jmendez mentioned that the lens has aperature and speed settings, so it's a RB67 lens.
Like archphoto stated above, you use the focus knob on the body to set focus then read off the distance scale by the focus knob and set the distance on the lens to match the distance scale. Use of the distance scale on the lens is optional for "better sharpness" on floating element lens, however it is advised that you leave it on infinity on the lens if you are not going to bother with reading the distance scale on the body and setting it on the lens.
I have this lens as well and have forgotten to set the distance scale on the lens, but have got "sharp" pictures.
I've read that setting the distance scale on the lens really helps when you are taking close subject pictures. I haven't done that yet, so can't really tell you if setting the distance scale on the lens will yield better results.
In case you don't have a manual for your RB67/RZ67, you can download it at
www.mamiya.com.
RB67 lenses can be used on RZ67, but RZ67 lenses can't be used on RB67 because RB67 can't set shutter speeds on RZ67 lenses. From what I've read, RZ67 lenses get their shutter speed set by the electronics in the RZ67 body. And RB67s do not have those electronics in the body.
Cheers!