OTC Daihen AII-V6L / A2-V6L Extended Arm Robot Body Structure and Core Accessories Analysis
In the OTC DAIHEN automated welding product line, the AII-V6L (and the A2-V6L on the same platform) is an extended arm version 6-axis industrial robot specially designed to handle the welding of large structural components. Compared to the standard version, it has a larger working radius, but its basic transmission architecture still follows the classic combination of lower RV reducers and upper harmonic reducers.
Due to the greater leverage torque brought by the extended arm, the motors and reducers of the J2 and J3 axes endure more severe physical loads than the standard version. When conducting regular tens-of-thousands-of-hours overhauls, please strictly refer to the official original exploded view and parts model list for each axis below for procurement and operation. Pay special attention: certain motor and reducer models of the V6L extended version are completely different from the standard V6, do not mix them:
Figure 1: OTC Daihen AII-V6L / A2-V6L Extended Arm Industrial Robot Complete Exploded View
2. Detailed Model Comparison Table of Core Parts for Each Axis of AII-V6L / A2-V6L Extended Arm
For the convenience of the workshop equipment department, we have summarized the power units, reduction units, and cable accessories for axes J1 to J6 into a comprehensive global matrix table. Please precisely verify against the circled numbers in Figure 1:
| Part Location | Image No. | Official Order Model | Standard Accessory Name | Function Attributes and Maintenance Remarks |
|---|---|---|---|---|
| J1 Axis (Rotating Base) |
① | W-L02150 | AC Servo Motor | Provides main power for base horizontal rotation. |
| ② | W-L02116 | RV Reducer | High-rigidity heavy-duty base reducer. | |
| ③ | 100-0624 | Lubricating Grease | Dedicated liquid anti-friction grease for RV reducers. | |
| J2 Axis (Lower Arm Pitch) |
④ | W-L02152 | AC Servo Motor | Provides main power for front-back swing of the extended arm under extremely heavy load. |
| ⑤ | W-L02117 | RV Reducer | Core reducer bearing the ultimate gravity tilting moment. | |
| ③ | 100-0624 | Lubricating Grease | Dedicated liquid anti-friction grease for RV reducers. | |
| J3 Axis (Upper Arm Pitch) |
⑥ | W-L02150 | AC Servo Motor | Provides main power for up-down swing of the upper arm. |
| ⑦ | L10725G00 | RV Reducer | Dedicated reducer driving the elevation angle of the extended forearm. | |
| ③ | 100-0624 | Lubricating Grease | Dedicated liquid anti-friction grease for RV reducers. | |
| J4 Axis (Arm Rotation) |
⑧ | W-L02151 | AC Servo Motor | Provides main power for axial rotation of the arm. |
| ⑨ | W-L02113 | Harmonic Reducer | Compact flexspline harmonic reducer. | |
| ⑩ | 2670-053 | Lubricating Grease | Dedicated flexible grease for harmonics. | |
| ⑰ | 2670-017 | Lubricating Grease | Supplemental grease for gear cavities or bearings. | |
| J5 Axis (Wrist Pitch) |
⑪ | W-L02148 | AC Servo Motor | Controls the up-down swing angle of the welding torch. |
| ⑫ | W-L01949 | Harmonic Reducer | High-precision harmonic reducer for the wrist. | |
| ⑬ | W-L01945 | Synchronous Toothed Belt | Highly flexible synchronous power transmission toothed belt for J5 axis. | |
| ⑩ | 2670-053 | Lubricating Grease | Dedicated flexible grease for harmonics. | |
| ⑰ | 2670-017 | Lubricating Grease | Supplemental grease for gear cavities or bearings. | |
| J6 Axis (Flange Rotation) |
⑭ | W-L02148 | AC Servo Motor | Controls high-speed rotation of the end torch flange. |
| ⑮ | W-L02270 | Harmonic Reducer | Precision positioning reducer for the end flange. | |
| ⑯ | W-L01946 | Synchronous Toothed Belt | Highly flexible synchronous power transmission toothed belt for J6 axis. | |
| ⑩ | 2670-053 | Lubricating Grease | Dedicated flexible grease for harmonics. | |
| ⑰ | 2670-017 | Lubricating Grease | Supplemental grease for gear cavities or bearings. | |
| Accessories & Cables | ⑱ | L10525C00 | Robot Internal Cable Assembly (Lower) | |
| ⑲ | L10485C00 | Robot Internal Cable Assembly (Upper) | ||
| ⑳ | L10460B00 | Battery (Encoder Dedicated) |
Core Red Card Warnings for Robot Workshop Overhaul and Maintenance Error Prevention:
- “Pressure Release” Dead Rule for RV Reducers (J1/J2/J3) Grease Filling: When supplementing 100-0624 grease to the lower base, both the oil injection port and the oil drain port must be opened simultaneously. After filling, let the robot axes run at 30% low speed for 20-30 minutes for thorough “pressure release.” If injected in a sealed state or if pressure release is incomplete, the expanding pressure will break through the reducer oil seal, causing oil to enter the motor brake and slip, resulting in a “free fall” of the robot’s lower arm and smashing workpieces and fixtures!
- Strict Prohibition of Mixing Grease in Harmonic Reducers (J4/J5/J6): The harmonic reducers on the upper arm use 2670-053 dedicated grease. The viscosity and chemical composition of this grease are completely different from the RV reducer grease used below. If mixed into the J1-J3 axes due to laziness during maintenance, or if RV grease is added to the wrist, it will lead to rapid gear wear and seizing.
- Power-Off Disaster When Replacing Encoder Battery (U5255F00): When replacing the encoder holding battery located on the base, it must be done with the control cabinet powered on and open! If you power off and unplug the battery, the mechanical origins (Zero Point) of all robot axes will be instantly cleared and lost. Recalibrating the zero points will cost immense downtime and manual effort.
️ Quick Access to AII-V6L Extended Version Electromechanical Parts & Original Overhaul Support
The overhaul and maintenance of extended arm robots are even more critical. Whether you need to procure regular maintenance grease and backup batteries, or urgently replace a W-L02153 motor or reducer worn out by excessive force, welcome to provide your part sequence number. Contact us directly for the latest official standard ex-factory quotes and today’s direct shipping service: