OTC DAIHEN FD-B15 Robot Mechanical Structure & Core Parts Analysis
In the OTC DAIHEN automation application system, the FD-B15 is an extremely hardcore industrial robot with a 15kg heavy payload and through-arm (coaxial cable routing) design. With a high wrist payload of up to 15kg, it can not only carry heavy water-cooled welding torches but also effortlessly handle laser tailor welding and medium-to-large workpiece handling. Its base (J1-J3 axes) adopts high-torsion resistance cycloidal gearboxes / RV gearboxes, and to enable the coaxial cable package to shuttle internally, the wrist section (J4-J6 axes) innovatively integrates hollow harmonic gearboxes with multiple sets of high-strength crossed roller bearings.
The physical characteristics of through-arm routing combined with a heavy payload demand extremely high assembly precision from maintenance personnel when performing routine overhauls (such as replenishing 100-0624 cycloidal grease, calibrating the dual timing belts, or extracting/replacing the L10974T00 internal bus cable). Please carefully cross-reference the official factory exploded view and the parts list for each axis below. Never use the wrong grease or blindly disassemble the precision wrist components:
📷 Figure 1: OTC DAIHEN FD-B15 Industrial Robot Complete Mechanical Parts Configuration Diagram
2. FD-B15 Core Parts Reference Table by Axis
For the convenience of the workshop equipment department, we have consolidated the power units, reduction units, and cable accessories of the J1 to J6 axes into a comprehensive global matrix table. Please carefully cross-reference the circled numbers (①-㉚) in Figure 1:
| Axis / Location | Image Ref. | Official Part Number | Standard Part Name | Function & Maintenance Notes |
|---|---|---|---|---|
| J1 Axis (Rotating Base) |
① | W-L02641 | AC Servomotor | Provides main power for wide-range horizontal base rotation. |
| ② | W-L02116 | Cycloidal Gearbox | High-rigidity, large-capacity base main reducer. | |
| ③ | 100-0624 | Lubricating Grease | Liquid anti-friction grease dedicated for cycloidal/RV gearboxes. | |
| J2 Axis (Lower Arm Pitch) |
④ | W-L02152 | AC Servomotor | Provides high-torque main power for lower arm forward/backward pitch. |
| ⑤ | W-L02117 | Cycloidal Gearbox | Core reducer bearing the extreme overturning moment of the 15kg payload. | |
| ③ | 100-0624 | Lubricating Grease | Liquid anti-friction grease dedicated for cycloidal/RV gearboxes. | |
| J3 Axis (Upper Arm Pitch) |
① | W-L02641 | AC Servomotor | Provides main power for upper arm up/down pitch. |
| ⑥ | L10725F00 | RV Gearbox | Heavy-duty reducer driving the extension of the upper arm. | |
| ③ | 100-0624 | Lubricating Grease | Liquid anti-friction grease dedicated for cycloidal/RV gearboxes. | |
| J4 Axis (Arm Rotation) |
⑦ | W-L02151 | AC Servomotor | Provides main power for arm axial rotation. |
| ⑧ | W-L02427 | Harmonic Gearbox | Hollow through-cable harmonic reducer. | |
| ⑨ | W-L02551 | Crossed Roller Bearing | Precision rotary bearing carrying multi-dimensional lateral loads. | |
| ⑩ | 2670-053 | Lubricating Grease | Flexible high-viscosity lubricating grease dedicated for harmonic gearboxes. | |
| ⑪ | 2670-017 | Lubricating Grease | Supplemental grease for gear cavities or bearings. | |
| ⑫ | 100-1491 | Lubricating Grease | Dedicated anti-friction grease for local contact surfaces. | |
| J5 Axis (Wrist Pitch) |
⑬ | W-L02404 | AC Servomotor | Controls the up/down pitch of the wrist and heavy fixtures. |
| ⑭ | L10970S00 | J5 Axis Gearbox Assembly | High-precision hollow reduction gear assembly for the J5 wrist. | |
| ⑮ | W-L02579 | Timing Belt | First-stage toothed transmission belt connecting motor and gearbox. | |
