OTC DAIHEN FD19-B6L Robot Mechanical Structure & Core Parts Analysis
In the OTC DAIHEN automated welding product line, the FD19-B6L is a highly versatile and high-performance industrial robot. Featuring excellent overall performance and payload capacity, it is frequently deployed for high-intensity arc welding, cutting, and handling operations. Its lower base (J1-J3 axes) utilizes high-rigidity RV gearboxes to withstand core torques, while the wrist section (J4-J6 axes) integrates compact harmonic gearboxes to ensure highly precise trajectories and flexible postures for the end-effector welding torch.
To guarantee the long-term stable operation of the robot, when performing routine major overhauls (such as replacing axis joint lubricating grease, calibrating timing belt tension, or replacing the control battery), please strictly refer to the official factory exploded view and the parts list for each axis below for procurement and maintenance. Never mix different models of grease or motors:
📷 Figure 1: OTC DAIHEN FD19-B6L Industrial Robot Complete Mechanical Exploded View
2. FD19-B6L Core Parts Reference Table by Axis
For the convenience of the workshop equipment department and maintenance personnel, we have consolidated the power units, reduction units, dedicated lubricating grease, and cable accessories of the J1 to J6 axes into a comprehensive global matrix table. Please carefully cross-reference the circled numbers (①-⑲) in Figure 1:
| Axis / Location | Image Ref. | Official Part Number | Standard Part Name | Function & Maintenance Notes |
|---|---|---|---|---|
| J1 Axis (Rotating Base) |
① | W-L02788 | AC Servomotor | Provides main power for wide-range horizontal base rotation. |
| ② | L12000X00 | RV Gearbox | High-rigidity, large-capacity base main reducer. | |
| ③ | 100-0624 | Lubricating Grease (1119ml) | Liquid anti-friction grease dedicated for RV gearboxes; standard injection volume is 1119ml. | |
| J2 Axis (Lower Arm Pitch) |
④ | W-L03025 | AC Servomotor | Provides high-torque main power for lower arm forward/backward pitch. |
| ⑤ | L11998X00 | RV Gearbox | Core reducer bearing the weight of the main lower arm and dynamic overturning moments. | |
| ③ | 100-0624 | Lubricating Grease (954ml) | Liquid anti-friction grease dedicated for RV gearboxes; standard injection volume is 954ml. | |
| J3 Axis (Upper Arm Pitch) |
① | W-L02788 | AC Servomotor | Provides main power for upper arm up/down pitch (same model as J1 axis). |
| ⑥ | L11996X00 | RV Gearbox | Heavy-duty reducer driving the extension of the upper arm. | |
| ③ | 100-0624 | Lubricating Grease (265ml) | Liquid anti-friction grease dedicated for RV gearboxes; standard injection volume is 265ml. | |
| J4 Axis (Arm Rotation) |
⑦ | W-L02789 | AC Servomotor | Provides main power for arm axial rotation. |
| ⑧ | W-L02784 | Harmonic Gearbox | Compact flexspline harmonic reducer. | |
| ⑨ | W-L02794 | Timing Belt | Toothed transmission synchronous belt connecting the motor and gearbox. | |
| ⑩ | L11761N00 | Inner Ring Guide ASSY | Internal core guide assembly. | |
| ⑪ | 2670-052 | Lubricating Grease (5ml) | Dedicated lubricating grease for harmonic gearboxes. | |
| ⑫ | 100-1491 | Lubricating Grease (4ml) | Supplemental high-performance lubricating grease. | |
| J5 Axis (Wrist Pitch) |
⑬ | W-L02790 | AC Servomotor | Controls the up/down pitch angle of the welding torch. |
| ⑭ | L11700Y00 | Harmonic Gearbox | High-precision harmonic reducer for the wrist. | |
| ⑮ | W-L02801 | Timing Belt | Wrist transmission synchronous toothed belt. | |
| ⑪ | 2670-052 | Lubricating Grease (3ml) | Dedicated lubricating grease for harmonic gearboxes. | |
| ⑫ | 100-1491 | Lubricating Grease (3ml) | Supplemental high-performance lubricating grease. | |
| ⑱ | 100-1516 | Sealant (30ml) | Original factory high-temperature anaerobic sealant for leakage prevention. | |
| J6 Axis (Flange Rotation) |
⑬ | W-L02790 | AC Servomotor | Controls the high-torque rotation of the end welding torch flange (same model as J5 axis). |
| ⑯ | L11700L00 | Harmonic Gearbox | Zero-backlash harmonic drive for the end flange. | |
| ⑰ | W-L02802 | Timing Belt | End axis transmission synchronous toothed belt. | |
| ⑪ | 2670-053 | Lubricating Grease (25ml) | Dedicated anti-friction grease for end high-frequency friction pair. | |
| ⑫ | 100-1491 | Lubricating Grease (3ml) | Auxiliary grease for end cover and bearings. | |
| Cables & Accessories (Global) |
⑲ | W-L02722 or W-L01399C | Control Battery (3-Cell) | Backup absolute battery maintaining the mechanical zero coordinates of the encoders. |
| — | L11998F00 / L11999Y00 | Cable Assembly (1) | Main axis wiring harness assembly for handling, routed from the rear of the body to the upper arm. | |
| — | L11761D00 | Cable Assembly (2) | Dedicated flying leads for J5 and J6 axis communication inside the upper arm. | |
| — | L11761E00 | Cable Assembly (3) | Dedicated auxiliary flying leads for J5 and J6 axis communication inside the upper arm. | |
| — | L11700B00 | J5, J6 Axis Unit Assembly | Comprehensive assembly of the wrist mechanical housing and powertrain. | |
| — | L11996T00 | Welding Cable Assembly Type B | Internally integrated welding power cable assembly. |
* 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.
💡 FD19-B6L Robot Overhaul & Maintenance Red Card Warnings:
- RV Gearbox Grease Replacement (Forced Pressure Release to Prevent Oil Burst): When injecting new grease (100-0624) into the J1-J3 axes, you must absolutely open both the inlet and outlet ports simultaneously, and let each axis of the robot run continuously without load at 30% low speed for 20-30 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 internal skeleton oil seal, causing grease backflow and completely burning out the motor coils.
- J4/J5/J6 Axis Belt Tension Standard: When replacing the wrist timing belts (
W-L02794/W-L02801/W-L02802) during maintenance, never blindly apply pressure based on manual feel. A professional sonic tension meter must be used to accurately adjust them to the Hz frequency baseline specified in the official maintenance manual. Being too loose will inevitably lead to tooth jumping and crashes, while being too tight will crush the precision bearings. - Live Hot-Swap Rule for Absolute Control Battery (⑲): The No. ⑲ battery pack located in 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! When replacing the battery, the control system must remain powered on to prevent the encoder origin memory from being instantly cleared to zero.
🛠️ Get Real-Time Quotes for FD19-B6L Robot Motors, Gearboxes & Cables
The health of a robot’s “skeleton and muscles” directly determines the safety of the machining process and the precision of the trajectory. Simply provide the required official part numbers (e.g., W-L02788 Motor, L12000X00 Gearbox, W-L02722 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 internal cable assemblies for a complete overhaul, feel free to contact us directly: