J4: +0.00 : ～ function key corresponding to the "TOOL." (If
XYZ TOOL JOG 3-XYZ CYLNDR ⇒ the jog mode which he wishes under the screen is
TOOL jog mode not displayed, it is displayed that the [FUNC-
TION] key is pressed)
Set jog speed
If it finishes jog operation, press the [JOG] key
<CURRENT> JOINT 100% M1 T0 again, or function key which correspond to
J1: +0.00 J5: +0.00 "close."
J2: +0.00 J6: +0.00
J3: +90.00 : Whenever it presses the key of [OVRD ↑ ], the
J4: +0.00 : override goes up. Conversely, if the [OVRD ↓ ]
XYZ TOOL JOG 3-XYZ CYLNDR ⇒ key is pressed, it will go down.
Setting the speed The current setting speed is displayed on screen
upper right, and "STATUS NUMBER" of the
controller.
Set the override to 10% here for confirmation
work

Moving along the tool coordinate system

＋Z

－X

－Y
＋Y
－ ＋
＋X
C
－Z

*The direction of the end axis will not change.

・When the [+X (J1)] keys are pressed, the robot will move along the X axis plus direction of the tool coordinate
system.
When the [-X (J1)] keys are pressed, Move along the minus direction.
・When the [+Y (J2)] keys are pressed, the robot will move along the Y axis plus direction of the tool coordinate
system.
When the [-Y (J2)] keys are pressed, Move along the minus direction.
・When the [+Z (J3)] keys are pressed, the robot will move along the Z axis plus direction of the tool coordinate
system.
When the [-Z (J3)] keys are pressed, Move along the minus direction.

Confirming the operation 2-37

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◇◆◇ When the robot is in the transportation posture ◇◆◇

There are directions from which linear movement is not possible from the transportation posture. In this case, the
robot will not move. Refer to section Page 33, "(1) JOINT jog operation"", and move the robot to a position where
linear movement is possible, and then carry out XYZ jog.

◇◆◇If the buzzer of T/B sounds and the robot does not move ◇◆◇
If it is going to move the robot across the operation range, the buzzer of T/B sounds and the robot does not
move. In this case, please move to the counter direction.

Changing the end axis posture ＋Z

－X

－Y
＋Y
－ ＋
＋X
C
－Z
*The Position of the end axis will not change.

・ When the[+C (J6)] keys are pressed, The Z axis will rotate in the plus direction of the tool coordinate system.
When the[-C (J6)] keys are pressed, Rotate in the minus direction.

◇◆◇ When alarm No. 5150 occurs ◇◆◇

If alarm No. 5150 (ORIGIN NOT SET) occurs, the origin has not been set correctly. Reconfirm the value input for
the origin data.

◇◆◇ Tool length ◇◆◇

The default tool length is 0mm, and the control point is the center of the end axis.
After installing the hand, set the correct tool length in the parameters. Refer to the separate manual "Detailed
Explanation of Functions and Operations" for details.

2-38 Confirming the operation

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(4) 3-axis XYZ jog operation

Select XYZ456 jog mode [JOG] Press the key and display the jog screen.
("JOG" is displayed on the screen bottom)
<CURRENT> JOINT 100% M1 T0
Check that the "XYZ456" in jog mode is
J1: +0.00 J5: +0.00 displayed on the screen.
J2: +0.00 J6: +0.00
J3: +90.00 : If other jog modes are displayed, please press the
J4: +0.00 : function key corresponding to the "XYZ456." (If
～
XYZ TOOL JOG 3-XYZ CYLNDR ⇒ the jog mode which he wishes under the screen is
XYZ456 jog mode not displayed, it is displayed that the [FUNC-
TION] key is pressed)
Set jog speed If it finishes jog operation, press the [JOG] key
<CURRENT> JOINT 100% M1 T0 again, or function key which correspond to
J1: +0.00 J5: +0.00
"close."
J2: +0.00 J6: +0.00 Whenever it presses the key of [OVRD ↑ ], the
J3: +90.00 : override goes up. Conversely, if the [OVRD ↓ ]
J4: +0.00 :
key is pressed, it will go down.
XYZ TOOL JOG 3-XYZ CYLNDR ⇒ The current setting speed is displayed on screen
Setting the speed upper right, and "STATUS NUMBER" of the
controller.
Set the override to 10% here for confirmation
work

Moving along the base coordinate system

＋Z

＋Z

－X

－Y
＋Y
－ ＋ －X
＋X
C －Y
－Z ＋Y

＋X

*The direction of the end axis will change. －Z

・ When the[+X (J1)] keys are pressed, the robot will move along the X axis plus direction.
When the[-X (J1)] keys are pressed, Move along the minus direction.
・ When the[+Y (J2)] keys are pressed, the robot will move along the Y axis plus direction.
When the[-Y (J2)] keys are pressed, Move along the minus direction.
・ When the[+Z (J3)] keys are pressed, the robot will move along the Z axis plus direction.
When the[-Z (J3)] keys are pressed, Move along the minus direction.

◇◆◇ The flange surface end axis posture cannot be maintained with 3-axis XYZ jog. ◇◆◇
With 3-axis XYZ jog, the flange surface end axis posture (orientation) is not maintained when moving linearly in
the X, Y or Z axis direction.
Use XYZ jog to maintain the posture.

Confirming the operation 2-39

2 Unpacking to Installation

Changing the end axis posture

＋Z

＋Z

－X

－Y
＋Y
－ ＋ －X
＋X
J4 －Y
－Z ＋Y

＋X
－Z
*The Position of the end axis will not change.

・ When the[+C (J6)] keys are pressed, the J4-axis will rotate in the plus direction.
When the[-C (J6)] keys are pressed, Rotate in the minus direction.

2-40 Confirming the operation

 2 Unpacking to Installation

(5) CYLNDER jog operation

Select cylindrical jog mode [JOG] Press the key and display the jog screen.
("JOG" is displayed on the screen bottom)
<CURRENT> JOINT 100% M1 T0
Check that the "CYLNDER" in jog mode is
J1: +0.00 J5: +0.00
J2: +0.00 J6: +0.00 displayed on the screen.
J3: +90.00 : If other jog modes are displayed, please press the
J4: +0.00 :
～ function key corresponding to the "CYLNDER."
XYZ TOOL JOG 3-XYZ CYLNDR ⇒ (If the jog mode which he wishes under the
CYLNDER jog mode screen is not displayed, it is displayed that the
[FUNCTION] key is pressed)
Set jog speed
If it finishes jog operation, press the [JOG] key
<CURRENT> JOINT 100% M1 T0 again, or function key which correspond to
J1: +0.00 J5: +0.00 "close."
J2: +0.00 J6: +0.00
J3: +90.00 : Whenever it presses the key of [OVRD ↑ ], the
J4: +0.00 : override goes up. Conversely, if the [OVRD ↓ ]
XYZ TOOL JOG 3-XYZ CYLNDR ⇒ key is pressed, it will go down.
Setting the speed The current setting speed is displayed on screen
upper right, and "STATUS NUMBER" of the
controller.
Set the override to 10% here for confirmation
work

Moving along an arc centering on the Z axis

Vertical
上下

＋Z

Radius
半径 Arc －X
円弧
－ ＋
－Y
C ＋Y

＋X
－Z
＊ The direction of the frange will not change.

Assuming that the current position is on an arc centering on the Z axis, the robot moves along that arc.
・ When the[+X (J1)] keys are pressed, the robot will expand in the radial direction.
When the[-X (J1)] keys are pressed, Contract in the radial direction.
・ When the[+Y (J2)] keys are pressed, the robot will move along the arc in the plus direction.
When the[-Y (J2)] keys are pressed, Move in the minus direction.
・ When the[+Z (J3)] keys are pressed, the robot will move along the Z axis plus direction.
When the[-Z (J3)] keys are pressed, Move along the minus direction.

Confirming the operation 2-41

2 Unpacking to Installation

Changing the flange surface posture

Vertical
上下

＋Z

Radius
半径 Arc －X
円弧
－ ＋
－Y
C ＋Y

＋X
－Z
*The position of the end axis will not change.

・ When the [+C (J6)] keys are pressed, The Z axis will rotate in the plus direction.
When the [-C (J6)] keys are pressed, Rotates in the minus direction.

2-42 Confirming the operation

 2 Unpacking to Installation

(6) Work jog operation

Setting of the work coordinates system is necessary.
By this jog operation, robot can be move along with the direction of work (or working table etc.), so teaching
operations get easier.
When jog operation, select by which work coordinates the robot moves
The setting method of the work coordinates system using T/B (R32TB) is shown in the following.
(Parameter: Setting the coordinate value to WKnCORD ("n" is meaning the number (1-8) of work
coordinates) can also set up the work coordinates system. Refer to the separate manual "Detailed
Explanation of Functions and Operations" for details of parameter.)

The work coordinates system teaches and sets up the three points (WO, WX, WY).

+Z

+Zw
Notes) The figure is the example of
RV-6SD of our company, but
work coordinates other types are the same

WO

WX
+Y
WY +Yw Robot coordinates
+Xw system

Work
The jogging movement +X
based on this work is < Teaching point>
possible. WO: Work coordinates system origin
WX: Position on the "+X" axis of work coordinates system.
WY: Position at the side of "+Y" axis on the X-Y plane of work coordinates system

[Supplement] : The coordinate values which use all three teaching points for setting of the
work coordinates system are each only X, Y, and the Z-axis. Although the coor-
dinate value of A, B, and C axis is not used, positioning will get easy if the XYZ
jog or TOOL jog movement is effected with the same value. (The direction of the
hand is the same)

Fig.2-24 ： Setting of the work coordinates system (teaching point)

The setting (definition) method of the work coordinates system is shown in the following.

1) Select "6.ENHANCED" screen on the <MENU> screen.

<MENU> <EMHANCED>
1.FILE/EDIT 2.RUN 1.SQ DIRECT 2.WORK COORD.
3.PARAM. 4.ORIGIN/BRK
5.SET/INIT. 6.ENHANCED

123 CLOSE 123 CLOSE

Confirming the operation 2-43

2 Unpacking to Installation

2) Press the [2] keys in the menu screen and select "2. WORK COORD."
<EMHANCED> <WORK COORD> WORK NUMBER (1)
TEACHING POINT (WO)
1.SQ DIRECT 2.WORK COORD. X: 0.00
Y: 0.00
Z: 0.00

123 CLOSE TEACH WX 123 WY DEFINE

The screen shows the coordinate value of the origin
(WO) of the work coordinates number 1.

3) Selection of the work coordinates number

Press the [FUNCTION] keys, and display "W: JUMP" function. Press the function key corresponding to
"W: JUMP"
<WORK COORD> WORK NUMBER (1) <WORK JUMP>
TEACHING POINT (WO)
X: 0.00 CHOOSE ONE OF THE WORK NUMBER
Y: 0.00 1-8.
Z: 0.00

W.JUMP W.GRID 123 CLOSE 123 CLOSE

Press numeral key [1] - [8] and specify the work coordinates number. The coordinate value of the specified
work coordinates system is displayed.
<WORK JUMP> <WORK COORD> WORK NUMBER (2)
TEACHING POINT (WO)
CHOOSE ONE OF THE WORK NUMBER X: 0.00
1-8. Y: 0.00
Z: 0.00

123 CLOSE W.JUMP W.GRID 123 CLOSE

The screen is the example which specified

Operation will be canceled if the the work coordinates number 2. ("2" at the
[CLOSE] key is pressed. upper right of the screen)

4) The teaching of the work coordinates system

Teach the three points shown in Fig. 2-24. Confirm the name currently displayed on the "TEACHING
POINT" at the upper right of the screen. If it differs, press the function key corresponding to each
point(WO, WX, WY) to teach. Move the robot's arm by jog operation (other jogging movement), and press
the function key corresponding to "TEACH."([F1]) The confirmation screen is displayed.
<WORK COORD> WORK NUMBER (2) <WORK COORD> WORK NUMBER (2)
TEACHING POINT (WO)
X: 0.00 TEACHING POINT (WO)
Y: 0.00 RECORD CURRENT POSITION.
Z: 0.00 OK?

TEACH WX 123 WY DEFINE Yes 123 No

Specify the teaching point [WO],[WX],[WY]
teaching the position [TEACH]

2-44 Confirming the operation

 2 Unpacking to Installation

Presses the function key corresponding to"Yes", the robot's current position is registered, and the
registered coordinates value is displaye. Operation will be canceled if the [CLOSE] key is pressed.
<WORK COORD> WORK NUMBER (2) <WORK COORD> WORK NUMBER (2)
TEACHING POINT (WO)
TEACHING POINT (WO) X: 214.12
RECORD CURRENT POSITION. Y: -61.23
OK? Z: 553.30

Yes 123 No W.JUMP W.GRID 123 CLOSE

Teach the three points, WO, WX, and WY, by the same operation.
The position data taught here is each registered into the following parameters. ("n" means the work coor-
dinates numbers 1-8)
WO= parameter: WKnWO
WX= parameter: WKnWX
WY= parameter: WKnWY

5) Setting of work coordinates (definition)

If the function key corresponding to "DEFINE" ([F1]) is pressed, the work coordinates system will be
calculated using the three points, and the result will be displayed.
<WORK COORD> WORK NUMBER (2) <WORK COORD> WORK NUMBER (2)
TEACHING POINT (WO) WORK COORDINATES DATA
X: 214.12 (3.53, -220.00, 5.14, 0.00, 0.
Y: -61.23 00, 0.00)
Z: 553.30

TEACH WX 123 WY DEFINE 123 CLOSE

The alarm occurs if the work coordinates system is incalculable. (There are the three points on the straight
line, or the two points have overlapped) In this case, reset alarm and re-teach the three points.
This work coordinate data is registered into parameter: WKnCORD. ("n" means the work coordinates
numbers 1-8)
If the function key corresponding to "CLOSE" is pressed, it will return to the previous screen.
<WORK COORD> WORK NUMBER (2) <WORK COORD> WORK NUMBER (2)
WORK COORDINATES DATA TEACHING POINT (WO)
(3.53, -220.00, 5.14, 0.00, 0. X: 214.12
00, 0.00) Y: -61.23
Z: 553.30

123 CLOSE TEACH WX 123 WY DEFINE

6) Finishing of setting the work coordinates

Press the [FUNCTION] keys, and display "CLOSE" function. Press the function key corresponding to
"CLOSE". Returns to the <MENU> screen.
<WORK COORD> WORK NUMBER (2) <EMHANCED>
TEACHING POINT (WO)
X: 214.12 1.SQ DIRECT 2.WORK COORD.
Y: -61.23
Z: 553.30

W.JUMP W.GRID 123 CLOSE 123 CLOSE

Confirming the operation 2-45

2 Unpacking to Installation

Although setting of work coordinates is finishing above, confirmation of work coordinates can be done by press-
ing the function key corresponding to "W GRID."([F2])
<WORK COORD> WORK NUMBER (2) <WORK COORD> WORK NUMBER (2)
TEACHING POINT (WO) WORK COORDINATES DATA
X: 214.12 (3.53, -220.00, 5.14, 0.00, 0.
Y: -61.23 00, 0.00)
Z: 553.30

W.JUMP W.GRID 123 CLOSE 123 CLOSE

Return to the previous screen by pressing
the [CLOSE] ([F4]) key.

Then, the operation method of the work jog is shown.

Change to the work jog after nearing the work.

Select WORK jog mode [JOG] Press the key and display the jog
screen. ("JOG" is displayed on the screen
<CURRENT> WORK 100% M1 T0 W1
bottom)
J1: +0.00 J5: +0.00 Check that the "WORK" in jog mode is
J2: +0.00 J6: +0.00
J3: +90.00 : displayed on the screen.
J4: +0.00 : If other jog modes are displayed, please press
～
XYZ TOOL JOG 3-XYZ CYLNDR ⇒ the function key corresponding to the "WORK."
WORK jog mode (If the jog mode which he wishes under the
screen is not displayed, it is displayed that the
[FUNCTION] key is pressed)
If it finishes jog operation, press the [JOG] key
again, or function key which correspond to
Confirmation and selection of the "close."
work coordinates system
Target work
<CURRENT> WORK 100% M1 T0 W1 Confirm the target work coordinates system.
coordinates system
J1: +0.00 J5: +0.00 The current target number is displayed on the
J2: +0.00 J6: +0.00 screen upper right. (W1 - W8)
J3: +90.00 :
J4: +0.00 : The number of work coordinates can be
XYZ TOOL JOG 3-XYZ CYLNDR ⇒ changed by the arrow key [Upper arrow],
[Lower arrow]
Push the key [Upper arrow], the number will
Select the work coordinates system increase. (W1, W2, ..... W8) Conversely, push
the key [Lower arrow], the number will
decrease

CAUTION Always confirm that the number of the target work coordinates system is displayed
correctly (Display of W1-W8 at the upper right of the screen)
If mistaken, the robot will move in the direction which is not meant and will cause the
damage and the personal injuries.
Set jog speed
Whenever it presses the key of [OVRD(Upper
<CURRENT> JOINT 100% M1 T0
arrow)], the override goes up. Conversely, if
J1: +0.00 J5: +0.00 the [OVRD(Lower arrow)] key is pressed, it will
J2: +0.00 J6: +0.00
J3: +90.00 : go down.
J4: +0.00 : The current setting speed is displayed on
XYZ TOOL JOG 3-XYZ CYLNDR ⇒ screen upper right, and "STATUS NUMBER" of
Setting the speed the controller.
Set the override to 10% here for confirmation
work

2-46 Confirming the operation

 2 Unpacking to Installation

The jog movement based on work coordinates system

＋Z

+Zw

-Yw
+Xw Tool
ツール長 length －X

－Y
-Xw
＋Y

＋X
Controll point －Z
-Zw * The direction of the end axis will not
+Yw change. Move the control point with
a straight line in accordance with the
Work coordinates system work coordinates system

・ When the[+X (J1)] keys are pressed, the robot will move along the X axis plus direction on the work
coordinates system.
When the[-X (J1)] keys are pressed, Move along the minus direction.
・ When the[+Y (J2)] keys are pressed, the robot will move along the Y axis plus direction on the work
coordinates system.
When the[-Y (J2)] keys are pressed, Move along the minus direction.
・ When the[+Z (J3)] keys are pressed, the robot will move along the Z axis plus direction on the work
coordinates system.
When the[-Z (J3)] keys are pressed, Move along the minus direction.

Confirming the operation 2-47

2 Unpacking to Installation

Changing the end axis posture

+Z

＋Z

+Zw

+Xw -Yw
Tool
ツール長 length －X

-Xw
Controll point －Y
＋Y
－ ＋
＋X
－Z
-Z
-Zw
+Yw
* The position of the control point
does not change. The end axis is
Work coordinates system rotated.

・When the[+C (J6)] keys are pressed, The Z axis will rotate in the plus direction of the XYZ coordinate system.
When the[-C (J6)] keys are pressed, Rotate in the minus direction.

◇◆◇ When the robot is in the transportation posture ◇◆◇

There are directions from which linear movement is not possible from the transportation posture. In this case, the
robot will not move. Refer to section Page 33, "(1) JOINT jog operation"", and move the robot to a position where
linear movement is possible, and then carry out XYZ jog.

◇◆◇If the buzzer of T/B sounds and the robot does not move ◇◆◇
If it is going to move the robot across the operation range, the buzzer of T/B sounds and the robot does not
move. In this case, please move to the counter direction.

◇◆◇ Tool length ◇◆◇

The default tool length is 0mm, and the control point is the center of the end axis.
After installing the hand, set the correct tool length in the parameters. Refer to the separate manual "Detailed
Explanation of Functions and Operations" for details.

2-48 Confirming the operation

 3Installing the option devices

3 Installing the option devices

3.1 Installing the solenoid valve set

The installation summary of the solenoid valve is shown in Fig. 3-1 and Fig. 3-1. Remove the No.2 arm cover U,
and install the solenoid valve on the No.2 arm. Turn the controller’s power OFF before this installing operation.
Refer to Page 68, "5.3.2 Installing/removing the cover" for removing/ installing the cover.
(1) RH-3FH/6FH series

No. 2 arm cover U Solenoid valve Items for customer to prepare

Fix to plate. ・ A Philips screwdriver (M4 screws)
・ Air hose for secondary piping (φ4)
Install to inside the No. 2 arm
cover U
primary piping air hose (φ6)
(P port)
Solenoid valve exhaust hose (φ6)
(R port)
Note) When connecting this air hose, be
sure to remove the dust cap attached on
the robot base section.

Fixing screws (M4 x 30), two Hand output signal connection

screws - left and right cables (GR1, GR2)
(included in the solenoid valve
set)

Note) Although the type

in the diagram is the RH-
6FH, installation location
is the same also in RH-
3FH.

Hand output signal connection con-

nectors (GR1, GR2)
Connect to the GR1 and GR2 connec-
tors of the robot side.
Solenoid valve exhaust
joint (φ6)
(R port)

Secondary piping connection joint (φ4)

(A, B ports)
A port: From the left side in order 1, 3, 5, 7
B port: From the left side in order 2, 4, 6, 8 Base section
Primary piping connection joint
(φ6) (upper side: AIR IN)
Primary piping connection Solenoid valve exhaust joint (φ6)
joint (φ6) (lower side: RETURN)
(P port)

Fig.3-1 ： Solenoid valve installation procedures (RH-3FH/6FH)

The installation procedure is detailed below.

1) Remove the screws fixing the No. 2 arm cover U, and remove the No. 2 arm cover U.
2) Fix the solenoid valve to the plate in the position indicated in Fig. 3-1.Place it so that the solenoid valve's
primary piping connection joints (P, R ports) are located on the right hand side, and fix it securely using the
M4 screws included (tightening torque: 1.39 to 1.89N ・ m).
3) Connect the connector (GR1, GR2) of solenoid valve with connector of robot arm side (GR1, GR2). Connect
with the same names. The hand output signal cables of the robot arm side are located close to where the
solenoid valve is installed and are tied up with cable tie. Cut the cable tie and connect them to the
connectors.

Installing the solenoid valve set 3-49

3Installing the option devices

4) Connect the primary piping air hose (φ6). The air hoses are located close to where the solenoid valve is
installed and are tied up with cable tie. Cut the cable tie and connect them. Of the two air hoses, connect
the one marked “AIR IN” to the solenoid valve's P port, and the one marked “RETURN” to the R port.
Note) When connecting the RETURN air hose, be sure to remove the dust cap attached at the RETURN
joint on the robot base section. If the cap is not removed, exhaust air pressure will increase and
the solenoid valve may not operate properly.By connecting the exhaust air hose (φ6: customer
preparation) to this RETURN air joint, exhaust air from the solenoid valve is able to escape to the
designated point.
5) Connect the secondary piping air hose (φ4).
The optional hand curl tube, the hand internal wiring and piping set, or the air hose prepared by customer
can all be used, however when pulling the tip of the air hose out from the shaft please be sure to use the
optional hand internal wiring and piping set.
Connect the air hoses to solenoid valve port A and port B. Please refer to Table 3-1 and connect to the
necessary ports. Covers the unused solenoid valve joints with the plugs included.
Note) When pulling the tip of the air hose out from the shaft, please be sure to use the optional hand
internal wiring and piping set. A plate that can be fixed to an appropriate position and silicon
grease to apply to friction points, are both included with the product (please refer to Page 55, "3.4
Hand internal wiring and piping set"). Further, when using the optional external wiring and piping
box, the air hose can be pulled out from the rear of the No. 2 arm (please refer to Page 60, "3.5
External Wiring and Piping Box").
6) If the hand output cable and the air hose have excess length, please tie the excess section by cable tie and
fix it to the plate. The plate have some holes for fixing the cable/hose with a cable tie.
7) Install securely the No.2 arm cover U as before with fixing screws (tightening torque: 1.39 to 1.89 Nm).
Note) The installation surface of the clean and the oil-mist specification covers is using sealing material.
In the event that the sealing material has been removed or has been bent or broken to the extent
that it cannot be return to the original form, be sure to replace the sealing material. Please inform
the dealer, if exchange is necessary.

This completes installing the solenoid valve set.

3-50 Installing the solenoid valve set

 3Installing the option devices

(2) RH-12FH/20FH series

No. 2 arm cover U Items for customer to prepare

・ A Philips screwdriver (M4 screws)
・ Air hose for secondary piping (φ6)
Install to inside the No. 2 arm For the elbow coupling addition
cover U KJL06-99 *SUS street elbow
(SMC Corp.)
primary piping air hose (φ6)
(P port)

Solenoid valve exhaust hose (φ6)

(R port)
Note) When connecting this air hose, be
sure to remove the dust cap attached on
the robot base section.

Hand output signal connection

Fixing screws (M4 x 8), four screws cables (GR1, GR2)
- left and right
(included in the solenoid valve set)

Solenoid valve
Fix to plate.
Hand output signal connection
connectors (GR1, GR2)
Connect to the GR1 and GR2
connectors of the robot side.
Secondary piping connection joint (φ6)
(A, B ports)
A port: From the left side in order 1, 3, 5, 7
B port: From the left side in order 2, 4, 6, 8

２
４
６
８

１
３
５
７

Base section
Primary piping connection joint
(φ6) (upper side: AIR IN)
Solenoid valve exhaust joint (φ6)
Primary piping connection joint (φ6) Solenoid valve exhaust joint (φ6) (lower side: RETURN)
(P port) (R port)
Fig.3-2 ： Solenoid valve installation procedures (RH-12FH/20FH)

The installation procedure is detailed below.

1) Remove the screws fixing the No. 2 arm cover U, and remove the No. 2 arm cover U.
2) Fix the solenoid valve to the plate in the position indicated in Fig. 3-1.Place it so that the solenoid valve's
primary piping connection joints (P, R ports) are located on the upper side, and fix it securely using the M4
screws included (tightening torque: 1.39 to 1.89N ・ m).
3) Connect the connector (GR1, GR2) of solenoid valve with connector of robot arm side (GR1, GR2). Connect
with the same names. The hand output signal cables of the robot arm side are located close to where the
solenoid valve is installed and are tied up with cable tie. Cut the cable tie and connect them to the
connectors.
4) Connect the primary piping air hose (φ6). The air hoses are located close to where the solenoid valve is
installed and are tied up with cable tie. Cut the cable tie and connect them. Of the two air hoses, connect
the one marked “AIR IN” to the solenoid valve's P port, and the one marked “RETURN” to the R port.
Note) When connecting the RETURN air hose, be sure to remove the dust cap attached at the RETURN
joint on the robot base section. If the cap is not removed, exhaust air pressure will increase and
the solenoid valve may not operate properly.By connecting the exhaust air hose (φ6: customer
preparation) to this RETURN air joint, exhaust air from the solenoid valve is able to escape to the
designated point.

Installing the solenoid valve set 3-51

3Installing the option devices

5) Connect the secondary piping air hose (φ6).

The optional hand curl tube, the hand internal wiring and piping set, or the air hose prepared by customer
can all be used, however when pulling the tip of the air hose out from the shaft please be sure to use the
optional hand internal wiring and piping set.
Connect the air hoses to solenoid valve port A and port B. Please refer to Table 3-1 and connect to the
necessary ports. Covers the unused solenoid valve joints with the plugs included.
Note) When pulling the tip of the air hose out from the shaft, please be sure to use the optional hand
internal wiring and piping set. A plate that can be fixed to an appropriate position and silicon
grease to apply to friction points, are both included with the product (please refer to Page 55, "3.4
Hand internal wiring and piping set"). Further, when using the optional external wiring and piping
box, the air hose can be pulled out from the rear of the No. 2 arm (please refer to Page 60, "3.5
External Wiring and Piping Box").
6) If the hand output cable and the air hose have excess length, please tie the excess section by cable tie and
fix it to the plate. The plate have some holes for fixing the cable/hose with a cable tie.
7) Install securely the No.2 arm cover U as before with fixing screws (tightening torque: 1.39 to 1.89 Nm).
Note) The installation surface of the clean and the oil-mist specification covers is using sealing material.
In the event that the sealing material has been removed or has been bent or broken to the extent
that it cannot be return to the original form, be sure to replace the sealing material. Please inform
the dealer, if exchange is necessary.

This completes installing the solenoid valve set.

(3) Hand number and solenoid valve ports (common to RH-FH series)
The connection correspondence after installation is as shown in Table 3-1.

Table 3-1 ： Solenoid valve ports and hoses: Correspondence of couplings and hand ports
Hand Hand port Solenoid valve port Solenoid valve used
OPEN 1
Hand 1 1 st row
CLOSE 2
OPEN 3
Hand 2 2 nd row
CLOSE 4
OPEN 5
Hand 3 3 rd row
CLOSE 6
OPEN 7
Hand 4 4 th row
CLOSE 8

3-52 Installing the solenoid valve set

 3Installing the option devices

3.2 Installing the hand input cable

Fig. 3-3 shows the hand input cable’s storage location on the robot.
Please use the optional external wiring and piping box to pull the hand input cable out externally. After connecting
the hand input cable connector, reference Page 60, "3.5 External Wiring and Piping Box", and pull it out from the
robot arm.
When passing through the inside of the shaft and using it, please use the optional hand internal wiring and piping
set.
Remove the No. 2 arm cover U and connect the connector above the No. 2 arm. Turn the controller’s power OFF
before this operation. Refer to Page 68, "5.3.2 Installing/removing the cover" for removing/ installing the cover.

No. 2 arm cover U

Connect inside the No. 2 arm

cover U

Connector of robot arm side

Coiled and stored by cable tie

CAUTION
When this cable is connected to the robot
the power supply is applied to the end of
this cable. The end of the cable is free at
factory shipping. so, if the tool side is not
connected it may be cause of the trouble
such as broken the fuse by short circuit.
Before connecting to the robot, customer
should check whether or not the cable tip
*The type in the diagram is the RH-6FH, however the location is the has been properly treated.
same on the RH-3FH/12FH/20FH.

Fig.3-3 ： Installing the hand input cable

The installation procedure for the hand input cable is shown below

1) Remove the screws fixing the No. 2 arm cover U, and remove the No. 2 arm cover U.
2) The hand input cable is stored in the location shown in Fig. 3-3. Remove cable tie, and check the connectors
(HC1, HC2).
3) Connect the connector (HC1,HC2) of optional cable with connector of robot arm side (HC1, HC2). Connect
with the same names.
4) Pull the hand input cables out of the robot arm. Referencing Page 60, "3.5 External Wiring and Piping Box",
pull the cable out.

When installation of the optional external wiring and piping box finished, Installing the hand input cable is complete.

Installing the hand input cable 3-53

3Installing the option devices

3.3 Installing the hand output cable

Fig. 3-4 shows the hand output cable’s storage location on the robot.
Please use the optional external wiring and piping box to pull the hand output cable out externally. After connect-
ing the hand output cable connector, reference Page 60, "3.5 External Wiring and Piping Box", and pull it out from
the robot arm.
Remove the No. 2 arm cover U and connect the connector above the No. 2 arm. Turn the controller’s power OFF
before this operation. Refer to Page 68, "5.3.2 Installing/removing the cover" for removing/ installing the cover.

No. 2 arm cover U

Connect inside the No. 2 arm

cover U

Connector of robot arm side

Coiled and stored by cable tie

*The type in the diagram is the RH-6FH, however the location is the
same on the RH-3FH/12FH/20FH.

Fig.3-4 ： Installing the hand output cable

The installation procedure for the hand output cable is shown below

1) Remove the screws fixing the No. 2 arm cover U, and remove the No. 2 arm cover U.
2) The hand output cable is stored in the location shown in Fig. 3-4. Remove cable tie, and check the
connectors (GR1, GR2).
3) Connect the connector (GR1, GR2) of optional cable with connector of robot arm side (GR1, GR2). Connect
with the same names.
4) Pull the hand output cables out of the robot arm. Referencing Page 60, "3.5 External Wiring and Piping Box",
pull the cable out.

When installation of the optional external wiring and piping box finished, Installing the hand output cable is
complete.

3-54 Installing the hand output cable

 3Installing the option devices

3.4 Hand internal wiring and piping set

The installation procedure for the hand internal wiring and piping set is shown in Fig. 3-5 for the RH-3FH series,
and in Fig. 3-6 for the RH-6FH series, and in Fig. 3-6 for the RH-12FH/20FH series. Remove the No. 2 arm cover
U and fix this option to the plate above the No. 2 arm.
Turn the controller’s power OFF before this operation. Refer to Page 68, "5.3.2 Installing/removing the cover"for
removing/ installing the cover.
(1) RH-3FH/6FH series

<RH-3FH series>
No. 2 arm cover U

Connect inside the No. 2 arm

cover U

Secondary piping air

Plate for fixation hose
φ3-4 hoses
(a) Match up the peak of
the air hose and cable
with the top end of the
fixing plate

Applying silicon grease

(b) Fix with silicon

rubber and cable tie

Connector for hand

input cable connection
(HC1, HC2)

*The diagram shows an example of the secondary piping hose connected to the
optional electromagnetic valve.

Fig.3-5 ： Installing the hand internal wiring and piping set (RH-3FH)

Hand internal wiring and piping set 3-55

3Installing the option devices

<RH-6FH series>
No. 2 arm cover U

Connect inside the No. 2 arm

cover U

Secondary piping air

hose
φ4-8 hoses

(a) Match up the peak of

the air hose and cable
with the top end of the
fixing plate

Applying silicon grease

(contact surface)

Connector for hand

input cable connection Plate for fixation
(HC1, HC2)

(b)

*The diagram shows an example of the secondary piping hose connected to the
optional electromagnetic valve.
Fig.3-6 ： Installing the hand internal wiring and piping set (RH-6FH)

The installation procedure is shown below.

1) Move the J3 axis to the top end with a jog operation and shut off the controller's power supply. This is
necessary for space standard settings when feeding the air hose and hand input cable through the inside of
the shaft.
2) Remove the screws fixing the No. 2 arm cover U, and remove the No. 2 arm cover U.
3) When using the hand input cable connect the connectors (HC1, HC2) of optional hand input cable to
connectors (HC1, HC2) of robot side. Connect with the same names.
The connectors of robot side are tied up by cable tie. Cut the cable tie and pull them out.
When the hand input cable is not used tie up the connector and fix to the plate by cable tie. The plate have
some holes for fixing the cable/hose with a cable tie.
4) Connect the secondary piping air hose.
Although the diagram shows an example which connected the optional solenoid valve, the cables and hoses
can be pulled out out of the robot from rear of the No.2 arm by using optional "external wiring and piping
box". Refer to Page 60, "3.5 External Wiring and Piping Box" for how to pull it out.
When using the optional solenoid valve connect to the A port or B port of solenoid valve.
Refer to Page 49 "Fig. 3-1Solenoid valve installation procedures (RH-3FH/6FH)" and Page 52 "Table 3-1：
Solenoid valve ports and hoses: Correspondence of couplings and hand ports" for connect to the port

3-56 Hand internal wiring and piping set

 3Installing the option devices

necessary.
5) Silicone rubbers are installed in this option. As shown in the Fig. 3-5 (RH-3FH) or Fig. 3-6 (RH-6FH), fixes
this option to the metal plate of the robot arm in the three positions of silicone rubber by the attached
cable tie. (the three places shown by (b) of the Fig. 3-5 (RH-3FH) or Fig. 3-6 (RH-6FH)).
6) Feed through inside the shaft the tool (hand) side of the hand input cables and the secondary piping air
hoses.

CAUTION In order to give the air hose and cable an appropriate space, the highest point of
the curved section of the air hose and cable should be matched up with the top
of the fixing plate, and fix at the tool side as is shown in section (a) of the
diagram.
If the air hose and cable are fixed with no space, more friction will be applied at
the top of the shaft or bent when operating the robot, so, it becomes the cause
which the operation of tool (hand) is abnormal or breaks the wire

7) Do the wiring and piping of tool side.

8) Apply the attached silicon grease to the top of shaft and the surface where the air hose and the hand input
cable contact the fixing plate.
9) If the hand input cable and the air hose have excess length, please tie the excess section by cable tie and
fix it to the plate. The plate have some holes for fixing the cable/hose with a cable tie.
10) Install securely the No.2 arm cover U as before with fixing screws (tightening torque: 1.39 to 1.89 Nm).
Note) The installation surface of the clean and the oil-mist specification covers is using sealing material.
In the event that the sealing material has been removed or has been bent or broken to the extent
that it cannot be return to the original form, be sure to replace the sealing material. Please inform the
dealer, if exchange is necessary.

This completes installing the Hand internal wiring and piping set (RH-3FH/6FH series).

Hand internal wiring and piping set 3-57

3Installing the option devices

(2) RH-12FH/20FH series

<RH-12FH/20FH series>
No. 2 arm cover U
Applying silicon grease
(contact surface)

Connect inside the No. 2 arm

cover U
A

View from A
(a) Match up the peak of the air
hose and cable with the top
end of the fixing plate

Secondary piping air hose

φ6-4 hoses

Applying silicon grease

(contact surface)

Fix with the nylon clip

Fix by the cable tie

Zoom in

Connector for hand View from B

input cable connection
(HC1, HC2)

*The diagram shows an example of the secondary piping hose connected to the
optional electromagnetic valve.

Fig.3-7 ： Installing the hand internal wiring and piping set (RH-12FH/20FH)

The installation procedure is shown below.

1) Move the J3 axis to the top end with a jog operation and shut off the controller's power supply. This is
necessary for space standard settings when feeding the air hose and hand input cable through the inside of
the shaft.
2) Remove the screws fixing the No. 2 arm cover U, and remove the No. 2 arm cover U.
3) When using the hand input cable connect the connectors (HC1, HC2) of optional hand input cable to
connectors (HC1, HC2) of robot side. Connect with the same names.
The connectors of robot side are tied up by cable tie. Cut the cable tie and pull them out.
4) Connect the secondary piping air hose.
Although the diagram shows an example which connected the optional solenoid valve, the cables and hoses

3-58 Hand internal wiring and piping set

 3Installing the option devices

can be pulled out out of the robot from rear of the No.2 arm by using optional "external wiring and piping
box". Refer to Page 60, "3.5 External Wiring and Piping Box" for how to pull it out.
When using the optional solenoid valve connect to the A port or B port of solenoid valve.
Refer to Page 51 "Fig. 3-2Solenoid valve installation procedures (RH-12FH/20FH)" and Page 52 "Table 3-
1 ： Solenoid valve ports and hoses: Correspondence of couplings and hand ports" for connect to the port
necessary.
5) As shown in Fig. 3-6, fix to the metal plate by the attached cable tie.
6) Feed through inside the shaft the tool (hand) side of the hand input cables and the secondary piping air
hoses.

CAUTION In order to give the air hose and cable an appropriate space, the highest point of
the curved section of the air hose and cable should be matched up with the top
of the fixing plate, and fix at the tool side as is shown in section (a) of the
diagram.
If the air hose and cable are fixed with no space, more friction will be applied at
the top of the shaft or bent when operating the robot, so, it becomes the cause
which the operation of tool (hand) is abnormal or breaks the wire

7) Do the wiring and piping of tool side.

8) Apply the attached silicon grease to the top of shaft and the surface where the air hose and the hand input
cable contact the fixing plate.
9) If the hand input cable and the air hose have excess length, please tie the excess section by cable tie and
fix it to the plate.
10) Install securely the No.2 arm cover U as before with fixing screws (tightening torque: 1.39 to 1.89 Nm).
Note) The installation surface of the clean and the oil-mist specification covers is using sealing material.
In the event that the sealing material has been removed or has been bent or broken to the extent
that it cannot be return to the original form, be sure to replace the sealing material. Please inform the
dealer, if exchange is necessary. .

This completes installing the Hand internal wiring and piping set (RH-12FH/20FH series).

Hand internal wiring and piping set 3-59

3Installing the option devices

3.5 External Wiring and Piping Box

The air hose that is connected inside the robot, the optional hand output cable, the hand input cable, etc., can
all be pulled out from the rear of the No. 2 arm.
These can be used to connect a customer supplied solenoid valve to the hand output cable, etc.

*The type in the diagram is the RH-6FH, however the instal-

No. 2 arm cover U External Wiring and Piping Box lation method is the same on the RH-3FH/12FH/20FH.
Fix to the rear of the No. 2 arm <a>Coupling
(remove the No. 2 arm cover B) φ6 two couplings <b>Coupling
(RH-3FH/6FH only) φ4 eight couplings
(RH-3FH/6FH)
φ6-eight couplings
(RH-12FH/20FH)

<d> In the other side has two

holes for fixing the hose and
*The diagram shows an example of pulling the
cable by cable tie.
hand input cable
<c> Cable clamp attachment hole (φ21)
Two points-left and right. Installation holes
Blind plug attached. (M4 screw four places)

Table 3-2 ： Hose and cables which can be pulled out

Position to pull out
No Air hoses/cables RH-3FH/6FH RH-12FH/20FH Example usage

(1) Primary piping air hose (φ6-2 hoses) Coupling Coupling Primary air supply to externally
(The primary piping is equipped from rear of <a> installed solenoid valve.
φ6 two couplings φ6 two couplings
(2) Secondary piping air hose (φ4-8 hoses: RH- Coupling Coupling Taking in the secondary air from
3FH/6FH, φ6-8 hoses: RH-12FH/20FH) <b> φ8 eight φ8 eight externally installed solenoid valve.
(3) Optional hand output cable For driving the externally installed
φ21 hole four φ21 hole four solenoid valve.
<c>
(4) Optional hand input cable place place Taking in the input signals from tools
such as the hand.
Note) Fix all with cable tie (sections <d> and <e> of the diagram)

<f> Positions to fix with cable tie

(two positions left and right) <e> Fix to the external wiring and
piping box with cable tie
(has two holes for fixing)

The hole for fixing the cable tie Cable tie

J2 axis reduction gears

Cable

Air hose

*Diagram shows an image of pulling out air hose and cables

Fig.3-8 ： External Wiring and Piping Box

3-60 External Wiring and Piping Box

 3Installing the option devices

Fig. 3-8 shows the installation procedure for the external wiring and piping box. The procedure is the same in
RH-3FH/6FH/12FH/20FH. Remove the No. 2 arm cover B and install this option using the same screw holes. The
installation procedure is shown below.
Turn the controller’s power OFF before this operation. Refer to Page 68, "5.3.2 Installing/removing the cover" for
removing/ installing the cover.

1) Remove the each fixing screws and remove the No. 2 arm cover U and the No. 2 arm cover B.
2) Pull out the air hoses or cables from the opening which removed the No. 2 arm cover B.
3) Fix (or connect) the air hoses and cables to this option box.
Previously adjust the air hose and cables to an appropriate length. Make sure that the wiring and piping lines
avoid the side of the J2 reducer (because gap is narrow, it interfere with the No. 2 arm cover U).
Connect the air hoses with the joint inside this option box.
Remove the blind plug attached to this option box and fix the cable with the cable clamp.

To the inside of a robot arm

ロボットアーム内へ

External wiring
and piping
外部配線配管 box ロックナット
Lock nut
ボックス
(this option box)

ケーブルクランプ
Cable clamp
(Attached to a hand output
cable and a hand input
cable)
Cable to pull out
引出すケーブル
(hand output cable, etc.)
(ハンド出力ケーブルなど)
Fig.3-9 ： Fixing the Cable

4) Fix the air hoses and cables to the hole inside of this box by using the attached cable tie. (section <e> of
Fig. 3-8)
Note) Be sure to fix the air hoses and cables to prevent the hoses falling out and breaking the cable. Also,
fix carefully so that the air hose and cables may not be pulled too much.
5) Install securely the external wiring and piping box to the screw holes that previously installed the No. 2 arm
cover B by attached screw. (tightening torque: 1.39 to 1.89Nm).
When installing pull it little by little from the No. 2 arm side, making sure that the air hose and cables are not
bent or trapped.
6) Make sure that the wiring and piping lines on the No.2 arm avoid the side of the J2 reducer (because gap is
narrow, it interfere with the No. 2 arm cover U).
Fix the hoses and cables to the hole shown in section <f> of Fig. 3-8 using cable tie. There are 2 holes,
located left and right.
7) If the cables and the air hoses have excess length, please tie the excess section using cable tie.
8) Install securely the No.2 arm cover U as before with fixing screws (tightening torque: 1.39 to 1.89 Nm).
Note) The installation surface of the clean and the oil-mist specification covers is using sealing material.
In the event that the sealing material has been removed or has been bent or broken to the extent
that it cannot be return to the original form, be sure to replace the sealing material. Please contact
dealer when the sealing material needs to be replaced.

This completes installing the External Wiring and Piping Box.

External Wiring and Piping Box 3-61

4Basic operations

4 Basic operations
The basic operations from creating the program to automatic operation are explained in section "4. Basic
operations" in the "From Controller Setup to Maintenance" manual. Refer that manual as necessary.

4-62
 5Maintenance and Inspection

5 Maintenance and Inspection

The maintenance and inspection procedures to be carried out to use the robot for a long time without trouble are
described in this chapter. The types and replacement methods of consumable parts are also explained.

5.1 Maintenance and inspection interval

Maintenance and inspection are divided into the inspections carried out daily, and the periodic inspections carry
out at set intervals. Always carry these out to prevent unforeseen trouble, to maintain the product for a long time,
and to secure safety.

(1) Inspection schedule

In addition to the monthly inspection, add the following inspection items every three months (estimated at 500 Hr
operation hours).

0 Hr

Monthly inspection

Monthly inspection

500 Hr Monthly inspection 3-month inspection

Monthly inspection

Monthly inspection
Daily inspection

1,000 Hr Monthly inspection 3-month inspection 6-month inspection

Monthly inspection

Monthly inspection

1,500 Hr Monthly inspection 3-month inspection

Monthly inspection

Monthly inspection

2,000 Hr Monthly inspection 3-month inspection 6-month inspection Yearly inspection

6,000 Hr Monthly inspection 3-month inspection 6-month inspection Yearly inspection 3-year inspection

Operating time

<Guideline for inspection period>

For one shift
8 Hr/day× 20 days/month × 3 months = approx. 500 Hr
10 Hr/day ×20 days/month × 3 months = approx. 600 Hr
For two shifts
15 Hr/day ×20 days/month ×3 months = approx. 1000 Hr

[Caution] When using two lines, the 3-month inspection, 6-month inspection and yearly
inspection must be carried out when half the time has passed.
Fig.5-1 ： Inspection schedule

Maintenance and inspection interval 5-63

5Maintenance and Inspection

5.2 Inspection items

The inspection items for the robot arm are shown below.
Also refer to section "5. Maintenance and inspection" in the "Controller setup, basic operation, and maintenance"
manual, and inspect the controller.

5.2.1 Daily inspection items

Carry out the daily inspections with the procedures given in Table 5-1.

Table 5-1 ： Daily inspection items (details)

Procedure Inspection item (details) Remedies

Before turning power ON (Check the following items before turning the power ON.)
1 Are any of the robot installation bolts loose? Securely tighten the bolts.
(Visual)

2 Are any of the cover tightening screws loose? Securely tighten the screws.
(Visual)

3 Are any of the hand installation bolts loose? Securely tighten the bolts
(Visual)

4 Is the power supply cable securely connected? Securely connect.

(Visual)

5 Is the machine cable between the robot and controller securely Securely connect.
connected?
(Visual)

6 Are there any cracks, foreign contamination or obstacles on the robot Replace with a new part, or take remedial measures.
and controller cover?

7 Is there any abnormality in the pneumatic system? Are there any air Drain the drainage, and remedy the air leaks (replace
leaks, drain clogging or hose damage? Is the air source normal? the part).
(Visual)

8 Are there any cracks, foreign contamination or obstacles on the bel- Replace with a new bellows.
lows?
(Visual)

After turning the power ON (Turn the power ON while monitoring the robot.)
1 Is there any abnormal motion or abnormal noise when the power is Follow the troubleshooting section.
turned ON?

During operation (try running with an original program)

1 Check whether the movement points are deviated? Follow the troubleshooting section.
Check the following points if there is any deviation.
1. Are any installation bolts loose?
2. Are any hand installation section bolts loose.
3. Are the positions of the jigs other than the robot deviated?
4. If the positional deviation cannot be corrected, refer to
"Troubleshooting", check and remedy.

2 Is there any abnormal motion or abnormal noise? Follow the troubleshooting section.
(Visual)

5-64 Inspection items

 5Maintenance and Inspection

5.2.2 Periodic inspection

Carry out periodic inspection with the procedures given in Table 5-2.

Table 5-2 ： Periodic inspection items (details)

Procedure Inspection item (details) Remedies

Monthly inspection items

1 Are any of the bolts or screws on the robot arm loose? Securely tighten the bolts.

2 Are any of the connector fixing screws or terminal block terminal Securely tighten the screws.
screws loose?

3-month inspection items

1 Is there any grease of the shaft section still? Wipe off the old grease and supply the new grease.

6-month inspection items

1 Has the dust accumulated into bellows? Remove bellows and clean the inside.
(When environment with much dust) (Refer to Page 124, "5.3.5 Replacing the bellows" for
how to remove bellows)

Yearly inspection items

1 Replace the backup battery in the robot arm. Exchange it referring to Page 91, "5.3.7 Replacing the
backup battery".

2 Is the friction at the timing belt teeth severe? If the teeth are missing or severe friction is found,
replace the timing belt.

3 Is the timing belt tension abnormal? If the timing belt is loose or too tense, adjust it.

3-year inspection items

1 Replace the bellows (J3 axis). Replace it referring to Page 124, "5.3.5 Replacing the
(Only clean specification and oil mist specification) bellows"

Inspection items 5-65

5Maintenance and Inspection

5.3 Maintenance and inspection procedures

The procedures for carrying out the periodic maintenance and inspection are described in this section. Thoroughly
read the contents, and follow the instructions. This work can be commissioned to the Mitsubishi Service Depart-
ment for a fee. (Never disassemble, etc., the parts not described in this manual.)
The maintenance parts, etc., required for the customer to carry out maintenance and inspection are described in
Page 94, "5.5 Maintenance parts" of this manual. Always contact your dealer when parts are needed.

CAUTION The origin of the machine system could deviate when this work is carried out.
"Review of the position data" and "re-teaching" will be required.

5.3.1 Robot arm structure

The outline drawing of RH-3FH series is shown in Fig. 5-2, and RH-6FH/12FH/20FH series is shown in Fig. 5-3.

<RH-3FH series>

第2アームカバーU
No.2 arm cover U ⑧J3軸モータ
<8> J3 axis motor

③J2軸モータ
<3> J2 axis motor

⑪ボールネジスプライン
<11>Ball screw spline
④減速機
<4>Reduction gears
<9>J3 axis timing belt
⑨J3軸タイミングベルト
⑤J4軸モータ
<5> J4 axis motor

第1アーム
No.1 arm
No.2 arm
第2アーム

第2アームカバーD
No.2 arm cover D

⑦J4軸タイミングベルト2
<7>J4 axis timing belt2 ⑥J4軸タイミングベルト1
<6>J4 axis timing belt1

Base
ベース

②減速機
<2>Reduction gears

<1> ①J1軸モータ
J1 axis motor

Fig.5-2 ： Outline structure drawing of robot arm (RH-3FH)

5-66 Maintenance and inspection procedures

 5Maintenance and Inspection

<RH-6FH/12FH/20FH series>

第2アームカバーU
No.2 arm cover U ⑧J3軸モータ
<8> J3 axis motor

⑩ボールネジ
<10>Ball screw ③J2軸モータ
<3> J2 axis motor

⑪ボールスプライン
<11>Ball spline
④減速機
<4>Reduction gears

⑤J4軸モータ
<5> J4 axis motor
⑨J3軸タイミングベルト
<9>J3 axis timing belt
第1アーム
No.1 arm
No.2 arm
第2アーム

第2アームカバーD
No.2 arm cover D

⑦J4軸タイミングベルト2
<7>J4 axis timing belt2 ⑥J4軸タイミングベルト1
<6>J4 axis timing belt1

Base
ベース

②減速機
<2>Reduction gears

<1> ①J1軸モータ
J1 axis motor

Fig.5-3 ： Outline structure drawing of robot arm (RH-6FH/12FH/20FH)

Maintenance and inspection procedures 5-67

5Maintenance and Inspection

5.3.2 Installing/removing the cover

<1> No.2 arm cover U

<3> No.2 arm cover U

(Back of No.2 arm cover)

<2> No.2 arm cover D

<6> Conbox cover

(upper side of back of base?

<5> Battery cover

Note) The cover
on the top
face of the
No.1 arm is
not removing.

<4> ADD cover

(lower side of back of base) *The type in the diagram is the RH-3FH, however the cover
is the same on the RH-6FH/12FH/20FH.
Fig.5-4 ： Installing/removing the cover

Note) This robot has packing. Refer to Page 94, "Table 5-9 ： Consumable part list" for type name of packing.

CAUTION Check to see that the packing has not been torn or peeled off when the cover
was mounted/removed. If it has been torn or peeled off, please contact dealer. If
the cover is used with the packing torn or peeled off, oil mist and other
substances may enter inside the arm and cause a malfunction.

5-68 Maintenance and inspection procedures

 5Maintenance and Inspection

Table 5-3 ： Cover fixing screw list

No. Cover name Installation screw name: Qty.Note1) Remarks

Common to RH-3FH/6FH/12FH/20FH series

(1) No.2 arm cover-U Truss head screw, M4 x 10: 6 RH-3FH/6FH/12FH series, RH-20FH85** series
Truss head screw, M4 x 10: 10 RH-20FH100** series
(2) No.2 arm cover-D Truss head screw, M4 x 10: 6
(3) No.2 arm cover-B Hexagon socket bolts, M4 x 12: 4
(4) ADD cover Hexagon socket bolts, M4 x 12: 2
(5) Battery cover Truss head screw, M4 x 10: 6
(6) CONBOX cover Hexagon socket bolts, M4 x 12: 4

Note1)The fixing torque for each screw are 1.39-1.89Nm.

(1) Referring to Fig. 5-4, remove the covers.

(2) The names of the covers and installation screws are given in Table 5-3.
(3) When reattaching the covers after a maintenance inspection, proceed in the reverse order of their removal.
Tightening the screw with the torque shown in Table 5-3.

[Note] Sealant is applied to the installation surface of cover in the oil mist and clean specification models. Be sure
to replace the sealant if it has been dislocated and bent or crushed and does not return to its original
shape. Moreover, in the case of oil mist and clean specification models, it is necessary to remove the bel-
lows. Refer to Page 124, "5.3.5 Replacing the bellows" for details on how to remove bellows.

Maintenance and inspection procedures 5-69

5Maintenance and Inspection

5.3.3 Packing Replacement Procedure

The packing gets deteriorated with the passage of time and must be replaced as required. Table 5-4 provides
guidelines for replacing the packing. Replace the packing in accordance with the instructions given below. If the
packing is not replaced in a timely manner, water or oil will be allowed to intrude the robot, possibly making it
inoperative.

Table 5-4 ： Packing replacement guideline

Whether or not
Service environment When packing must be replaced
robot is pressurized

General environment Note1)

Not pressurized

Clean room Not pressurized Note1) When signs of cracking or peeling are noted in the packing.

Oil mist Pressurized

Not pressurized When the cover mounted on the robot is removed/put back in place

Note1) When used in the "general" or "clean room" environment, robot can do away with pressurization.

(1) Packing Replacement Instructions

Stick again new packing as before.
1) Remove the old packing, and clean and degrease the surface on which it has been placed.
2) The sticking surface of packing is double-coated adhesive tape. Referring to "Fig.5-5 ： Example of sticking
packing (good example)" and "Fig.5-7 ： Sticking the cord-like packing", and stick the packing in line with
form . Be careful for the packing not to slide. The example of unsuitable packing slid is shown in "Fig.5-
6 ： Example of sticking packing (bad example)".
3) Although the No.2 arm cover (U) sticks two or more packings per place, it has length with which packing
ends overlap. Stick packing in the following procedures. For more information, see "Fig.5-8 ： Examples of
packing overlaps". Examples of improperly treated cut edge are shown, as well.
a) Stick packing in line with form of the sticking surface. Finally, cut packing so that adjoining pieces have
a 1mm overlap at the end.
b) Apply liquid gasket to the cut edges. (Designated liquid gasket: 1212 (Maker: Three Bond))
c) Stick so that the gap may not be made to each other's packing.

CAUTION Do not install the cover immediately after sticking packing. Install the cover,
after the 6 hours pass after sticking packing for gasket hardening.

4) Confirm that packing is stuck correctly and install the cover. When tightening the bolts fixing the cover,
avoid tightening them to a specified torque at a time. Tighten the bolt in the order shown as much as
possible in the "Fig. 5-10: Example of order which tighten bolts." The torque which tightens the fixing bolt
of each cover is shown in "Table 5-3 ： Cover fixing screw list".

CAUTION Stick the packing securely, pressing down with the finger. If sticking is insuffi-
cient, when the cover is installed, packing slides by the pressure, and there is a
possibility that it may become impossible to secure protection performance.

Completion of packing replacement

5-70 Maintenance and inspection procedures

 5Maintenance and Inspection

Packing is stuck securely

without sliding.

Fig.5-5 ： Example of sticking packing (good example)

Sliding.

Fig.5-6 ： Example of sticking packing (bad example)

Some of the packings to be used are cord-like.

Stick such packings by bending in line with the form.
Location at which gasket
Location at which is applied.
packing is bent

Stick the packing

Cord-like packing

Fig.5-7 ： Sticking the cord-like packing

Maintenance and inspection procedures 5-71
5Maintenance and Inspection

A 1mm overlap

[1] Cut the packing so that there is a 1mm overlap at [2] Apply liquid gasket to the cut edges.
the end.

Join by liquid gasket

[3] Stick the packing so that there is no gap between the

adjacent pieces.

Unsuitable overlap of packing

Gasket is not applied.

ガスケットを塗布していない

Ends of packing are not in contact with each

パッキンが接触していない
other.

Displacement
パッキンがずれている at the ends of packing

Ends of packing overlap each other.

パッキンが重なっている

Cut edge of packing is irregular.

パッキンの切断面が乱れている

End of packing is cut diagonally.

パッキンが斜めに切断されている

Fig.5-8 ： Examples of packing overlaps

5-72 Maintenance and inspection procedures

 5Maintenance and Inspection

1 3

4 2

Fig.5-9 ： Example of order which tighten bolts

Maintenance and inspection procedures 5-73

5 Maintenance and Inspection

5.3.4 Inspection, maintenance and replacement of timing belt

This robot uses a timing belt for the drive conveyance system of the J5 axis. Compared to gears and chains, the
timing belt does not require lubrication and has a low noise. However, if the belt usage method and tension adjust-
ment are inadequate, the life could drop and noise could be generated. Sufficient aging to remove the initial elon-
gation of the belt, and adjustment of the belt tension have been carried out before shipment from the factory.
However, depending on the robot working conditions, elongation will occur gradually over a long time. The tension
must be confirmed during the periodic inspection.
The replacement is necessary if the timing belt is in the condition which showed in "(1)Timing belt replacement
period". The inspection and adjustment and replacement method of the timing belt of each axis is shown below.
Please check, and adjust and replace if necessary.

In addition, it is serviceable if there is the sound wave type belt tension gauge in inspection and adjustment of the
timing belt. The recommendation gauge is shown below. Please prepare by customer. Refer to the Page 85, "(7)
Timing belt tension" for the tension adjustment value of the timing belt.
Maker:Gates Unitta Asia Company,
Type:U-505

Measurement by the sound wave Measurement by the push-pull gauge

type belt tension gauge
Fig.5-10 ： Tension adjustment method of timing belt

(1) Timing belt replacement period

The timing belt life is greatly affected by the robot working conditions, so a set time cannot be given. However, if
the following symptoms occur, replace the belt.
1) When cracks from at the base or back of the belt teeth.
2) When the belt expands due to adherence of oil, etc.
3) When the belt teeth wear (to approx. half of the tooth width).
4) When the belt teeth jump due to belt teeth wear.
5) When the belt snaps.

CAUTION Due to the manufacturing of the timing belt, initial wear will occur. Wear chips may
accumulate in the cover after approx. 300 Hr of operating the robot, but this is not a
fault. If the wear chips appear soon after wiping them off, replace the belt.

CAUTION When the belt is replaced, the machine system origin may deviate. In this case, the
position data must be reviewed.

5-74 Maintenance and inspection procedures

 5 Maintenance and Inspection

(2) RH-3FH series: Inspecting/Adjusting the J3 axis timing belt

The section related to J3 axis timing belt of RH-3FH series and adjustment is shown in Fig. 5-11. The picture is
the image which removed the No.2 arm cover.

<3> J3 axis motor

<2> J3 axis motor fixing screw

<2> J3 axis motor fixing screw loosen lightly
loosen lightly

<1>Tension adjustment screw

Loosen the nut, adjust by <6> J3 timing pulley B
screw Don't remove the timing
belt.
<5> J3 timing pulley A
Don't remove the timing
belt.
Push
<4> Timing belt

Fig.5-11 ： Inspecting/Adjusting the J3 axis timing belt

Inspection and adjustment procedure of the timing belt of J3 axis are shown below.

1) Confirm that the power supply of the controller is OFF.

2) Refer to Page 68 "Fig. 5-4: Installing/removing the cover", and remove the No.2 arm cover U.
3) Visually confirm that the symptoms indicated in"(1)Timing belt replacement period" have not occurred with
the <4> timing belt.
4) Lightly press the center of the belt, and confirm that the value of belt slack is in following. The tension of
the belt is shown also in Page 85 "Fig. 5-14: Belt tension".
･ Belt tensioning: Force to press = approx. 2N, Flexure = 1.5mm
When adjustment is necessary, continue to follow the procedure shown below.
When adjustment is not necessary, install the No.2 arm cover U as before and finish the inspection.

5) Lightly loosen J3 motor installation screws <2> (Be careful not to overly loosen the screws.).
6) The nut which is fixing tension adjustment screw <1> is loosened, turn tension adjustment screw <1>, and
adjust the tension of timing belt <4>.
When the screw is turned to the right, the belt will be stretched, and when turned to the left, will loosen.
Adjust tension to the above-mentioned value.
Note) Be careful, if the belt is removed from pulley <5> <6>, or the mesh of belt and pulley <5> <6> is
shifted by loosening the screw too much, the origin will deviate. If the position deviated, reset the
origin. (Refer to Page 96, "5.6 Resetting the origin")
7) After adjustment, fasten securely the two J3 axial motor fixing screws <2>, and the nut of tension
adjustment screw <1>.
8) Improper tightening may cause the belt to loosen with vibration.
9) Install No.2 arm cover U securely as before and finish adjustment.

This completes adjustment of the J3 axis timing belt.

Maintenance and inspection procedures 5-75

5 Maintenance and Inspection

(3) RH-3FH series: Replacing the J3 axis timing belt

The procedure for replacing the J3 axis timing belt on the RH-3FH series is shown below. The diagram shows an
image of the removed No. 2 arm cover U.
After replacing the J3 axis timing belt the resetting the origin of J3 and J4 axis is necessary.

1) Move the J3 axis to the position lowered about 30mm from the upper limit by jog operation. This position makes
the space for removing the belt.
After moving the J3 axis turn the controller's power supply OFF.
2) Refer to Page 68 "Fig. 5-4: Installing/removing the cover", and remove the No.2 arm cover U.
3) Loosen the nut of tension adjustment screw <1>, and loosen the tension adjustment screw <1>.
<3> J3 axis motor
*Move the J3 axis to the
position lowered about 30mm
from the upper limit
previously.

<2> J3 axis motor fixing screw

remove
<2> J3 axis motor fixing screw
remove

<1>Tension adjustment screw

Loosen the nut and screw

<5> Timing pulley A <6> Timing pulley B

<4> Timing belt

4) Remove two fixing screws <2>, remove the J3 axis motor <3>, remove the timing belt <4> from the timing pulley
A <5>.
<3> J3 axis motor
remove
<2> J3 axis motor fixing screw
remove
<2> J3 axis motor fixing screw
remove

<5> Timing pulley A

<4> Timing belt

Remove from the timing pulley A <5>.

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 5 Maintenance and Inspection

5) Remove the timing belt <4> from the shaft to upward.

Remove the fixing screw <7> of shaft fixing plates and lift up the shaft fixing plate <8>.
When using the optional hand internal wiring and piping set remove the fixing screws fixed to the top.
Remove the timing belt <4> from the timing belt removal space <9> created under the shaft fixing plate <8> by
lift up.
<10>Shaft
(Ball screw spline) <7>Shaft fixing screw
(four screws)
remove
*Also at the back left of
the diagram

<8>Shaft fixing plate

lift up

<9>Timing belt
removal space

<4> Timing belt

Remove from the timing belt
removal space <9> to upward

<4> Timing belt

The belt was removed on the shaft
fixed plate <8>

Maintenance and inspection procedures 5-77

5 Maintenance and Inspection

6) Remove the timing belt <4> from the top of the shaft
If using the optional hand internal wiring and piping set, temporarily remove the hand input cable connector
<11> and air hoses <12> of solenoid valve side. And remove the timing belt to upward.

Remove to upward

<4> Timing belt

<11> Hand input cable con-

nector
Remove temporarily
<12> Air hoses
Remove temporarily

7) Install the new timing belt in reverse procedure of removal.

Install the new belt to the timing pulley (on the motor) <5> and timing pulley B <6> securely.
Fix the shaft fixing plate <8> by fastening the original fixing screws securely.
If using the hand input cables <11> and air hoses <12>, connect them as before.
8) Install the J3 axis motor <3> by tightening lightly the J3 axis motor fixing screw <2> (two screws)
9) Adjust the tension of J3 axis timing belt with referring to Page 75, "(2) RH-3FH series: Inspecting/Adjusting the
J3 axis timing belt".
10) Install No.2 arm cover U securely as before.
11) Reset the origin of J3 and J4 axis with referring to the Page 96, "5.6 Resetting the origin"
12) When the maintenance forecast function is valid, reset the accumulation data about the belt. Reset by the
dedicated screen or parameter MFBRST of RT ToolBox2.
13) Refer to "Instruction Manual/RT ToolBox2 User's Manual" for operation of RT2 and refer to "Instruction
Manual/Detailed Explanation of Functions and Operations" for the parameter.

This completes replacement of the J3 axis timing belt.

5-78 Maintenance and inspection procedures

 5 Maintenance and Inspection

(4) RH-6FH/12FH/20FH series: Inspecting/Adjusting the J3 axis timing belt

The section related to J3 axis timing belt of RH-6FH/12FH/20FH is shown in Fig. 5-12. The picture is the image
which removed the No.2 arm cover.

*The RH-12FH/20FH series is also equivalent

<3> J3 axis motor although the figure is RH-6FH.

<2> J3 axis motor fixing screw

loosen lightly

<2> J3 axis motor fixing screw

loosen lightly
<6> J3 timing pulley B
(Ball screw lower part)
Don't remove the timing belt.

<4> Timing belt

Push
<5> J3 timing pulley A
Don't remove the timing
belt. <1>Tension adjustment screw
Loosen the nut, adjust by
screw

Fig.5-12 ： Inspecting/Adjusting the J3 axis timing belt (RH-6FH/12FH/20FH)

Inspection and adjustment procedure of the timing belt of J3 axis are shown below.

1) Confirm that the power supply of the controller is OFF.

2) Refer to Page 68 "Fig. 5-4: Installing/removing the cover", and remove the No.2 arm cover U.
3) Visually confirm that the symptoms indicated in 「"(1)Timing belt replacement period" have not occurred
with the <4> timing belt.
4) Lightly press the center of the belt, and confirm that the value of belt slack is in following. The tension of
the belt is shown also in Page 85 "Fig. 5-14: Belt tension".
･ Belt tensioning: Force to press = approx. 3N, Flexure = 1.3mm
When adjustment is necessary, continue to follow the procedure shown below.
When adjustment is not necessary, install the No.2 arm cover U as before and finish the inspection.

5) Lightly loosen J3 motor installation screws <2> (Be careful not to overly loosen the screws.).
6) Loosen the tension adjustment screw <1>. Adjusts by turning the tension adjustment screw <1> slowly and
moving the J3 axis motor <3> little by little.
When the screw is turned to the right, the belt will be stretched, and when turned to the left, will loosen.
Adjust tension to the above-mentioned value.
Note) Be careful, if the belt is removed from pulley <5> <6>, or the mesh of belt and pulley <5> <6> is
shifted by loosening the screw too much, the origin will deviate. If the position deviated, reset the
origin. (Refer to Page 96, "5.6 Resetting the origin")
7) After adjustment, fasten securely the two J3 axial motor fixing screws <2>, and the nut of tension
adjustment screw <1>. Improper tightening may cause the belt to loosen with vibration.
8) Install No.2 arm cover U securely as before and finish adjustment.

This completes adjustment of the J3 axis timing belt.

Maintenance and inspection procedures 5-79

5 Maintenance and Inspection

(5) RH-6FH/12FH/20FH series: Replacing the J3 axis timing belt

The procedure for replacing the J3 axis timing belt on the RH-6FH/12FH/20FH series is shown below. The
diagram shows an image of the removed No. 2 arm cover U.
After replacing the J3 axis timing belt the resetting the origin of J3 and J4 axis is necessary.

1) Refer to Page 68 "Fig. 5-4: Installing/removing the cover", and remove the No.2 arm cover U.
2) Loosen the nut of tension adjustment screw <1>, and loosen the tension adjustment screw <1>.

*The RH-12FH/20FH series is also equivalent

<3> J3 axis motor although the figure is RH-6FH.
remove
<2> J3 axis motor fixing screw
remove

<2> J3 axis motor

fixing screw
remove <6> Timing pulley B
(Ball screw lower part)

<4> Timing belt

<5> Timing pulley A

<1>Tension adjustment screw

Loosen the nut and screw

3) Remove two fixing screws <2>, and remove the J3 axis motor <3>.

<3> J3 axis motor

remove <2> J3 axis motor fixing screw
Remove

Remove

<6> Timing pulley B

(Ball screw lower part)
<2> J3 axis motor fixing screw

<4> Timing belt

Remove from the timing pulley A (motor
<5> Timing pulley A side <5>) and B (shaft side <6>).

4) Remove the timing belt <4> from the timing pulley A (motor side <5>) and B (shaft side <6>).
5) Install surely the new belt to the timing pulley (on the motor) <5> and timing pulley B <6>, and fix the J3 axis
motor <3> with J3 axis motor fixing screw <2>.
Confirms having related the timing belt <4> to the timing pulley A <5> and the timing pulley B <6> securely.
6) Adjust the tension of J3 axis timing belt with referring to Page 79, "(4) RH-6FH/12FH/20FH series: Inspecting/
Adjusting the J3 axis timing belt".
7) Install No.2 arm cover U securely as before.
8) Reset the origin of J3 and J4 axis with referring to the Page 96, "5.6 Resetting the origin"

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 5 Maintenance and Inspection

9) When the maintenance forecast function is valid, reset the accumulation data about the belt. Reset by the
dedicated screen or parameter MFBRST of RT ToolBox2. Refer to "Instruction Manual/RT ToolBox2 User's
Manual" for operation of RT2 and refer to "Instruction Manual/Detailed Explanation of Functions and
Operations" for the parameter.

This completes replacement of the J3 axis timing belt.

Maintenance and inspection procedures 5-81

5 Maintenance and Inspection

(6) RH-3FH/6FH/12FH/20FH series: Inspecting/Adjusting the J4 axis timing belt

As shown in Fig. 5-13, the J4 axis timing belt consists of two timing belts: timing belt A <1> and timing belt B <2>.
When adjusting the timing belts, first adjust timing belt B <2> and then proceed to adjust timing belt A <1>.
<The No.2 arm bottom view (Inside of the No.2 arm cover D)>
<2> Timing belt B <1> Timing belt A
Adjust first Adjust next

Push

Shaft

Push

Timing pulley A

Timing pulley B

Timing pulley C

Timing pulley D
Timing belt B adjustment screw
*The RH-3FH/12FH/20FH series is also equivalent although the figure is RH-6FH.

<The No.2 arm upper view (Inside of the No.2 arm cover U)>

Timing pulley A

Timing belt B adjustment screw

*The RH-3FH/12FH/20FH series is also equivalent although the figure is RH-6FH.

Fig.5-13 ： Inspecting/Adjusting the J4 axis timing belt

5-82 Maintenance and inspection procedures

 5 Maintenance and Inspection

Inspection and adjustment procedure of the timing belt of J4 axis are shown below.

1) Confirm that the power supply of the controller is OFF.

2) Refer to Page 68 "Fig. 5-4: Installing/removing the cover", and remove the No.2 arm cover U and No.2
cover D.
3) Visually confirm that the symptoms indicated in"(1)Timing belt replacement period" have not occurred with
the timing belt.
4) Lightly press the center of the belt, and confirm that the value of belt slack is in following. The tension of
the belt is shown also in Page 85 "Fig. 5-14: Belt tension".
Belt tensioning
・ RH-3FH...................................<1>Timing belt A: Force to press = approx. 2N, Flexure = 1.0mm
<2>Timing belt B: Force to press = approx. 4N, Flexure = 1.2mm
・ RH-6FH/12FH/20FH ........<1>Timing belt A: Force to press = approx. 2N, Flexure = 1.0mm
<2>Timing belt B: Force to press = approx. 4N, Flexure = 1.5mm
When adjustment is necessary, continue to follow the procedure shown below.
When adjustment is not necessary, install the No.2 arm cover U and No.2 arm cover D as before and finish the
inspection.

5) Adjusts the tension of the timing belt B <2>.

Lightly loosen timing pulley <B><C> fixing screws <3> (Be careful not to overly loosen the screws.).
6) Loosen the nut of tension adjustment screw <4> for timing belt B. Adjusts by turning the tension adjustment
screw <4> slowly and moving the timing pulley C <5> little by little.
When the screw is turned to the right, the belt will be stretched, and when turned to the left, will loosen.
Adjust tension to the above-mentioned value.
Note) Be careful, if the belt is removed from pulley <5> <6>, or the mesh of belt and pulley <5> <6> is
shifted by loosening the screw too much, the origin will deviate. If the position deviated, reset the
origin. (Refer to Page 96, "5.6 Resetting the origin")
<The No.2 arm bottom view (Inside of the No.2 arm cover D)>
<2> Timing belt B <5>Timing pulley C

<6>Timing pulley D <4>Timing pulley B

Push

<3>Timing pulley <B><C> fixing screws

(three screws)
Loosen <4> Tension adjustment screw for
timing belt B <3>Timing pulley <B><C> fixing screws
Loosen the nut and screw (three screws)
Loosen
*The RH-3FH/12FH/20FH series is also equivalent although the figure is RH-6FH.

7) After adjustment, fasten certainly the three timing pulley <B><C> fixing screws <3>. And fasten certainly the
nut of tension adjustment screw <4>.
8) Improper tightening may cause the belt to loosen with vibration.

Maintenance and inspection procedures 5-83

5 Maintenance and Inspection

9) Next, adjusts the tension of the timing belt A <1>.

Lightly loosen two J4 motor fixing screws <7> (Be careful not to overly loosen the screws.).
10) Loosen the nut of tension adjustment screw <8> for timing belt A. Adjusts by turning the tension
adjustment screw <8> slowly and moving the J4 axis motor <9> little by little.
When the screw is turned to the right, the belt will be stretched, and when turned to the left, will loosen.
Adjust tension to the above-mentioned value.
Note) Be careful, if the belt is removed from pulley <10> <4>, or the mesh of belt and pulley <10> <4> is
shifted by loosening the screw too much, the origin will deviate. If the position deviated, reset the
origin. (Refer to Page 96, "5.6 Resetting the origin")
<The No.2 arm upper view (Inside of the No.2 arm cover U)>

<9>J4 axis motor

<7> J4 axis motor fixing screw

(two screws)
*Exists in the rear of J4 axis also

<1>Timing belt A

<8>Tension adjustment screw for

timing belt A
Loosen the nut and screw
*The RH-3FH/12FH/20FH series is also equivalent although the figure is RH-6FH.

<The No.2 arm bottom view (Inside of the No.2 arm cover D)>
<1> Timing belt A

<10>Timing pulley A

Push

<4>Timing pulley B

*The RH-3FH/12FH/20FH series is also equivalent although the figure is RH-6FH.

11) After adjustment, fasten certainly the two J4 motor fixing fixing screws <7> And fasten certainly the nut of
tension adjustment screw <8>. Improper tightening may cause the belt to loosen with vibration.
12) Install No.2 arm cover U and No.2 arm cover D securely as before and finish adjustment.

This completes adjustment of the J4 axis timing belt.

5-84 Maintenance and inspection procedures

 5 Maintenance and Inspection

(7) Timing belt tension

T T

ｆ ： Pressing force
ｓ ： Span
ｄ ： Slack
T ： Tension
T T

Fig.5-14 ： Belt tension

Table 5-5 ： Pressing force (timing belt)

Axis Belt type Span ： s (mm) Slack ： d (mm) Pressing force ： f (N) Remarks
RH-3FH series
J3 309-3GT-6 96 1.5 2
J4(motor side) 336-3GT-6 64 1.0 2
J4(shaft side) 282-3GT-12 74 1.2 4
RH-6FH series
J3 264-3GT-6 82 1.3 3
J4(motor side) 315-3GT-6 64 1.0 2
J4(shaft side) 363-3GT-12 95 1.5 4
RH-12FH series
J3 288-3GT-12 M434N4 71 1.1 4
J4(motor side) 417-3GT-9 M434N4 99 1.5 3
J4(shaft side) 456-3GT-20 M434N4 121 1.9 7
RH-20FH series
J3 303-3GT-12 M434N4 71 1.1 4
J4(motor side) 417-3GT-9 M434N4 99 1.5 3
J4(shaft side) 456-3GT-20 M434N4 121 1.9 7

Table 5-6 ： The preset value and adjustment value in the sound wave type belt tension gauge
Preset value Standard tension
Axis Belt type
M(g/m) W(mm/R) S(mm) T(N)
RH-3FH series
J3 309-3GT-6 2.5 6 96 26-32
J4(motor side) 336-3GT-6 2.5 6 64 26-32
J4(shaft side) 282-3GT-12 2.5 12 74 53-65
RH-6FH series
J3 264-3GT-6 2.5 9.0 82 40-48
J4(motor side) 315-3GT-6 2.5 6.0 64 26-32
J4(shaft side) 363-3GT-12 2.5 12.0 95 53-65
RH-12FH series
J3 288-3GT-12 M434N4 2.5 12 71 59
J4(motor side) 417-3GT-9 M434N4 2.5 9 99 44
J4(shaft side) 456-3GT-20 M434N4 2.5 20 121 98
RH-20FH series
J3 303-3GT-12 M434N4 2.5 12 71 59
J4(motor side) 417-3GT-9 M434N4 2.5 9 99 44
J4(shaft side) 456-3GT-20 M434N4 2.5 20 121 98
Note) The value given in the table is the value of proper tension. Because the tension declines by the infancy expansion when exchanged to
new belt, please adjust proper tension again after the operation for the about 100 hours when exchanged to new belt

The timing belt can satisfactorily convey the drive and keep a durable force only when it has an adequate tension.
The belt tension should not be too tight or too loose. Instead, it should be adjusted to a degree that elasticity is
felt when the belt is pressed with the thumb. If the belt tension is too weak, the belt loosening side will vibrate. On
the other hand, if the belt tension is too strong, a sharp sound will be heard and the belt tension side will vibrate.
The detailed adjustment (tension) is shown in Fig. 5-14.
Check and adjust with the belt pressing force f and the slack amount d between span s.

Maintenance and inspection procedures 5-85

5 Maintenance and Inspection

5.3.5 Replacing the bellows

With reference to Fig. 5-15, exchanges the bellows. Replace method of bellows is shown below.

CAUTION Replace the bellows in a place where there is no risk of contamination by dust and oil
mist. If it must be replaced in a dust-filled area, be sure to remove as much dust as
possible in advance before replacing it.
(1) Clean specification
1) Turn off the controller's power supply.
2) Refer to Page 68, "Fig.5-4： Installing/removing the cover", and remove the No.2 arm cover U and the No.2
arm cover D.
3) Loosen the two fixing (M4) screws of bellows, and remove the bellows to downward together with No.2 arm
cover D.
4) Remove the four fixing screws which fix the bellows to the No.2 arm cover D, and removes the ring, then the
bellows can be removed from No.2 arm cover D.
5) Fix the new bellows to the No. 2 arm cover D in the same way (screw tightening torque: 0.8Nm). Fill the gap
between the No. 2 arm cover D and the bellows with a seal such as a liquid gasket.
6) Install the No. 2 arm cover D as before.
7) Fix the bellows to shaft with adjusting the position of the bellows's bottom to 30mm from end of shaft. Align
two set screws (M4) to the D cut surface and fix them securely.
8) Fill the gap between the bellows fixing section and the shaft with a seal, such as a liquid gasket.
9) Sticks the attached ABS mark on the lower part of bellows. Makes the J4 axis into the position of 0 degree
by jog operation etc., and match the ABS mark sticker with ABS mark on the shaft, and stick it.
This completes the replacing bellows.
[Caution] When installing the No. 2 arm cover D to the No. 2 arm, please check the condition of the sealing. If the
sealing material has been removed or has been bent or broken, and it is not suitable to be reused, be
sure to replace the sealing material.

No.2 arm
Fixing screws of bellows
M3x8 four screws
No.2 arm cover D

Ring
Apply liquid gasket

No.2 arm

Apply liquid
gasket

No.2 arm cover D

30mm
Dカット面
D cut surface

Detail of D cut surface

Dカット面詳細

ABS mark
合いマーク
Liquid gasket application
液状ガスケット塗布位置

Set screw M4 two screws

30mm

Shaft
ボールネジ
D cut surface
M3x8 four
4-M3 screws
x 8ネジ

Apply liquid gasket

B View矢視B
from B
Fig.5-15 ： Replace the bellows (clean specification)

5-86 Maintenance and inspection procedures

 5 Maintenance and Inspection

(2) Oil mist specification

1) Previously, move the J3 axis to upper end position by jog operation.
This position is necessary to set the ABS mark (marking-off line) of J4 axis after.
2) Turn off the controller's power supply.
3) Remove the four screws (M3x8) which fix the lower part of bellows to the frange.
4) Lift the bellows, and loosen the two set screws of the frange, and remove the frange.
5) Loosens the fixing screw of the bellows stop ring which is fixing the upper part of bellows, and remove
bellows.
6) Installs new bellows.
7) Installs the frange in the position of 30 mm from the shaft lower end as before. Align two set screws (M4) to
the D cut surface and fix them securely.
8) Fixes the bellows lower part to the frange as before. Fixes the four bellows fixing screws (M3x8) securely.
9) Makes the J4 axis into the position of 0 degree by jog operation etc., and match the ABS mark (marking-off
line) with ABS mark (marking-off line) on the shaft.
In the condition that each other's ABS mark has matched, fixes the bellows upper part.
10) Fixes the fixing screw of the bellows stop ring as before, and fixes the upper part of bellows securely.

CAUTION The fixing screw should fix the bellows stop ring in the position used as the inner side.
(refer to figure) If that is not right, the fixing screw may interfere with the No.1 arm.
And, you should confirm that the stop ring has covered the perimeter of bellows
surely. If the fixation is not enough, the protection performance may drop.

This completes the replacing bellows.

No.2 arm
Bellows stop ring

fixing screw

Frange

Bellows fixing screw

M3x8, four screws

30mm
DDカット面
cut surface

DetailDカット面詳細
of D cut surface
Two set screws M4
D cut surface ABS mark (marking-off line)
ケガキ線
液状ガスケット塗布位置
Liquid gasket application

ボールネジ
Shaft
Frange
M3x8 four
4-M3 x 8ネジscrews

B View from B
矢視B
Fig.5-16 ： Replace the bellows (oil mist specification)

Maintenance and inspection procedures 5-87

5 Maintenance and Inspection

5.3.6 Lubrication
(1) Lubrication position and specifications
The grease nipple position is shown in Fig. 5-17. The lubrication specifications for each place are shown in Table
5-7. Refer to the Page 68, "5.3.2 Installing/removing the cover" for the method of removing and installing the
cover.

<4>Ball screw section application

RH-6FH/12FH/20FH

Inside of No.2 arm cover U <2>J2 axis lubri-

cation port

Inside of battery cover

<3>Shaft section application

RH-3FH: ball screw spline
RH-6FH/12FH/20FH: ball spline

<1>J1 axis lubrication port

Fig.5-17 ： Lubrication positions

Table 5-7 ： Lubrication specifications

Lubrication oil Lubrication Lubrication Cover to
No. Parts to be lubricated Lubrication method Default charge amount interval amount remove
(maker) guide
RH-3FH series
<1> J1 axis reduction gears Grease nipple 4BNo2 24,000 Hr 12 g Battery cover
<2> J2 axis reduction gears WC-610(Only addition) (Harmonic Drive Systems Inc.) 24,000 Hr 8g
No-CE specification:
Multemp PS2
No.2 arm
Shaft Wipe the old grease, (KYODO YUSHI CO., LTD.) Every 2,000km cover U
<3> 1g
（ball screw spline） and applies CE specification: movement
klübersynth UH1 14-222
(NOK Kluber Co., Ltd)
RH-6FH series
<1> J1 axis reduction gears Grease nipple 4BNo2 24,000 Hr 12 g Battery cover
<2> J2 axis reduction gears WC-610(Only addition) (Harmonic Drive Systems Inc.) 24,000 Hr 8g
<3> Shaft （ball spline） No-CE specification: 1g
Multemp PS2
No.2 arm
Wipe the old grease, (KYODO YUSHI CO., LTD.) Every 2,000km cover U
<4> Shaft （ball screw） and applies CE specification: movement 1g
klübersynth UH1 14-222
(NOK Kluber Co., Ltd)

5-88 Maintenance and inspection procedures

 5 Maintenance and Inspection

Lubrication oil Lubrication Lubrication Cover to

No. Parts to be lubricated Lubrication method Default charge amount interval amount remove
(maker) guide
RH-12FH/20FH series
<1> J1 axis reduction gears Grease nipple 4BNo2 24,000 Hr 47 g Battery cover
<2> J2 axis reduction gears WC-610(Only addition) (Harmonic Drive Systems Inc.) 24,000 Hr 39g
<3> Shaft （ball spline） No-CE specification: 1g
Multemp PS2
No.2 arm
Wipe the old grease, (KYODO YUSHI CO., LTD.) Every 2,000km cover U
<4> Shaft （ball screw） and applies CE specification: movement 1g
klübersynth UH1 14-222
(NOK Kluber Co., Ltd)

［Caution］
・ The brand name of the grease shown in the Table 5-7 is the grease put in at shipping.
・The lubrication time is a cumulative value of the operation at the maximum speed. If the operation has been sus-
pended, or if the designated speed is slow, the lubrication time can be lengthened in proportion.
・ Depending on the robot operation state, the lubrication time will fluctuate, so determine the time according to
the state so that the grease does not run out.
・ With the maintenance forecast function of the personal computer support software (option), the guidance of
lubrication time is calculated according to the operating environment of the customer.
･ By the maintenance forecast function of RT ToolBox2 (option) computes the guide of the lubrication hours put
together with the customer's operation status.
・ The numbers in theTable 5-7 correspond to the supply positions in Fig. 5-17.

Maintenance and inspection procedures 5-89

5 Maintenance and Inspection

(2) Lubrication method to the J1, J2 axis

1) Turn off the controller's power supply.
2) Refer to the "Fig.5-6 ： Installing/removing the cover" and remove the covers.
3) Insert the grease shown in Table 5-7 using a grease gun from the lubrication grease nipple. Add only the
specified amount of grease. Adding excess grease may cause grease to leak.

CAUTION Use manual grease gun, and inject grease with pressure 0.03Mpa or less. Do not use
the grease gun, which derived by the factory air presser to avoid injecting by too high
pressure.
Recommendation grease gun: KH35 (Yamada Corporation Inc.,)
4) Install the removed cover as before.
Note) Sealant is applied to the installation surface of cover in the oil mist and clean specification models.
Be sure to replace the sealant if it has been dislocated and bent or crushed and does not return to
its original shape.
5) If the maintenance forecast function is enable, please reset the accumulated data about grease. Carries out
the resetting operation by RT ToolBox or parameter (MFGRST). Refer to separate "RT ToolBox2 / RT
ToolBox2 mini User's Manual" for the operation method of RT ToolBox, and refer to separate "Instruction
Manual/Detailed Explanation of Functions and Operations" for details of parameter (MFGRST).
This complete of lubricating to J1, J2 axis.

(3) Lubrication method to the shaft

1) Applies the grease only above the shaft only. Move the J3 axis to upper limit using the jog operation
2) Refer to Page 68 "Fig. 5-4: Installing/removing the cover", remove the No. 2 arm cover-U. The bellows
must be removed in the case of the oil mist and clean specifications. Reference Page 86, "5.3.5 Replacing
the bellows"and remove the bellows.

CAUTION Replace the bellows in a place where there is no risk of contamination by dust
and oil mist. If it must be replaced in a dust-filled area, be sure to remove as
much dust as possible in advance before replacing it.

3) Wipe the old grease off the ball spline or ball screw. Wipe off the grease inside the No. 2 arm cover-U and
the bracket attached vertically to the shaft fixing area.
4) Apply the specified amount of grease to the ball spline and ball screws. If too much grease is applied, grease
can spread inside the No. 2 arm, and if it reaches to the timing belt, can cause the timing belt to deteriorate
quicker than usual.
5) Install the No.2 arm cover as before. Install the bellows as before in the oil mist and clean specification
Note) Sealant is applied to the installation surface of cover in the oil mist and clean specification models.
Be sure to replace the sealant if it has been dislocated and bent or crushed and does not return to
its original shape.
This completes of applying grease to shaft.

5-90 Maintenance and inspection procedures

 5 Maintenance and Inspection

5.3.7 Replacing the backup battery

An absolute encoder is used for the position detector, so while power of controller is turned off the position must
be saved by the backup battery. The controller also uses a backup battery to save the program, etc. The battery
is the lithium battery. These batteries are installed when the robot is shipped from the factory, but as these are
consumable parts, they must be replaced periodically by the customer.

The guideline for replacing the battery is one year, but this will differ according to the robot's usage state. There
exists the kinds of the errors about the battery shown in Table 5-8. If error 7500 occurs, please exchange the
battery of the robot arm and the controller simultaneously.

Table 5-8 ： The error about the battery

Item Error number Description Measure

7520 The battery consumption time was exceeded

Replace the battery
Controller

7510 Battery voltage low

The backup data cannot
7500 No battery voltage be guaranteed if this error
occurs.
7520 The battery consumption time was exceeded
Replace the battery
Robot arm

133nNote1) Encoder battery voltage low。

The backup data cannot
112n Encoder ABS position data lost be guaranteed if this error
occurs.
Note1) “n” indicates the axis number
The method of replacing the battery of robot arm is shown below.
refer to the separate "Instruction manual/Controller setup, basic operation, and maintenance" about controller's
battery.
About the purchase of the battery, refers to Page 94, "5.5 Maintenance parts".

CAUTION If error 7500 or 112n occurs, the program data and other data in the controller is lost
and it becomes necessary to load the data such as program and origin data again.

Maintenance and inspection procedures 5-91

5 Maintenance and Inspection

(1) Replacing the battery (robot arm)

CAUTION The power supply for the encoder is supplied by cable connected with battery board.
The cable must be connected while replacing the battery or operating usually. Thus, if
the cable connection is incomplete, the encoder position data will be lost, and reset-
ting the origin is necessary.

CAUTION Replace the battery one by one . If all batterys are removed the encoder data will be
lost, and resetting the origin is necessary.

The battery installation position is shown in Fig. 5-18. Refers to the figure and replaces the batteries in the
following procedures.

<2>Battery cover
②バッテリカバー

<1>Fixing screw (six screws) Battery

バッテリー
①取付ネジ（6本）

Fig.5-18 ： Replacing the battery

1) Turn the controller control power OFF.

2) Remove the six fixing screws <1>, and remove the battery cover <2>.
3) Remove the old battery from the holder, and disconnect the lead connector.
4) Insert the new battery into the holder, and connect the lead connector. Replace all batteries with new ones at
the same time.
5) Replaces the backup battery one by one in the above-mentioned procedure.
6) All the batteries should check that it has been exchanged newly. If the old battery is contained, generating
heat and damaging may occur.
7) Install the battery cover <2> as before. Be careful so that the cable may not be inserted.
8) Initialize the battery consumption time.
Always carry out this step after replacing the battery, and initialize the battery usage time. Refer to the sep-
arate "Instruction Manual/Detailed Explanation of Functions and Operations" for details on the operation
methods.

[Note] If the reason for replacement is power down of the battery, resetting the origin is necessary. (refet to xxx)

5-92 Maintenance and inspection procedures

 5 Maintenance and Inspection

5.4 About Overhaul

Robots which have been in operation for an extended period of time can suffer from wear and other forms of
deterioration. In regard to such robots, we define overhaul as an operation to replace parts running out of speci-
fied service life or other parts which have been damaged, so that the robots may be put back in shape for contin-
ued use. Overhaul interval for robots presumably varies with their operating conditions and thus with the degree of
the equipment's wear and loss of performance. As a rule of thumb, however, it is recommended that overhaul be
carried out before the total amount of servo-on time reaches the predetermined levels (24,000 hours for the robot
body and 36,000 hours for the controller). (See Fig. 5-19.) For specific information about parts to be replaced and
timing of overhaul, contact your local service representative.

If overhaul is not performed

Shipment

Predetermined time period

Failure rate λ

Over-
Periodic inspection haul
If overhaul is performed

Servo-on time

Fig.5-19 ： Periodic inspection/overhaul periods

About Overhaul 5-93

5 Maintenance and Inspection

5.5 Maintenance parts

The consumable parts that must be replaced periodically are shown in Table 5-9, and spare parts that may be
required during repairs are shown in Table 5-10. Purchase these parts from the dealer when required. Some Mit-
subishi-designated parts differ from the maker's standard parts. Thus, confirm the part name, robot arm and con-
troller serial No. and purchase the parts from the dealer.

Table 5-9 ： Consumable part list

No. Part name Type Usage place Q'ty Supplier
1 Grease Reduction gears of each axis An needed
2 Lithium battery ER6 In base 5 Mitsubishi Electric
3 Liquefied gasket Packing Note1) An needed
RH-3FH series
4 Timing belt J3 axis 1
5 J4 axis motor side 1 Mitsubishi Electric
6 J4 axis shaft side 1
RH-6FH series
7 Timing belt J3 axis 1
8 J4 axis motor side 1 Mitsubishi Electric
9 J4 axis shaft side 1
RH-12FH series
10 Timing belt J3 axis 1
11 J4 axis motor side 1 Mitsubishi Electric
12 J4 axis shaft side 1
RH-20FH series
13 Timing belt J3 axis 1
14 J4 axis motor side 1 Mitsubishi Electric
15 J4 axis shaft side 1

Note1)The liquefied gasket is necessary for the place which uses two or more packings to connect.

Table 5-10 ： Spare parts list

No. Names Usage place Q'ty Supplier
RH-3FH series
1 AC servo motor J1 axis 1
2 J2 axis 1
3 J3 axis １
4 J4 axis １
5 Reduction gears J1 axis １
6 J2 axis １
7 Ball screw spline J3 axis Mitsubishi Electric
１
(general environment specification)
8 J3 axis (clean and oil mist specification) １
9 Bellows J3 axis (oil mist specification) 1
10 J3 axis (clean specification) 1
11 Liquid gasket Bellows (clean specification) An
needed
RH-6FH series
1 AC servo motor J1 axis 1
2 J2 axis 1
3 J3 axis １
4 J4 axis １
5 Reduction gears J1 axis １
6 J2 axis １
7 Ball spline J3 axis
１ Mitsubishi Electric
(general environment specification)
8 J3 axis (clean and oil mist specification) １
9 Ball screw J3 axis
1
(general environment, clean and oil mist specification)
10 Bellows J3 axis (oil mist specification) 1
11 J3 axis (clean specification) 1
12 Liquid gasket Bellows (clean specification) An
needed

5-94 Maintenance parts

 5 Maintenance and Inspection

No. Names Usage place Q'ty Supplier

RH-12FH series
1 AC servo motor J1 axis 1
2 J2 axis 1
3 J3 axis １
4 J4 axis １
5 Reduction gears J1 axis １
6 J2 axis １
7 Ball spline J3 axis
１ Mitsubishi Electric
(general environment specification)
8 J3 axis (clean and oil mist specification) １
9 Ball screw J3 axis
1
(general environment, clean and oil mist specification)
10 Bellows J3 axis (oil mist specification) 1
11 J3 axis (clean specification) 1
12 Liquid gasket Bellows (clean specification) An
needed
RH-20FH series
1 AC servo motor J1 axis 1
2 J2 axis 1
3 J3 axis １
4 J4 axis １
5 Reduction gears J1 axis １
6 J2 axis １
7 Ball spline J3 axis
１ Mitsubishi Electric
(general environment specification)
8 J3 axis (clean and oil mist specification) １
9 Ball screw J3 axis
1
(general environment, clean and oil mist specification)
10 Bellows J3 axis (oil mist specification) 1
11 J3 axis (clean specification) 1
12 Liquid gasket Bellows (clean specification) An
needed

Maintenance parts 5-95

5 Maintenance and Inspection

5.6 Resetting the origin

The origin is set so that the robot can be used with a high accuracy. After purchasing the robot, always carry out
this step before starting work. The origin must be reset if the combination of robot and controller being used is
changed or if the motor is changed causing an encoder area. The types of origin setting methods are shown in
Table 5-11.
[Caution] If the old battery is replaced because it has been used up, it is necessary to set the origin again.Reset
the origin using the jig method or mechanical stopper method or ABS origin method.

Table 5-11 ： Origin setting method

No Method Explanation Remarks
1 Origin data input The origin data set as the default is input from The setting method is explained in Page 22, "2.3 Setting
method the T/B. the origin" .
2 Mechanical stopper This origin posture is set by contacting each axis The setting method is explained in Page 97, "5.6.1
method against the mechanical stopper. Mechanical stopper method" .
3 Jig method The origin posture is set with the calibration jig The setting method is explained in Page 105, "5.6.2 Jig
installed. method" .
4 User origin method A randomly designated position is set as the The setting method is explained in Page 112, "5.6.4 User
origin posture. origin method".
5 ABS origin method This method is used when the encoder backup Before using this method, the origin must be set with the
data lost in the cause such as battery cutting. other method with same encoder. The setting method is
explained in Page 110, "5.6.3 ABS origin method".

5-96 Resetting the origin

 5 Maintenance and Inspection

5.6.1 Mechanical stopper method

The method for setting the origin with the transportation jig is explained below.
This operation is carried out with the T/B. Set the mode of the controller to "MANUAL", and set the T/B
[ENABLE] switch to "ENABLE" to validate the T/B.

CAUTION The brakes are released here, and the J3 axis (shaft) is moved with both hands.
For safety purposes, the brakes must be released by two workers.

(1) J1 axis origin setting(mechanical stopper)

<MENU>
1) Press the [4] key on the menu screen, and dis-
1.FILE/EDIT 2.RUN play the Origin/Break selection screen.
3.PARAM. 4.ORIGIN/BRK
5.SET/INIT. 6.ENHANCED

123 CLOSE

2) With both hands, slowly move the J1 axis in -

(minus) direction , and contact the axis against
the mechanical stopper.

Ｊ１
（－）

<ORIGIN/BRAKE> 3) Press the [1] key, and display the Origin setting
1.ORIGIN 2.BRAKE selection screen.

123 CLOSE

<ORIGIN> 4) Press the [2] key, and display the Mechanical

1.DATA 2.MECH stopper selection screen.
3.TOOL 4.ABS
5.USER

123 CLOSE

Resetting the origin 5-97

5 Maintenance and Inspection

<ORIGIN> MECH
～ 5) Input "1" into the J1 axis. Set "0" to other axes.
J1( 1 ) J2( ) J3( )
J4( ) J5( ) J6( )
J7( ) J8( )
6) Press the [EXE] key , and display Confirmation
SPACE
123 CLOSE screen.

<ORIGIN> MECH
7) Press the [F1] key , and the origin position is set
CHANGE TO ORIGIN. OK? up.

Yes 123 No

<ORIGIN> MECH COMPLETED 8) Setting of the origin is completed.

J1( 1 ) J2( ) J3( )
9) Refer to Page 114, "5.6.5 Recording the origin
J4( ) J5( ) J6( )
J7( ) J8( )
data" in this manual, and record the origin data
123 CLOSE on the origin data seal.

◇◆◇ Release the brake ◇◆◇

Do cursor movement into the parenthesis of each axis by the arrow key. The brakes can be released only for
the axis for which a "1" is displayed on the screen. If the brakes are not to be released, press the [0] key and
display a "0". If the [F1] key on the teaching pendant or the enabling switch is detached while the brakes are
released, the brakes will be work immediately.

◇◆◇ Select the axis of origin setting ◇◆◇

Do cursor movement into the parenthesis of each axis by the arrow key. The origin is set only for the axis for
which a "1" is displayed on the screen. If the origin is not to be set, press the [0] key and display a "0".

5-98 Resetting the origin

 5 Maintenance and Inspection

(2) J2 axis origin setting(mechanical stopper)

<MENU>
1) Press the [4] key on the menu screen, and dis-
1.FILE/EDIT 2.RUN play the Origin/Break selection screen.
3.PARAM. 4.ORIGIN/BRK
5.SET/INIT. 6.ENHANCED

123 CLOSE

2) With both hands, slowly move the J2 axis in +

(plus) direction , and contact the axis against
the mechanical stopper. Ｊ

Ｊ2
（+）

<ORIGIN/BRAKE> 3) Press the [1] key, and display the Origin setting
1.ORIGIN 2.BRAKE selection screen.

123 CLOSE

<ORIGIN> 4) Press the [2] key, and display the Mechanical

1.DATA 2.MECH
stopper selection screen.
3.TOOL 4.ABS
5.USER

123 CLOSE

<ORIGIN> MECH
～ 5) Input "1" into the J2 axis. Set "0" to other
J1( ) J2( 1 ) J3( ) axes.
J4( ) J5( ) J6( )
J7( ) J8( ) SPACE
6) Press the [EXE] key , and display Confirmation
123 CLOSE
screen.

Resetting the origin 5-99

5 Maintenance and Inspection

<ORIGIN> MECH
7) Press the [F1] key, and the origin position is set
CHANGE TO ORIGIN. OK?
up.

Yes 123 No

<ORIGIN> MECH COMPLETED 8) Setting of the origin is completed.

J1( ) J2( 1 ) J3( )

9) Refer to Page 114, "5.6.5 Recording the origin
J4( ) J5( ) J6( )
data" in this manual, and record the origin data
J7( ) J8( )
123 CLOSE
on the origin data seal.

◇◆◇ Release the brake ◇◆◇

Do cursor movement into the parenthesis of each axis by the arrow key. The brakes can be released only for
the axis for which a "1" is displayed on the screen. If the brakes are not to be released, press the [0] key and
display a "0". If the [F1] key on the teaching pendant or the enabling switch is detached while the brakes are
released, the brakes will be work immediately.

◇◆◇ Select the axis of origin setting ◇◆◇

Do cursor movement into the parenthesis of each axis by the arrow key. The origin is set only for the axis for
which a "1" is displayed on the screen. If the origin is not to be set, press the [0] key and display a "0".

5-100 Resetting the origin

 5 Maintenance and Inspection

(3) J3 and J4 axis origin setting (mechanical stopper)

In the RH-3FH series, if the wiring and piping is passed in the shaft, remove the No.2 arm cover U and operate the
origin setting.
Note) If origin setting is carried out with the No.2 arm cover U installed, the origin may not be set up correctly
because the wiring and the piping interfere with the No.2 arm cover U.
<MENU>
1) In the RH-3FH series, if the wiring and piping is
1.FILE/EDIT 2.RUN passed in the shaft, removes the No.2 arm cover
3.PARAM. 4.ORIGIN/BRK
5.SET/INIT. 6.ENHANCED U referring the Page 68, "5.3.2 Installing/remov-
ing the cover". It is not necessary to remove the
123 CLOSE cover if wiring and piping is not passed, or if
using the other robot.
2) Press the [4] key on the menu screen, and dis-
<ORIGIN/BRAKE> play the Origin/Break selection screen.
1.ORIGIN 2.BRAKE
3) Press the [2] key, and display the Break release
selection screen.
123 CLOSE

4) Release the brake of the J3 axis.

<BRAKE> Input "1" into the J3 axis. Set "0" to other
axes.
J1:( 0 )J2:( 0 )J3:( 1 )
J4:( 0 )J5:( 0 )J6:( 0 ) ～
J7:( 0 )J8:( 0 )

REL. 123 CLOSE

SPACE 5) Confirm the axis for which the brakes are to be
released.
<BRAKE>

J1:( 0 )J2:( 0 )J3:( 1 )

6) Pressing the [F1] key is kept with the enabling
J4:( 0 )J5:( 0 )J6:( 0 ) switch of T/B pressed down. The brake is
J7:( 0 )J8:( 0 ) released while pressing the key.
Note) The brake of the axis shown below
REL. 123 CLOSE
repeats release/lock at the interval in
each about 200ms for dropping the J3
axis slowly.
No.2 arm cover

Ｊ3 7) With both hands, slowly move the J3 axis in +

（+） (plus) direction , and contact the axis against
the mechanical stopper.

J3Ｊ3軸（シャフト）
axis (Shaft)

CAUTION For safety purposes, the step for releasing the brakes must be carried out by two
workers. One worker must operate the T/B, and the other must support the J3 axis
(shaft). When the brake is released, the J3 axis could drops with its own weight.

CAUTION If [F1] key or enable switch of T/B is released, the brakes will be work immediately.

Resetting the origin 5-101

5 Maintenance and Inspection

Clean Oil mist

<クリーン仕様> spesification
spesification <オイルミスト仕様> 8) Hold the J4 axis with your hand and rotate it
Alignment mark
合いマーク
Alignment mark ケガキ線
(Marking-off line) slowly to match the alignment marks.
*Move the J4 axis with maintaining the condi-
tion that the releasing brake of the J3 axis and
the J3 axis contact to the mechanical stopper.

View矢視Ａ
from A

Alignment
合いマーク
mark
J4

<BRAKE>

J1:( 0 )J2:( 0 )J3:( 1 ) 9) Detach the [F1] key and work the brake.
J4:( 0 )J5:( 0 )J6:( 0 ) Press the [F4] key and return to the origin /
J7:( 0 )J8:( 0 )
brake screen.
REL. 123 CLOSE

<ORIGIN/BRAKE>
10) Press the [1] key , and display the Origin set-
1.ORIGIN 2.BRAKE
ting selection screen.

123 CLOSE

<ORIGIN>
1.DATA 2.MECH 11) Press the [2] key , and display the Mechanical
3.TOOL 4.ABS stopper selection screen.
5.USER

123 CLOSE

<ORIGIN> MECH
～ 12) Input "1" into the J3 and J4 axis. Set "0" to
J1( ) J2( ) J3( 1 ) other axes.
J4( 1 ) J5( ) J6( )
J7( ) J8( ) SPACE
13) Press the [EXE] key , and display Confirmation
123 CLOSE
screen.

<ORIGIN> MECH
14) Press the [F1] key, and the origin position is
set up.
CHANGE TO ORIGIN. OK?

15) When No.2 arm cover U was removed, installs

Yes 123 No as before.

<ORIGIN> MECH COMPLETED

16) Setting of the origin is completed.

J1( ) J2( ) J3( 1 ) 17) Refer to Page 114, "5.6.5 Recording the origin
J4( 1 ) J5( ) J6( ) data" in this manual, and record the origin data
J7( ) J8( ) on the origin data seal.
123 CLOSE

5-102 Resetting the origin

 5 Maintenance and Inspection

◇◆◇ Release the brake ◇◆◇

Do cursor movement into the parenthesis of each axis by the arrow key. The brakes can be released only for
the axis for which a "1" is displayed on the screen. If the brakes are not to be released, press the [0] key and
display a "0". If the [F1] key on the teaching pendant or the enabling switch is detached while the brakes are
released, the brakes will be work immediately.

◇◆◇ Select the axis of origin setting ◇◆◇

Do cursor movement into the parenthesis of each axis by the arrow key. The origin is set only for the axis for
which a "1" is displayed on the screen. If the origin is not to be set, press the [0] key and display a "0".

Resetting the origin 5-103

5 Maintenance and Inspection

(4) All axis origin setting

1) Refer to the paragraphs from Page 97, "(1) J1 axis origin setting(mechanical stopper)" to Page 101, "(3) J3
and J4 axis origin setting (mechanical stopper)" above for the description of how to adjust the origins of the
J1 to J4 axes. Line up the ABS marks for the J4 axis and move the other axes into contact with the
mechanical stoppers. At this point, the robot will have the posture shown below

<ORIGIN/BRAKE> 2) Press the [1] key, and display the Origin set-
1.ORIGIN 2.BRAKE ting selection screen.

123 CLOSE

<ORIGIN> 3) Press the [2] key, and display the Mechanical

1.DATA 2.MECH stopper selection screen.
3.TOOL 4.ABS
5.USER

123 CLOSE

<ORIGIN> MECH
4) Input "1" into the J1 to J4 axis. Set "0" to
J1( 1 ) J2( 1 ) J3( 1 ) other axes.
J4( 1 ) J5( ) J6( )
J7( ) J8( ) SPACE

123 CLOSE 5) Press the [EXE] key, and display Confirmation

screen.
<ORIGIN> MECH

CHANGE TO ORIGIN. OK? 6) Press the [F1] key, and the origin position is
set up.
Yes 123 No

<ORIGIN> MECH COMPLETED 7) Setting of the origin is completed.

J1( 1 ) J2( 1 ) J3( 1 ) 8) Refer to Page 114, "5.6.5 Recording the origin
J4( 1 ) J5( ) J6( ) data" in this manual, and record the origin data
J7( ) J8( ) on the origin data seal.
123 CLOSE

This complete the Origin setting by the Mechanical stopper method.

5-104 Resetting the origin

 5 Maintenance and Inspection

5.6.2 Jig method

This method is using the origin setting tool. If the origin setting tool is required, please ask nearby dealer. The
reference figure of the origin setting tool is shown in Fig. 5-20.

.5
C0
RZ6.3

φ6 -0.01
-0.02
300

Fig.5-20 ： Reference dimension of origin setting tool

The procedure of setting the origin with the origin setting tool is shown below.

Carry out this method for each axis.

First, set each axis by the origin position. There are the method of releasing the brake and adjusting with the origin
position manually and the method of adjusting with the origin position by jog feed. Here, explain operation by brake
release.
Then, do origin setting operation and set up the origin.

CAUTION To ensure safety, the brake-release procedure described below should always be
done by two persons.

This operation is carried out with the teaching pendant. Set the mode of the controller to "MANUAL", and set the
[ENABLE] switch on the teaching pendant to "ENABLE" to enable the teaching pendant.
Do the following operations, pressing down the enabling switch of T/B lightly.

Resetting the origin 5-105

5 Maintenance and Inspection

(1) J1 axis origin setting

<MENU>
1) Press the [4] key on the menu screen, and dis-
1.FILE/EDIT 2.RUN
3.PARAM. 4.ORIGIN/BRK play the Origin/Break selection screen.
5.SET/INIT. 6.ENHANCED

123 CLOSE
Select ORIGIN/BRK

2) Move the J1 axis slowly toward the front using

both hands. Align the pinhole of the No.1 arm
and the pinhole at the base section, feed
through the origin jig into the pinholes and fas-
ten.

Jig
原点治具

Hole
ピン穴
No.1第1アーム
arm

<ORIGIN/BRAKE>
1.ORIGIN 2.BRAKE 3) Press the [1] key, and display the Origin setting
selection screen.

123 CLOSE

<ORIGIN>
4) Press the [3] key, and display the Tool selection
1.DATA 2.MECH
3.TOOL 4.ABS
screen.
5.USER

123 CLOSE
Select TOOL

<TOOL> ～ 5) Input "1" into the J1 axis. Set "0" to other axes.
J1:( 1 )J2:( 0 )J3:( 0 )
J4:( 0 )J5:( 0 )J6:( 0 ) 6) Press the [EXE] key, and display Confirmation
J7:( 0 )J8:( 0 ) SPACE screen.
REL. 123 CLOSE

<ORIGIN> TOOL 7) Press the [F1] key, and the origin position is set
up.
CHANGE TO ORIGIN. OK?

Yes 123 No

5-106 Resetting the origin

 5 Maintenance and Inspection

<TOOL>
8) Setting of the origin is completed.
J1:( 1 )J2:( 0 )J3:( 0 )
J4:( 0 )J5:( 0 )J6:( 0 )
J7:( 0 )J8:( 0 ) 9) Refer to Page 114, "5.6.5 Recording the origin
data" in this manual, and record the origin data
REL. 123 CLOSE on the origin data seal.

◇◆◇ Release the brake ◇◆◇

Do cursor movement into the parenthesis of each axis by the arrow key. The brakes can be released only for
the axis for which a "1" is displayed on the screen. If the brakes are not to be released, press the [0] key and
display a "0". If the [F1] key on the teaching pendant or the enabling switch is detached while the brakes are
released, the brakes will be work immediately.

◇◆◇ Select the axis of origin setting ◇◆◇

Do cursor movement into the parenthesis of each axis by the arrow key. The origin is set only for the axis for
which a "1" is displayed on the screen. If the origin is not to be set, press the [0] key and display a "0".

Resetting the origin 5-107

5 Maintenance and Inspection

(2) J2 axis origin setting

<MENU>
1) Press the [4] key on the menu screen, and dis-
1.FILE/EDIT 2.RUN play the Origin/Break selection screen.
3.PARAM. 4.ORIGIN/BRK
5.SET/INIT. 6.ENHANCED

123 CLOSE

No.2 arm
第２アーム 2) Slowly rotate the J2 axis 90° clockwise with
both hands for RH-6FH series. Slowly rotate.
Align the pinholes of the No. 1 and No. 2 arms,
feed through the origin jig into the pinholes and
fasten.
No.1 arm
第1アーム

Hole (bottom face)

ピン穴(裏側)

Jig
原点治具

<ORIGIN/BRAKE>
1.ORIGIN 2.BRAKE 3) Press the [1] key, and display the Origin setting
selection screen.

123 CLOSE

<ORIGIN> 4) Press the [3] key, and display the Tool selection
1.DATA 2.MECH
screen.
3.TOOL 4.ABS
5.USER

123 CLOSE

<TOOL>
～ 5) Input "1" into the J2 axis. Set "0" to other axes.
J1:( 1 )J2:( 0 )J3:( 0 )
J4:( 0 )J5:( 0 )J6:( 0 ) 6) Press the [EXE] key, and display Confirmation
J7:( 0 )J8:( 0 )
SPACE screen.
REL. 123 CLOSE

<ORIGIN> TOOL 7) Press the [F1] key, and the origin position is set
up.
CHANGE TO ORIGIN. OK?

Yes 123 No

5-108 Resetting the origin

 5 Maintenance and Inspection

<TOOL>
8) Setting of the origin is completed.
J1:( 1 )J2:( 0 )J3:( 0 )
J4:( 0 )J5:( 0 )J6:( 0 )
J7:( 0 )J8:( 0 ) 9) Refer to Page 114, "5.6.5 Recording the origin
data" in this manual, and record the origin data
REL. 123 CLOSE on the origin data seal.

◇◆◇ Release the brake ◇◆◇

Do cursor movement into the parenthesis of each axis by the arrow key. The brakes can be released only for
the axis for which a "1" is displayed on the screen. If the brakes are not to be released, press the [0] key and
display a "0". If the [F1] key on the teaching pendant or the enabling switch is detached while the brakes are
released, the brakes will be work immediately.

◇◆◇ Select the axis of origin setting ◇◆◇

Do cursor movement into the parenthesis of each axis by the arrow key. The origin is set only for the axis for
which a "1" is displayed on the screen. If the origin is not to be set, press the [0] key and display a "0".

(3) J3 and J4 axis origin setting

Origin settings for the J3 and J4 axes must be performed at the same time.
The method of origin setting is the same as the mechanical stopper method. Refer to Page 101, "(3) J3 and J4
axis origin setting (mechanical stopper)", perform the required origin setting operations.

This complete the Origin setting by the Jig method.

Resetting the origin 5-109

5 Maintenance and Inspection

5.6.3 ABS origin method

When the origin setting of the robot is performed for the first time, this product records the angular position of the
origin within one rotation of the encoder as the offset value. If the origin setting is performed according to the
ABS origin method, this value is used to suppress variations in the origin setting operations and to reproduce the
initial origin position accurately.

This operation is carried out with the teaching pendant. Set the mode of the controller to "MANUAL", and set the
[ENABLE] switch on the teaching pendant to "ENABLE" to enable the teaching pendant.
First, set to the ABS mark arrow of the axis for which the origin is to be set with jog operation. This can be set for
all axes simultaneously or each axis independently.
When setting the ABS mark, always view the operations from the mark, and set at the end of the triangular mark.
The positions where the ABS mark is attached are shown in below. Refer to Page 29, "2.4 Confirming the
operation" for details on the jog operation.

Note that if the ABS marks are peeled off, the positions can be matched using the following alternative methods.
*Match the ruling lines of the ABS mark mounting position surfaces.

J4 axis
Ｊ4軸
J2 Ｊ2軸
axis

J1 Ｊ1軸
axis

Clean
Standard Oil mist, clean <クリーン仕様>
spesification
specification
<標準仕様> specification 合いマーク
Alignment mark

矢視Ａ
View from A
Oil mist
<オイルミスト仕様>
spesification
Alignment mark
J4 ケガキ線line)
(Marking-off
Shaft side is mechan-
シャフト側はメカストッパの
ical stopper's bottom
底面にあります。 A Alignment mark
各軸のＡＢＳマーク拡大図

矢視Ａ
View from A
Alignment mark of J4 axis
Ｊ4軸ＡＢＳマークの拡大図

Note) There is no alignment mark of the J3 axis. Contact the J3 axis against mechanical stopper as the mech-
anism stopper method.
Fig.5-21 ： ABS mark attachment positions

5-110 Resetting the origin

 5 Maintenance and Inspection

The procedures for setting the origin with the ABS method are explained below.

(1) Select the T/B

<MENU>
1) Press the [4] key on the menu screen, and dis-
1.FILE/EDIT 2.RUN
3.PARAM. 4.ORIGIN/BRK play the Origin/Break selection screen.
5.SET/INIT. 6.ENHANCED

123 CLOSE

<ORIGIN/BRAKE> 2) Press the [1] key, and display the Origin setting
1.ORIGIN 2.BRAKE selection screen.

123 CLOSE

<ORIGIN> 3) Press the [4] key, and display the ABS selection
1.DATA 2.MECH screen.
3.TOOL 4.ABS
5.USER

123 CLOSE

<ABS>
4) Input "1" into the axis to origin setting. Press
J1:( 1 )J2:( 0 )J3:( 0 ) the [EXE] key, and display Confirmation screen.
J4:( 0 )J5:( 0 )J6:( 0 )
J7:( 0 )J8:( 0 ) ～

REL. 123 CLOSE

→

<ORIGIN> ABS 5) Press the [F1] key, and the origin position is set
up.
CHANGE TO ORIGIN. OK?

Yes 123 No

<ABS>

J1:( 1 )J2:( 0 )J3:( 0 )

J4:( 0 )J5:( 0 )J6:( 0 )
J7:( 0 )J8:( 0 )

REL. 123 CLOSE

This complete the Origin setting by the ABS method.

Resetting the origin 5-111

5 Maintenance and Inspection

5.6.4 User origin method

CAUTION Before using this method, the origin must be set with the other method.
The setting method is explained in Page 96, "Table 5-11 ： Origin setting method".

The procedure for setting the origin with the user origin method is explained below.
This operation is carried out with the teaching pendant. Set the mode of the controller to "MAMNUAL", and set
the [ENABLE] switch on the teaching pendant to "ENABLE" to enable the teaching pendant.
The operation method is shown below.

When setting the origin for the first time using this method, carry out the operations in order from step 1). For the
second and following time, move the robot arm to the user origin position with jog operation, and accurately posi-
tion all axis. Then start the procedure from step 4).

1) Determine the user origin position

Move the robot to the position to be set as the origin with jog operation. Refer to Page 29, "2.4 Confirming the
operation" for details on the jog operation.

CAUTION Choose the user origin position as the position where it doesn't move by the gravity.
This position is left as a guideline to position all axes with jog operation when setting
the origin again with this method.

2) Enter the JOINT jog mode, and display the joint coordinates on the teaching pendant screen. Record the
value of the axis for which the origin is to be set.
3) Input the value recorded in the "user designated origin parameter (USRORG)".
The parameter details and input methods are described in the separate "Instruction Manual/Detailed Explana-
tion of Functions and Operations". Refer to that manual and input the user designated origin position.

<MENU>
4) Next, set the origin.
1.FILE/EDIT 2.RUN
3.PARAM. 4.ORIGIN/BRK Display the menu screen.
5.SET/INIT. 6.ENHANCED
5) Press the [4] key on the menu screen, and dis-
123 CLOSE
play the Origin/Break selection screen.

<ORIGIN/BRAKE>
1.ORIGIN 2.BRAKE 6) Press the [1] key, and display the Origin setting
selection screen.

123 CLOSE

<ORIGIN>
1.DATA 2.MECH 7) Press the [5] key, and display the User selection
3.TOOL 4.ABS
screen.
5.USER

123 CLOSE

5-112 Resetting the origin

 5 Maintenance and Inspection

<USER>
8) Input "1" into the axis to origin setting. Press
J1:( 1 )J2:( 0 )J3:( 0 ) the [EXE] key, and display Confirmation screen.
J4:( 0 )J5:( 0 )J6:( 0 )
J7:( 0 )J8:( 0 ) ～

REL. 123 CLOSE

→

<ORIGIN> USER 9) Press the [F1] key, and the origin position is set
up.
CHANGE TO ORIGIN. OK?

Yes 123 No

This complete the Origin setting by the User origin method.

Resetting the origin 5-113

5 Maintenance and Inspection

5.6.5 Recording the origin data

When the origin has been set with the jig method, record that origin data on the origin data label. With this, the ori-
gin can be set with the origin data input method the next time.

Confirm the origin data on the teaching pendant screen (origin data input screen). The origin data label is enclosed
with the arm or attached on the back of the battery cover.
The teaching pendant operation method and battery cover removal method for confirming the origin data is the
same as the methods for setting the origin with the origin data input method. Refer to Page 24, "2.3.2 Setting the
origin with the origin data input method", and write the origin data displayed on the teaching pendant onto the ori-
gin label.
(1) Confirming the origin data label
Remove the battery cover.
Refer to Page 68, "5.3.2 Installing/removing the cover", and remove the .

(2) Confirming the origin data

Confirm the value displayed on the teaching pendant's Origin Data Input screen.
Refer to Page 24, "2.3.2 Setting the origin with the origin data input method", "(5)Inputting the origin data" and
display the Origin Data Input screen on the teaching pendant display screen.

(3) Recording the origin data

Write the origin data displayed on the teaching pendant to the origin data label attached to the back of the battery
cover. Refer to Page 24, "Fig.2-16 ： Origin data label (an example)", and Page 27, "Fig.2-17 ： Correspondence of
origin data label and axis" for details on the origin data label.

(4) Installing the cover

Install the battery cover removed in step "(1)Confirming the origin data label" above.
Refer to Page 68, "5.3.2 Installing/removing the cover", and replace the battery cover.

This completes the recording of the origin data.

5-114 Resetting the origin

 6Appendix

6 Appendix
Appendix 1 ： Configuration flag
The configuration flag indicates the robot posture.
For the 6-axis type robot, the robot hand end is saved with the position data configured of X, Y, Z, A, B and C.
However, even with the same position data, there are several postures that the robot can change to. The posture
is expressed by this configuration flag, and the posture is saved with FL1 in the position constant (X, Y, Z, A, B, C)
(FL1, FL2).
The types of configuration flags are shown below.

(1) RIGHT/LEFT
Indicates the location of the end axis relative to the line that passes through both the rotational center of the J1
axis and the rotational center of the J2 axis.

FL1(Flag 1)
＆B0000 0000
RIGHT ↑
1/0 = RIGHT/LEFT

Note) "&B" is shows the binary

LEFT

Fig.6-1 ： Configuration flag (RIGHT/LEFT)

Configuration flag Appendix-115

6Appendix

Appendix-116 Configuration flag

 HEAD OFFICE: TOKYO BUILDING, 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN
NAGOYA WORKS: 5-1-14, YADA-MINAMI, HIGASHI-KU, NAGOYA 461-8670, JAPAN

Authorised representative:
MITSUBISHI ELECTRIC EUROPE B.V. GERMANY
Gothaer Str. 8, 40880 Ratingen / P.O. Box 1548, 40835 Ratingen, Germany

Nov., 2012 MEE Printed in Japan on recycled paper. Specifications are subject to change without notice.