CAT. NO.

R0004-C

FD-B4, FD-B4L, FD-V6, FD-V6L, FD-H5, and FD-V20

COMPLETE
ROBOTIC ARC
WELDING
SYSTEMS
2
CHANGING THE FUTURE
OF MANUFACTURING
The ideal solution for automation of welding

Intuitive Operation Quality Control Functions Compact and Eco-Friendly

Touch panel and jog dial Easy quantitative Space-saving design
ensure easy operation. management of welding with reduced standby
procedures. power consumption.

3
 Smooth Operation Compact and light weight

TEACH
27% lighter than previous model, making
teaching sessions easier.
40% smaller than previous model, mak-
ing it easier to handle in tight spaces.

PENDANT Smooth teaching

Touch panel provides simple operation.
Jog dial allows simple adjustment.

Smooth backups
USB memory slot
makes data saving and
reading easy.

Smooth welding Smooth operation

Welding condition guide function Improved display
Helps you find better welding conditions with one-touch By improving the display of characters, the display is easier to
operation. read.

Smooth operation
Jog dial
It is possible to scroll through teaching programs, make an
adjustment to wire aiming position, and to do wire inching and
retract movement with jog dial. Jog dial can provide intuitive Smooth operation
operation for multiple items.
Iconified operation buttons
By improving the display of characters, the display is easier to
read.

Smooth operation
One-touch access
The touch panel realizes one-touch access to teaching items,
reducing the number of times keys are pressed.

4
Electric conservation Smart
Up to 50% reduction in power
CONTROLLER

FD11
consumption using the power con-
servation mode (energy conservation
timer function and external servo OFF
function).

Minimal maintenance
Addition of axes is simple and fast.
30% fewer parts.

Space conservation
20% less volume than previous
model.
Additional clearance above the
controller.

Smart welding Downsized

Improved operability Improved space utilization
Correcting teaching to improve welding quality is made pos- Height of the controller has been reduced.
sible in a shorter amount of time.
Depth
22.83”
reduced
(580 mm)
by 4.33”
(110 mm)

Height
reduced
by 7.72”
25.59” (650 mm)

(196 mm)

Smart welding
Smart welding
Improved movement performance Increased reliability
By increasing the robot response speed to weld start signals,
When a welding error occurs, troubleshooting can be done
arc start failures are reduced and high quality bead appear-
easily, leading to reduced downtime.
ance is achieved.
By greatly reducing residual vibrations, high speed approach- Easy troubleshooting
es are possible. (optional)
when a welding error
occurs, data is backed
up automatically. This
helps find the cause of
the trouble, leading to
reduced downtime.

Traceability can be done

easily (optional)
by connecting a
computer.

5
 Fast, Precise

WELDING ROBOTS

FD-B4 FD-V6

FD-B4L
6
 FD-V20
FD-V6L

FD-H5
7
 RANGE OF MOTION
Manipulator working range / Specifications

FD-B4
Standard P-point working range 170° P-point working range
25.20”
P-point

7.87” (640 mm)

11.87” (200 mm)

7 m 51”
(300 mm)

m)

(1251 mm)
(26 10.

49.25”
R
4 x Ø 18 mm 2.26”
(57.5 mm) 22.83” 8.66”
47.64” (220 mm)
(1210 mm) (580 mm)
11.87” (300 mm)
16.93”
5.12” (430 mm)

(1196 mm)
(130 mm)

11 55”
6.30”

47.09”
R1 8m
)
mm
42.95”

(41
(14 55.
(160 mm)

6.4 m)
P-point (1091 mm)

6”
19.69” 19.69” 39.06”
170° 16.46” (992 mm)
(500 mm) (500 mm) (418 mm)
55.55”
(1411 mm)

FD-B4

FD-B4L P-point working range P-point working range

Long Reach 170°
8.66”
(220 mm) 40.94” P-point
(1040 mm)

(1823 mm)
11.87”

71.77”
(300 mm)
P-point
4 x Ø 18 mm 8.66”
2.26” 29.92” (220 mm)
59.25” (760 mm)
(57.5 mm) (1505 mm)
11.87” (300 mm)
20.67”
5.12” (525 mm)
R (130 mm)
(59 23.5

(1752 mm)
7 m 0”

66.98”
m)
(37 14.76”

R 08 m
m)

(20
79 m

7.28”
5m

.06 )

64.49” (185 mm)

R

(1638 mm)

170° 55.94”
19.69” 19.69” 23.11” (1421 mm)
(500 mm) (500 mm) (587 mm)
79.06” (2008 mm)

FD-B4L
FD-V6
Standard
P-point working range P-point working range
170°
4.92” P-point
(125 mm) 25.60”
11.87” ”
.51 ) (650 mm)
(1242 mm)

(300 mm) 10 m
48.90”

4 x Ø 18 mm R 67 m
(2 5.27” 22.83”
(134 mm) 3.94”
44.69” (580 mm) (100 mm)
(1135 mm)
16.93”
R (430 mm)
(1188 mm)

P-point 6.30”
(39 15.
46.77”

9 m 71” (160 mm)

R 5 02 mm
(14

m)
5.2 )
0”

15.71”
(399 mm)
170° 39.49”
19.69” 42.60”
(500 mm) (1082 mm) (1003 mm)
55.20”
(1402 mm)

FD-V6
8
FD-V6L P-point working range
170°
P-point working range

Long Reach 5.91”

41.34” P-point
(150 mm)

7 m 8”
(1050 mm)

m)
(31 12.47

(1821 mm)
11.87”

71.69”
(300 mm)

R
P-point 3.94”
5.28” 29.92” (100 mm)
(134 mm) 56.50” (760 mm)
(1435 mm)
11.87” (300 mm)
20.67”
R (525 mm)
(59 23.54

(1749 mm)
8m ”
m)

68.86”
R 06
(20
78 mm
7.28”

.98 )
64.41” (185 mm)

”
(1636 mm)

170° 23.54” 55.43”

19.69” 19.69” (598 mm) (1408 mm)
(500 mm) (500 mm) 78.98” (2006 mm)

FD-H5 FD-V6L
P-point working range

Compact
P-point working range

170° 2.40”
(61 mm)
15.35”
7.48” (390 mm) 2.76”
(190 mm) (70 mm)
30.16”
P-point 4 x Ø 14 mm (766 mm)
5.59” 14.57”
3.74” (370 mm)
(142 mm) (95 mm)

12.99”
23.94” (330 mm)
5” )
9.2 m (608 mm)
R 35 m
R 66 m

3.94”
(26 10.59”

(8
34 m
m)

(2 (100 mm)
.09 )
9m

”
R

10.59”
23.50” (269 mm)
(597 mm)
170° 34.09” 26.22”
(866 mm) (666 mm)

19.69” 19.69”
(500 mm) (500 mm)

FD-V20 FD-H5
P-point working range P-point working range
Standard 170°
P-point
5.91” 29.53”
(750 mm) P-point
11.87” (150 mm)
7m ”

(1525 mm)
(31 12.48
m)

(300 mm)
60.04”

4 x Ø 18 mm
R

29.92” 4.53”
(1435 mm)

(115 mm)
56.50”

(760 mm)
11.87” (300 mm)
7.09” 20.67”
(180 mm) (525 mm)
(1454 mm)
57.24”
R 67 m
(4
18 m
.39 )
R 6 10 m
(17

”
7.3 m)

7.28”
2”

(185 mm)
52.76” 48.94”
(1340 mm) (1243 mm)
19.69” 19.69” 67.32”
(500 mm) 18.39”
(500 mm) (467 mm) (1710 mm)

FD-V20 9
 SPECIFICATIONS
Manipulator

FD-B4 FD-B4L FD-V6 FD-V6L

Model NB4 NB4L NV6 NV6L
Number of axes 6
Maximum capacity 8.82 lbs (4 kg) 8.82 lbs (4 kg) 13.23 lbs (6 kg) 13.23 lbs (6 kg)
Positional repeatability ±0.003” (±0.08 mm)(1) ±0.003” (±0.08 mm)(1) ±0.003” (±0.08 mm)(1) ±0.003” (±0.08 mm)(1)
Horizontal Reach 55.55" (1411 mm) 79.06" (2008 mm) 55.29" (1402 mm) 78.98" (2006 mm)
Vertical Reach 96.34" (2447 mm) 138.75" (3575 mm) 90.67" (2430 mm) 140.55" (3570 mm)
Driving capacity 2550 W 4650 W 2600 W 5000 W
J1 (Rotation) ±170º (±50º) (2)
±170º (±50º) (2)
±170º (±50º) (2)
±170º (±50º)(2)
Arm

J2 (Lower arm) -155º to +90º -155º to +100º (3) -155º to +90º -155º to +100º(3)
Working Range

J3 (Upper arm) -170º to +180º -170º to +190º -170º to +190º -170º to +260º(4)
J4 (Swing) ±155º ±155º ±180º ±180º
Wrist

J5 (Bending) -45º to +225º (5)

-45º to +225º (5)
-50º to +230º -50º to +230º
J6 (Twist) ±205º(5) ±205º(5) ±360º ±360º
3.66 rad/s (210º/s) 3.40 rad/s (195º/s) 3.66 rad/s (210º/s) 3.40 rad/s (195º/s)
J1 (Rotation)
3.32 rad/s (190º/s)(2) 3.05 rad/s (175º/s)(2) 3.32 rad/s (190º/s)(2) 3.05 rad/s (175º/s)(2)
Arm
Motion speed

J2 (Lower arm) 3.66 rad/s (210º/s) 3.49 rad/s (200º/s) 3.66 rad/s (210º/s) 3.49 rad/s (200º/s)
J3 (Upper arm) 3.66 rad/s (210º/s) 3.49 rad/s (200º/s) 3.66 rad/s (210º/s) 3.49 rad/s (200º/s)
J4 (Swing) 7.33 rad/s (420º/s) 7.33 rad/s (420º/s) 7.33 rad/s (420º/s) 7.33 rad/s (420º/s)
Wrist

J5 (Bending) 7.33 rad/s (420º/s) 7.33 rad/s (420º/s) 7.33 rad/s (420º/s) 7.33 rad/s (420º/s)
J6 (Twist) 10.5 rad/s (600º/s) 10.5 rad/s (600º/s) 10.82 rad/s (620º/s) 10.82 rad/s (620º/s)
J4 (Swing) 10.1 N•m 10.1 N•m 11.8 N•m 11.8 N•m
Allowable
moment
Wrist allowable load

J5 (Bending) 10.1 N•m 10.1 N•m 9.8 N•m 9.8 N•m

J6 (Twist) 2.94 N•m 2.94 N•m 5.9 N•m 5.9 N•m
J4 (Swing) 0.38 kg•m2 0.38 kg•m2 0.30 kg•m2 0.30 kg•m2
moment of
Allowable

inertia

J5 (Bending) 0.38 kg•m2 0.38 kg•m2 0.25 kg•m2 0.25 kg•m2

J6 (Twist) 0.03 kg•m2 0.03 kg•m2 0.06 kg•m2 0.06 kg•m2
Arm cross-sectional area 2.94 m2 x 340º 6.37 m2 x 340º 3.14 m2 x 340º 7.48 m2 x 340º
Environmental conditions 32 to 113º F (0 to 45º C), 20 to 80% RH (no condensation)
Mass / weight 340 lbs (154 kg) 611 lbs (277 kg) 317 lbs (144 kg) 602 lbs (273 kg)
Maximum load of upper arm 22.05 lbs (10 kg)(6) 44.09 lbs (20 kg)(6) 22.05 lbs (10 kg)(6) 44.09 lbs (20 kg)(6)
Installation method Floor/Ceiling/Wall
Paint color White (Munsell notation 10GY 9/1)

NOTES:
(1) The value of the positional repeatability is at the tool center point (TCP) in compliance with ISO 9283.
(2) The value in parentheses indicates wall mounted.
(3) Working range of J2 axis may be restricted when wall mounted.
(4) The operation range of the J3 axis is restricted to -170º to +205º) when floor based welding is applied.
(5) Working range of the J6 axis may be restricted by the position of the J5 axis.
(6) When loading, the maximum payload as the end effector.
(7) This value changes according to placement and load conditions of the wrist.

10
 SPECIFICATIONS
Controller / Teach pendant

FD-H5 FD-V20 FD11 Controller

NH5 NV20 Inches: 22.83 W x 21.34 D x 25.59 H
Dimensions
mm: 580 W x 542 D x 650 H

11.02 lbs (5 kg) 44.09 lbs (20 kg) Mass Approximately 137 lbs (62 kg)
±0.002” (±0.05 mm)(1) ±0.003” (±0.07 mm)(1)
Ambient
32 to 113º F (0 to 45º C)
34.09" (866 mm) 67.32" (1710 mm) temperature range
54.1" (1374 mm) 117.28" (2979 mm) Ambient relative
20 to 80% RH (non condensing)
humidity range
1440 W 5600 W
3-phase 480/240 VAC ±10%,
+170º ±170º (±50º)(2) Power supply
50/60 Hz with integrated transformer
-125º to +90º -155º to +100º
“General purpose
40 inputs, 40 outputs
-140º to +245º -170º to +260º(4) physical I/O”
±190º ±180º 160,000 instructions by PTP
Memory capacity
instruction in a single mechanism
-30º to +210º -50º to +230º
Number of task
±360º ±360º 9,999
programs
3.49 rad/s (200º/s) 3.40 rad/s (195º/s)
2.79 rad/s (160º/s)(2) 3.05 rad/s (175º/s)(2) External memory USB (Robot Control: 1 slot, Teach Pendant: 1 slot)
3.49 rad/s (200º/s) 3.32 rad/s (190º/s)
Color Munsell notation 10GY 9/1
4.54 rad/s (260º/s) 3.14 rad/s (180º/s)
6.63 rad/s (380º/s) 6.98 rad/s (400º/s)
6.63 rad/s (380º/s) 6.98 rad/s (400º/s)
8.95 rad/s (510º/s) 10.5 rad/s (600º/s)
11.9 N•m 43.7 N•m
Teach Pendant
11.9 N•m 43.7 N•m
Inches: 6.89 W x 12.83 D x3.19 H
5.21 N•m 19.6 N•m Dimensions
mm: 175 W x 326 D x 81 H
0.303 kg•m2 1.09 kg•m2
Mass Approximately 2.4 lbs (1.08 kg)
0.303 kg•m2 1.09 kg•m2
0.061 kg•m2 0.24 kg•m2 Axis keys, TP selector switch, jog dial, enable
Operation device switch, operation ready ON key, emergency stop
1.22 m2 x 340º 5.27 m2 x 340º button, USB memory slot (1 slot)
5.7 inches, 640x480 pixels, 65536 colors, touch
Display
panel, LED backlit
128 lbs (58 kg) 613 lbs (278 kg)
IEC protection
220 lbs (1 kg)(6) 44.09 lbs (20 kg)(6) IP65
class

26.25 ft (8 m) standard
Cable length
49.21 ft (15 m) optional

These specifications are subject to change without prior notice.

11
BASIC CONFIGURATION

U
U: UL
U : UL

FDTPDDJU

1 : UL

Series

For more information on brand products from DAIHEN Inc., visit our website at
www.daihen-usa.com, or send us e-mail at sales@daihen-usa.com.

OTC DAIHEN INC. Branch Offices: Atlanta, Georgia

(Headquarters) Charlotte, North Carolina
1400 Blauser Dr., Tipp City, OH 45371 Monterrey, Mexico
Ph: 937-667-0800 • Fax: 937-667-0885 Novi, Michigan

OTC DAIHEN, Inc. reserves the right to change specifications without notice. © OTC DAIHEN, Inc. Printed in U.S.A. CAT. NO. R0004-C