| ⑩ | 2670-053 | Lubricating Grease | Dedicated flexspline lubricating grease for gearboxes. | |
| ㉑ | 100-1025 | Lubricating Grease | Specified lubricating oil for contact surface replenishment. | |
| J6 Axis (Flange Rotation) |
⑬ | W-L02404 | AC Servomotor | Controls the high-torque, high-speed rotation of the end flange. |
| ⑯ | W-L02411 | Harmonic Gearbox | Zero-backlash hollow harmonic drive for end flange. | |
| ⑰ | W-L02542 | Crossed Roller Bearing | Main heavy-load crossed roller bearing for end axis. | |
| ⑱ | W-L02543 | Crossed Roller Bearing | Auxiliary heavy-load crossed roller bearing for end axis. | |
| ⑲ | W-L02578 | Timing Belt | Second-stage synchronous toothed transmission belt for end axis. | |
| ⑮ | W-L02579 | Timing Belt | First-stage synchronous toothed transmission belt for end axis. | |
| ⑩ | 2670-053 | Lubricating Grease | Dedicated anti-friction grease for end high-frequency friction pair. | |
| ⑪ | 2670-017 | Lubricating Grease | Supplemental grease for crossed roller bearing cavity. | |
| ⑫ | 100-1491 | Lubricating Grease | Dedicated anti-friction grease for mating surfaces. | |
| Cables & Accessories (Global) |
— | L10974T00 | Cable Assembly (1) | Highly flexible main axis cable from the rear body to the upper arm. |
| — | L10974F00 | Cable Assembly (2) | Dedicated flying leads for J5 and J6 axis motors communication inside the upper arm. | |
| — | L10974G00 | Cable Assembly (3) | Auxiliary cables for J5 and J6 axes inside the upper arm. | |
| — | L10974C00 | 5, 6 Axis Unit Assembly | Hollow mechanical housing assembly for the wrist. | |
| — | L10974H00 | Drive Unit | Finished assembly part for J5, J6 axis motors and gear sets. | |
| ⑳ | 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-B15 15kg Through-Arm Robot Overhaul & Maintenance Red Card Warnings:
- Heavy-Duty Gearbox Grease Replacement (Forced Pressure Release to Prevent Oil Burst): The B15 model’s high payload of up to 15kg causes its J1-J3 axis cycloidal/RV gearboxes to generate massive heat during operation. When injecting the dedicated
100-0624grease, you must absolutely open both the inlet and outlet ports simultaneously, and let each axis of the robot run continuously without load at 20%-30% low speed for 30 minutes after injection to thoroughly “release pressure”. If the oil plug is forcibly sealed without fully exhausting the high-pressure air inside the cavity, the rapidly expanding air will instantly burst the servo motor’s skeleton oil seal, causing grease backflow and completely burning out the motor coils. - Hollow Wrist Cable Interference & “Dual Belt” Tooth Jumping Risk: The FD-B15 wrist is hollow to accommodate the thick welding torch coaxial cable. When extracting and replacing the internal cable package
L10974T00, if insufficient rotation allowance is left, the robot will fatally pull the internal cable during large-angle twists, while reversely squeezing the dual-stage timing belts (W-L02578/W-L02579) of the J5/J6 axes. When rebuilding the wrist or replacing belts, a professional sonic tension meter must be used to adjust the tension (Hz value). Being too loose will cause terminal positioning drift of the heavy welding torch, while being too tight will directly crush the bi-directional crossed roller bearings. - Encoder Battery (W-L01399) Live Hot-Swap Rule: The No. ㉚ 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-B15 Robot Motors, Gearboxes & Highly Flexible Cables
The health of a heavy-payload through-arm robot’s “skeleton and transmission 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-L02641 Motor, L10725F00 Gearbox, 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 Cycloidal/Harmonic grease for routine maintenance or a drive unit assembly dedicated for a wrist overhaul, feel free to contact us directly: