MITSUBISHI INDUSTRIAL ROBOT

RH-6SDH/12SDH/18SDH Series

RH-6SDH

RH-12SDH
RH-18SDH

RH-SDH series
 The Ultimate Series of Powerful Mitsubishi Robots Offering

A new high performance controller design offers faster speed and greater accuracy.
Enhanced compatibility with the Mitsubishi’s family of automation products improves versatility.
Compact but rigid arm designs are durable and flexible for applications in all industries.
Dedicated Mitsubishi servo technology has been designed for each model to optimize overall
performance.

RH-SDH series
CR1D-761 CR2D-741 CR2D-751

Applicable
models

RH-6SDH RH-12SDH RH-18SDH

Features
1 Improved Productivity 2 Improved Operability
Shorter takt time Adoption of a new HMI (Human Machine Interface) results in significant
With a new, high-performance controller, I/O’s and programs can be improvement of operability.
processed at high speed. This allows the takt time to be reduced by as much New function wizards
as 15%. Wizards for special functions such as additional axes, tracking and collision
High operation accuracy [High-rigidity arm, active gain control] detection are included in the PC tools. These wizards reduce the time needed
The robot posture and load are monitored to adjust the servo gain and filter in for startup, adjustment and maintenance.
real time. This achieves higher accuracy. New teaching pendant with graphical interface
Direct connection to the GOT The new teaching pendant [R56TB] offers significantly improved operability
The robot controller can be connected directly to our GOT-1000-series display through its GUI reduces the time needed for startup, adjustment and
via Ethernet. This achieves sequencer-free operation and ultimately reduces cost. maintenance.
All models come standard with advanced functions
Control of additional axes, tracking function and Ethernet, which were all 3 Safety
provided as options with the S series, are now standard features. You can
save on the costs of options to reduce the overall system cost. Compliance with ISO-10218 (2006)
The RV-SD series helps your equipment as
Lineup a whole comply with the safety standards.
Compliance with various standards
18 18SH85
Maximum load capacity (kg)

The RV-SD series complies with the European Machinery Directive (CE) and
12 12SH55 12SH70 12SH85 UL Standard. (UL-compatible models are limited to custom specifications.)

6 6SH35 6SH45 6SH55

4 Backward Compatibility

300 400 500 600 700 800 900

Fully compatible with S-series robot systems
Maximum reach radius (mm) Robot programs and I/O maps for S-series robots can be used 100%.

Model Structure
Arm length Up/down axis movement range [mm]
Robot series [mm] Connection controller
170 200 300 350
350 RH-6SDH3517M/C RH-6SDH3520 - -
RH-6SDH series 450 RH-6SDH4517M/C RH-6SDH4520 - - CR1D-761
550 RH-6SDH5517M/C RH-6SDH5520 - -
550 - - RH-12SDH5530M/C RH-12SDH5535
RH-12SDH series 700 - - RH-12SDH7030M/C RH-12SDH7035 CR2D-741
850 - - RH-12SDH8530M/C RH-12SDH8535
RH-18SDH series 850 - - RH-18SDH8530M/C RH-18SDH8535 CR2D-751
*1: Take note that on the models of environment-resistant specifications (C: Clean specification, M: Mist specification), the operating range of the vertical axis is smaller than on the standard models.
*2: The environment-resistant specifications (clean/mist specifications) are factory-set custom specifications. For the approximate timeframe for delivery, contact the Mitsubishi Electric dealer or sales agent near you.
New Functionality and Performance
Functions
1 New teaching pendant (optional) 2 New high-functional teaching pendant (optional)
Improved display performance and operability No need to bring a PC to the site
Simple teaching pendant [R32TB] High-functional teaching pendant [R56TB]
Five times greater display performance (vs. R28TB) [VGA (640 x 480) touch panel] adopted
Ergonomic design improves operability. Can utilize HMI tools equivalent to the RT-Tool Box
IP65 Protection on the teaching pendant.
Can utilize USB memory to back up controller data.
IP65 Protection

3 Additional axis function 4 Synchronized outputs from additional axes

No need for dedicated control device. Robot Additional axis Improved safety of the entire system
Additional axes can be controlled with (Can be divided into A signal is output from the auxiliary contacts for the main circuit contactor in
robot programs. up to 3 groups)
the robot controller. The auxiliary contacts allow the servo amplifier contactor
This helps keep the system cost low. of each additional axis to synchronize with the robot servo status.
Controlling the robot’s traveling axes and This contact signal is output redundantly, which improves the safety of your
Additional User’s User’s
turntable. axis machine machine equipment and makes it easy for the entire equipment to comply with the safety
Up to 8 axes can be controlled in addition Up to 2 axes Up to 3 axes Up to 3 axes standards.
to the robot. Machine 1 Machine 2 Machine 3
Standard function
Utilizes Mitsubishi MR-J3 B servos for additional axes.

5 Tracking function 6 GOT connection

GOT
Improved process takt. No need for positioning device. No need for GOT connection ladder
This helps keep the system cost low. The robot can be controlled directly
The robot can be operated without from the GOT1000. (A dedicated robot
stopping the conveyor. screen must be created.)
Robot programs can be easily written using
MELFA-BASIC-V language.
Conveyor
Standard function Ethernet
Works such as food, cosmetics and chemicals. Encoder

7 Active gain control 8 Ensuring of safety based on operation by two persons

The robot posture and load condition
Improved tracking accuracy and are constantly monitored. [Enabling-device input function]
Automatic tuning
vibration-damping performance Allows for connection of 3-position enabling
devices to protect the robot system and multiple
The motor is tuned for optimal control persons from danger.
automatically based on the operating
Since multiple operators must always be
position, posture and load condition of
coordinated, safety improves.
the robot.
Redundant devices

9 New emergency-stop I/O function

[Emergency-stop output function] [Robot error output]

Even when the robot controller power is cut off, you can If the robot generates an error, a safety
still stop the peripherals by pressing the emergency stop contact signal is output in addition to
switch on the panel or teaching pendant. an applicable I/O signal output on The emergency stop switch Peripheral
is enabled even when the Emergency
conventional models. stop connection
These I/Os are all provided redundantly. controller power is turned off.

Applications
RS-232C
Connection with peripheral devices
Note 1)
Hand input cable Hand output cable Ethernet Vision sensor
1S-HC25C-01 1S-GR35S-01 External encoder
(Optional) (Optional) (Tracking function) Air hand interface
2A-RZ365
Robot
RH-6SDH Parallel I/O unit Programmable
Hand curl tube RH-12SDH Note 2) CNC controller controller
2A-RZ361/2A-RZ371
1E-ST0408C-300 RH-18SDH Controller
1N-ST0608C Expantion memory
CR1D-761
(Optional) 2D-TZ454
CR2D-741 External I/O cable
CR2D-751 2A-CBL05 (5m)
2A-CBL15 (15m)

(5m) Parallel I/O

<Equipment of interface Servo amplifier GOT
standard configuration> Machine cable 2D-TZ368
External I/O cable
2D-CBL05 (5m) Note 1) Select an appropriate interface according to
Solenoid valve set the I/Os or network function of the peripheral.
1S-VD0 M-03 1S-VD0 M-04 (Optional) 2D-CBL15 (15m)
Personal computer cable Note 2) The equipment configuration is changed prior
2D-232CBL03M CC-Link
to shipment from the factory. Since the
<Factory-set custom specification> Note 2) (Optional) interface
2D-TZ576 product is produced by order, check the
The following custom specification is available. timeframe for delivery and applicable
For details, refer to the specification sheet. specifications. (For details, contact your
Robot arm, clean specification RT ToolBox2
Robot total engineering support software Mitsubishi Electric sales representative.)
Robot arm, oil-mist specification Personal computer 3D-11C-WINE
Interconnection cable, 2 m *Must be prepared 3D-12C-WINE
Teaching pendant (Optional) * The interfaces represent only rough sketches.
(5-m cable is not supplied.) R32TB, R56TB (Optional) by the customer
New Functionality and Performance

Robot Arm Outside Dimension/Movement Range Diagrams

RH-6SDH
(*5) 92
180 43 225 A 165
4- 9 installation hole 150 40

20
(*5)
˚
127

92

130
112

126
30
180
150

106
225 A (*6)
D

(*9)
Installation dimensions; (*6)
Cross-section X-X

20
E (*4)

246
Enlarget Y portion

55

55
63
728(*7)
B

MAX 710
Y Y
C
30
10 10

Primary air

33
D

Z supply port
R53

200st (*8)
40 115
20h7 Y

345

312
127 39.5
˚
le
ho X X
Robot
gh
ou

97
hr installation
14t surface
19

200 or more
45 45

40
19

Hand mounting dimensions;

Cross-section Y-Y 70 40 40 (*6) 80

View Z

Variable dimensions *4: Limited area according to the drawing of operating ranges.
Robot series A B C D E (*4) *5: Reference machined surface used at the time of installation.
*6: Screw hole (M4) used for affixing user wiring and piping.
RH-6SDH35 125 R350 R159 137˚ 210
*7: 788 on the oil-mist and clean specification models.
RH-6SDH45 225 R450 R136 145˚ 210
*8: 170 st on the oil-mist and clean specification models.
RH-6SDH55 325 R550 R191 145˚ 160
*9: On the oil-mist and clean specification models, bellows are installed in the exposed areas (top and bottom) of the ball screw spline.

RH-12SDH/RH-18SDH

(*11) 122
4- 16 installation hole 240
70 325 A 210
200
(*11) 48
20
122
240
200

˚
178
164

155

140
H

325 A Installation dimensions; (*12)

Cross-section X-X
(*15)
G(*16)

(*12)
E (*10)

10

Y Y
30

300
F(*13)
D

25h7 105 180

80
B

10

90

MAX 840

(*16a)
C

50
80

le Primary air
ho
40

8
140 11 ugh Z
supply port
˚ o
thr Y R76
350st (*14)
24

385

334

X X Robot
24 installation
10

surface
Hand mounting dimensions;
Cross-section Y-Y 240 or more
70 70

40

75 100 100 110

(*12)
View Z
*10: Limited area according to the drawing of operating ranges.
*11: Reference machined surface used at the time of installation.
Variable dimensions *12: Screw hole (M4) used for affixing user wiring and piping.
Robot series A B C D E(*10) F(*13) G H *13: 1027 on the RH-12SDH-series models, and 999 on the RH-18SDH-series models, of oil-mist or clean specification.
*14: 300 st on the oil-mist and clean specification models.
RH-12SDH55 225 R550 R191 145˚ 240 972 25 30
*15: On the oil-mist and clean specification models, bellows are installed in the exposed areas (top and bottom) of the ball screw
RH-12SDH70 375 R700 R216 145˚ 240 972 25 30
spline.
RH-12SDH85 525 R850 R278 153˚ - 972 25 30 *16: G is 25 on the RH-12SDH-series models, and 32 on the RH-18SDH-series models. The outer shaft shape of the hand
RH-18SDH85 525 R850 R278 153˚ - 967 32 40 installation flange is the same with both series. (*16a)
 Specifications
Robot Arm
Type Unit RH-6SDH35zze RH-6SDH45zze RH-6SDH55zze
RH-12SDH55zze RH-12SDH70zze RH-12SDH85zze RH-18SDH85zze
Machine class En (Refer to Table 1.)
Installation Floor type
Degrees of freedom 4
Structure Horizontal, multiple-joint type
Drive method AC servo motor
Position detection method Absolute encoder
Maximum load capacity kg 6 12 18
No. 1 arm 125 225 325 225 375 525
Arm length
No. 2 arm mm 225 325
Maximum reach radius (No. 1 arm + No. 2 arm) 350 450 550 550 700 850
J1 254 (±127) 280 (±140)
deg
J2 274 (±137) 290 (±145) 290 (±145) 306 (±153)
Operating range
J3(Z) mm Z (Refer to Table 1.)
J4( ) deg 720 (±360)
J1 375 360 288
deg/sec
J2 612 412.5
Maximum speed
J3(Z) mm/sec 1,177 1,300 1,200
J4( ) deg/sec 2,411 1,500
Maximum composite speed *17 mm/sec 6,473 (4,694) 7,128 (5,349) 7,782 (6,003) 10,555 (5,796) 11,498 (6,738) 11,221 (6,612)
Cycle time *18 sec 0.42 0.42 0.43 0.43 0.44 0.45 0.53
Allowable moment of inertia (rating) kg•m2 0.04(0.01) 0.1 (0.02) 0.2 (0.02)
X-Y composite ±0.02 ±0.02 ±0.025
Position mm
J3(Z) ±0.01 ±0.01
repeatability
J4( ) deg ±0.02 ±0.03
Ambient temperature ˚C 0 to 40
Mass kg 20 21 41 43 45 47
Tool wiring *19 Hand: 8 input points / 8 output points, 8 spare lines: AWG#24 (0.2mm2)
Tool pneumatic pipes 6 x 2pcs
Supplied air pressure MPa 0.5±10%
Protection class/Clean specifications Protect (Refer to Table 1.)

Table 1: Relationship Among the Robot Series, Environment Specifications and Up/Down Axis Movement Range (Z Stroke) *17: When J1, J2 and J4 are composited.
The value in parentheses assumes
Up/down axis movement range Protection specifications Protection class/Clean composition of J1 and J2.
Robot series
(Z) Symbol (model notation: zz) (En) Symbol (model notation: e) specifications (Protect) *18: Based on a load capacity of 2 kg for the RH-
200 (97 to 297) 20 Standard Blank IP20 6/12SDH (or load capacity of 5 kg for the RH-
RH-6SD 18SDH). The cycle time may increase if
170 (97 to 267) 17 Oilmist proof M IP54
series specific requirements apply such as high
170 (97 to 267) 17 Clean C Class10 (0.3 m)
work positioning accuracy, or depending on
350 (-10 to 340) 35 Standard Blank IP20 the operating position. (The cycle time is
RH-12/18SD
300 (-10 to 290) 30 Oilmist proof M IP54 based on back-and-forth movement over a
series vertical distance of 25 mm and horizontal
300 (-10 to 290) 30 Clean C Class10 (0.3 m)
distance of 300 mm.)
*19: If the hand output is used, the air hand
interface (optional) is required.
Controller
Type Unit CR1D-761 CR2D-741/751 CR3D-741M/751M
Path control method PTP control and CP control
Up to 4 axes simultaneously. Up to 8 additional
Number of axes controlled Up to 4 axes simultaneously Up to 4 axes simultaneously
axes can be controlled in addition to the above.
Robot language MELFA-BASIC V
Position teaching method Teaching method, MDI method
Number of teaching points Point 13,000
Memory
Number of steps step 26,000
capacity
Number of programs Unit 256
General-purpose I/O Point 0 input/0 output (Up to 256/256 when options are used)
Dedicated I/O Assigned according to general-purpose I/O.
Hand open/close Point 8 inputs/0 output (8/8 when the pneumatic hand interface is used)
Emergency stop input Point 1 (2 contacts are supported)
External Door switch input Point 1 (2 contacts are supported)
input/ Enabling device input Point 1 (2 contacts are supported)
output Emergency stop output Point 1 (2 contacts are supported)
Mode output Point 1 (2 contacts are supported)
Robot error output Point 1 (2 contacts are supported)
Synchronization of
Point 1 (2 contacts are supported)
additional axes
RS-232C ports 1 (for the connection of a personal computer, vision sensor, etc.)
1 (dedicated teaching pendant port), 1 (for customer)
Ethernet ports
Interface 10BASE-T/100BASE-T
USB slots 1 (Version 1.1 device functions only)
Additional-axis interface channels 1(SSCNET III)
Operating temperature range ˚C 0 to 40
Relative humidity %RH 45 to 85
Power Input voltage range V Single-phase, AC 180 to 253 *22
supply Power capacity *20 kVA 1.0 (not including rush current) 2.0 (not including rush current) 3. 0 (not including rush current)
External dimensions (including legs) mm 240 (W) x 290 (D) x 200 (H) 470 (W) x 400 (D) x 200 (H) 450 (W) x 440 (D) x 625 (H) *23
Weight kg Approx. 9 Approx. 21 Approx. 60
Structure Self-contained floor type/open structure Self-contained floor type/open structure Self-contained floor type/sealed structure [IP54]
Grounding *21 Ω 100 or less (class D grounding)
*20: The power capacity indicates the rating for normal operation. Take note that the power capacity does not include the current being input when the power is turned on. The power capacity is only a rough guide and whether or not
operation can be guaranteed depends on the input power-supply voltage.
*21: Grounding works are the customer’s responsibility.
*22: The rate of fluctuation of power-supply voltage is within 10%.
*23: 615 (H) for the caster specification.
Mitsubishi Industrial Robot RH-SDH Series

Controller – External Dimensions

CR1D-700 series CR2D-700 series CR3D-700 series
55 340 (55)

408

(66)

(37)
103.2 177 135 37.5

(164)
26
42.5 365

194
(67)
193
290

450

260
401

400
Suspension bolt

333
(50) 380 60
(35) 2-M10

(45)
(50)

95
(134)
71
(22)
(*1)

288
20
(85)

550
(*1)
32

625
(30) 210

185
200
2 x 2- 15 hole

3.2
(75)
200

380 (40.5) 320

4-M5 screw (15) 420 (15) 440

7
15
49 310 49

615
(24) 408 (36)

(65) 550
468
(8)

(8.5) 193 (8.5)

(*1) 50 mm if a dummy teaching pendant
Dimensions of caster specification
plug is installed (factory-set customer specification)

Configurations Options
Model compatibility
Classification Name Type Specification overview Compatibility
RH-6SDH RH-12/18SDH
1S-VD0 M-03 1 to 4 valves connected / With solenoid valve cable (with oil mist box)
Solenoid valve set
1S-VD0 M-04 1 to 4 valves connected / With solenoid valve cable (with oil mist box)
Hand output cable 1S-GR35S-02 4 valves connected with one end not treated (length: 350mm)
Hand input cable 1S-HC25C-02 8-point type with splash-proof grommet (length: 1,200mm)
Robot arm

1E-ST0408C-300 4-4 valves connected type

Hand curl tube
1N-ST0608C 6-4 valves connected type
Machine cable, 1S- CBL-01 Extension type / Extended length: 5m, 10m, 15m
for extension/fixed 1S- CBL-03 Extension type / Extended length: 5m, 10m, 15m
Machine cable, 1S- LCBL-01 Extension type / Extended length: 5m, 10m, 15m
for extension/flexible 1S- LCBL-03 Extension type / Extended length: 5m, 10m, 15m
Simple teaching pendant R32TB(-**) 7m: Standard / 15m: Custom (“-15” is specified in the model name) New
High-function teaching pendant R56TB(-**) 7m: Standard / 15m: Custom (“-15” is specified in the model name) New
Air hand I/F (sink/source) 2A-RZ365/2A-RZ375 8 output points, used exclusively for hand
Parallel I/O unit (sink/source) 2A-RZ361/2A-RZ371 32 output points / 32 input points
External I/O cable 2A-CBL** CBL05: 5m CBL15: 15m(One end not treated, for 2A-RZ361/2A-RA371)
Controller

Parallel I/O interface (sink) 2D-TZ368 32 output points / 32 input points New
External I/O cable 2D-CBL** CBL05: 5m CBL15: 15m(One end not treated, for 2D-TZ368) New
CC-Link interface 2D-TZ576 CC-Link intelligent device station, Version 2.0, 1 to 4 stations New
Additional memory 2D-TZ454 User program area with additional memory: 2MB New
RT ToolBox2 3D-11C-WINE With simulation function (CD-ROM) New
RT ToolBox2 mini 3D-12C-WINE Simple version (CD-ROM) New
Personal computer cable 2D-232CBL03M For PC-AT compatible machine, 3m New
Service A6BAT Installed in the robot arm (Quantity: 5pcs)
Backup battery
part Q6BAT Installed in the controller (Quantity: 1pc) New
(*) <Compatibility with conventional models> New: New option / : Option for conventional models can be used

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This catalog has been issued in Sep. 2008. The contents of this catalog are subject to change
L(NA)-09039ENG-A 0809(MEE) for improvements without prior notice. Consult with Mitsubishi when referring to this catalog.