OTC DAIHEN FD-B6 Robot Mechanical Structure & Core Parts Analysis
In the OTC DAIHEN automated welding product line, the FD-B6 is an extremely classic industrial robot with a 6kg payload and through-arm (coaxial cable routing) design. Unlike external cable models, the FD-B6 completely conceals the wire feed hose, shielding gas tube, and control cables inside the upper arm and wrist, thoroughly eliminating cable interference issues when welding complex workpieces (such as tubular objects or inside box structures). Its base (J1-J3 axes) adopts high-torsion resistance RV gearboxes, while the wrist section (J4-J6 axes) integrates hollow-design harmonic gearboxes and a special inner ring guide assembly.
The physical characteristics of through-arm routing combined with high-speed motion require maintenance personnel to possess extremely high assembly precision and leak-prevention sealing capabilities when performing routine overhauls (such as replenishing 100-0624 cycloidal grease, reapplying 100-0942 liquid gasket, or replacing the L11700F00 internal communication cable). Please strictly follow the official factory exploded view and the parts list for each axis below:
📷 Figure 1: OTC DAIHEN FD-B6 Through-Arm Industrial Robot Complete Mechanical Parts Exploded View
2. FD-B6 Core Parts Reference Table by Axis
For the convenience of the workshop equipment department, we have consolidated the power units, special mechanical guides, and cable accessories of the J1 to J6 axes into a comprehensive global matrix table. Please carefully cross-reference the circled numbers (①-㉓) in Figure 1:
| Axis / Location | Image Ref. | Official Part Number | Standard Part Name | Function & Maintenance Notes |
|---|---|---|---|---|
| J1 Axis (Rotating Base) |
① | W-L02787 | AC Servomotor | Provides main power for wide-range horizontal base rotation. |
| ② | L11130X00 | RV Gearbox | High-rigidity, large-capacity base main reducer. | |
| ③ | 100-0624 | Lubricating Grease | Liquid anti-friction grease dedicated for RV gearboxes. | |
| J2 Axis (Lower Arm Pitch) |
④ | W-L02788 | AC Servomotor | Provides high-torque main power for lower arm forward/backward pitch. |
| ⑤ | L11130Y00 | RV Gearbox | Core reducer bearing the forward tilt moment of the lower arm and wrist. | |
| ③ | 100-0624 | Lubricating Grease | Liquid anti-friction grease dedicated for RV gearboxes. | |
| J3 Axis (Upper Arm Pitch) |
① | W-L02787 | AC Servomotor | Provides main power for upper arm up/down pitch (same as J1). |
| ⑥ | L11130Z00 | RV Gearbox | Heavy-duty reducer driving the extension of the upper arm. | |
| ③ | 100-0624 | Lubricating Grease | Liquid anti-friction grease dedicated for RV gearboxes. | |
| J4 Axis (Arm Rotation) |
⑦ | W-L02789 | AC Servomotor | Provides main power for arm axial rotation. |
| ⑧ | W-L02784 | Harmonic Gearbox | Hollow through-cable harmonic reducer. | |
| ⑨ | W-L02794 | Timing Belt | First-stage toothed transmission belt. | |
| ⑩ | L11700G00 | Inner Ring Guide ASSY | Dedicated internal guide kit for through-arm routing to prevent cable interference. | |
| ⑪ | 2670-052 | Lubricating Grease | Flexible high-viscosity lubricating grease dedicated for harmonic gearboxes. | |
| ⑫ | 100-1491 | Lubricating Grease | Dedicated anti-friction grease for local contact surfaces. | |
| J5 Axis (Wrist Pitch) |
⑬ | W-L02790 | AC Servomotor | High-speed motor controlling the up/down pitch of the wrist. |
| ⑭ | L11700Y00 | Harmonic Gearbox | High-precision hollow harmonic reducer for the wrist. | |
| ⑮ | W-L02801 | Timing Belt | Dedicated toothed transmission belt for wrist pitch mechanism. | |
| ⑯ | 100-0942 | Liquid Gasket | Original factory liquid silicone for sealing end covers against oil leakage. | |
| ⑪ | 2670-052 | Lubricating Grease | Dedicated flexspline lubricating grease for harmonic gearboxes. | |
| ⑫ | 100-1491 | Lubricating Grease | Specified anti-friction oil for contact surface replenishment. | |
| J6 Axis (Flange Rotation) |
⑬ | W-L02790 | AC Servomotor | Controls the high-torque, high-speed rotation of the end flange. |
| ⑰ | W-L02786 | Harmonic Gearbox | Zero-backlash hollow harmonic drive for end flange. | |
| ⑱ | W-L02802 | Timing Belt | End axis high-speed rotation synchronous toothed transmission belt. | |
| ⑪ | 2670-053 | Lubricating Grease | Dedicated anti-friction grease for end high-frequency friction pair. | |
| ⑫ | 100-1491 | Lubricating Grease | Supplemental anti-friction grease dedicated for specified mating surfaces. | |
| Cables & Accessories (Global) |
— | L11700F00 | Cable Assembly (1) | Highly flexible main axis cable from the rear of the rack to the upper arm. |
| — | L11700H00 | Cable Assembly (2) | Dedicated flying leads for J5 and J6 axis motors communication inside the upper arm. | |
| — | L11700K00 | Cable Assembly (3) | Auxiliary flexible cables for J5 and J6 axes inside the upper arm. | |
| — | L11700B00 | J5, J6 Axis Unit Assembly | Hollow mechanical housing drive assembly for the wrist. | |
| — | L11130M00 | Power Cable Assembly 1 | High-voltage servo power supply line inside J1 axis. | |
| — | L11700M01 | Power Cable Assembly 2 | Servo main power supply line from J2 to the upper arm. | |
| ⑲ | W-L01399 | Battery (Encoder) | Backup lithium battery pack maintaining the mechanical zero coordinates of the encoders. |
* Note: Items with an “Image Ref.” of “—” in the table represent wiring harness kits or assemblies hidden inside the main body, which cannot be visually indicated in the external skeleton exploded view. Please perform overall disassembly and replacement according to the original factory manual.
💡 FD-B6 6kg Through-Arm Robot Overhaul & Maintenance Red Card Warnings:
- Through-Arm Cable Interference & Inner Ring Guide (L11700G00) Fragmentation: The FD-B6 is a through-arm model with extremely compact hollow shaft diameters for J4, J5, and J6. When extracting and replacing the internal welding torch cable, if the twist angle exceeds the hose’s elastic limit, the thick cable will directly shred the Inner Ring Guide ASSY (L11700G00) located in the J4 axis. Once this part is broken, the debris will fall directly into the harmonic gearbox flexspline, causing the high-value mechanical assembly to be instantly ruined.
- J5 Liquid Gasket (100-0942) Application Red Line: Unlike standard rubber O-rings, the joint surface between the J5 axis gearbox and the housing utilizes extremely high-standard original factory liquid sealant. When reassembling after disassembly and maintenance, the use of inferior domestic silicone as a substitute is strictly prohibited. Inferior silicone will not only quickly become brittle and age under high temperatures, but the squeezed-out residual glue will also contaminate the timing belt (
W-L02801), causing severe slipping during high-speed starts and stops, directly triggering TCP deviation. - Encoder Battery (W-L01399) Live Hot-Swap Rule: The No. ㉓ battery located inside the base maintains the spatial absolute position coordinate system of the robot’s 6 axes. Never unplug the old battery connector while the main power to the control cabinet is disconnected! Once unplugged during a power outage, all encoder origin memory will instantly clear to zero. When replacing the
W-L01399battery, the control system must remain powered on, and the new battery must be plugged in immediately after removing the old one.
🛠️ Get Real-Time Quotes for FD-B6 Robot Motors, Gearboxes & Through-Arm Cables
The health of a through-arm industrial robot’s “skeleton and sealing system” directly determines the safety of the machining process and the precision of the weld seam. Simply provide the required official part numbers (e.g., W-L02787 Motor, L11700G00 Guide, W-L01399 Battery), and our automated spare parts system will quickly match and output an accurate, ready-to-ship quote for you. Whether you need original factory liquid sealant for routine maintenance or highly flexible main axis cables for a major wrist overhaul, feel free to contact us directly: