1L11545A E 3 Manipulator

No.
1L11545A-E-3
series
INSTRUCTION MANUAL
MANIPULATOR
( NB4S / NB4LS
NV6S / NV6LS / NV20S )
■ Read and follow these instructions and all safety blocks carefully.
■ Have only trained and qualified persons install, operate, or service this unit.
■ Give this manual to the operator.
■ For help, call your distributor.

Be Sure to Read Instruction Manuals Before Use
Thank you for using the Daihen "Almega" series arc welding robot.
Please be sure to read the instruction manuals listed below (including this manual) and the instruction manuals
provided with the equipment, and use all the products correctly.
In particular, please be sure to read "Chapter 1 Safety Precautions" in the "Quick Start" instruction manual before
starting to use the products in order to ensure your safety and the safety of others. Store the instruction manual in
a safe place for future reference.
Instruction manuals related to the manipulator “V/B/H/S series”, and the robot control unit “FD11” are as follows.
■Standard Manuals
Instruction
Instruction Manual Type Main Contents
Manual No.
QUICK START Point on Safety, Transportation and Installation,
1L21700A
Turning the power on/off and manual operation, etc.
SETUP Safety precautions, installing & connecting method,
1L21700B starting up, periodical inspection, solution at the time
of failure
CONTROLLER MAINTENANCE Specifications of controller, explanation of each parts
1L21700K
and maintenance, parts list, etc.
MANIPULATOR Specifications or maintenance of manipulator, parts
（NB4 / NB4L / NB15 / NV6 / NV6L / NV20 / NH5 1L11130A list, etc.
/ NV20A）
1L11446A
（NS3） list, etc.
1L11312A
（NV50） list, etc.
1L11306A
（NV166 / NV210） list, etc.
1L11545A
（NB4S / NB4LS / NV6S / NV6LS / NV20S） list, etc.
BASIC OPERATIONS Explanation of manual operation, teaching, automatic
1L21700C operation, file utilities, backing-up data, basic
operations of Arc/Spot welding application, etc.
EXTERNAL INPUT/OUTPUT Interfacing method with external control device, list of
1L21700H
I/O signals and start/halt the automatic operation, etc.
Software PLC Create program, Input/output relay lists, List of
1L21700J
command words, etc.
CONTROL AND MAINTENANCE Edit logging, User Check, Troubleshooting, etc.
1L21700L
FUNCTION
■Application Manuals
Instruction
Instruction Manual Type Main Contents
Manual No.
APPLICATION MANUAL Basic settings, functions for arc welding, teaching
1L21700F
(ARC WELDING) technique, etc.
APPLICATION MANUAL Basic settings, functions for arc welding, teaching
1L21700E
(SPOT WELDING) technique, etc.
Instruction manuals are available other than the above for each optional function that you have purchased.
[Notes] 1. Specifications and information contained in these manuals are subject to change at any time without notice.
2. The screen display of a teach pendant shown in the manual are described as examples, which may be different from the actual
ones.
3. Although we cautiously compiled this standard specification to eliminate as much error as possible, we do not take any
responsibility for damages resulting from neither direct nor indirect errors.
4. The manual is a part of robot products. When transferring or selling off a robot, be sure to append the manual.
5. No part of this manual may be reproduced without permission.
6. Prohibited altering or remodeling
- Do not alter or remodel our products.
- You may get injured or have your equipment damaged because of fire, failure or malfunction caused by altering or
remodeling the product.
- The warranty does not cover any altered or remodeled products.
-1-
Notice
Notes on Safety
The instructions that you are required to obey in order to prevent injury or physical damage to the operator or other
nearby persons are classified and explained as shown below in the provided instruction manuals (including this
manual).
Cases in which death or serious injury are assured if handed incorrectly, and which
avoidance of such dangers is also considered extremely difficult.
DANGER
Cases in which death or serious injury can be expected if handled incorrectly.

WARNING
Cases in which injury or physical damage can be expected if handled incorrectly.

CAUTION
The following symbols are also used for important checkpoints:
A particularly important checkpoint is shown.

IMPORTANT
INFO.
Useful information is shown.
POINT Info for deeper understanding for the main text is shown.
Note that even the matters which are described as CAUTION can result in serious accident depending on the
conditions. Be sure to keep the safety notes since they describe very important matters.
The meanings of “Serious injury”, “Minor injury”, and “Damage” described above are as follows.
Injury which has the aftereffect by loss of eyesight, an injury, the burn (high/low
Serious injury temperature), an electric shock, fracture, poisoning, etc. and that which requires
hospitalization and long-term treatment as an outpatient.
Injury which does not require either hospitalization or long-term treatment as an

Minor injury
outpatient, a burn (high temperature, low temperature), and an electric shock.
Direct and indirect damage in connection with damage of property and

Damage
equipment.
-2-
Table of Contents
Table of Contents
7 - axis Manipulator
Chapter 1 Specifications of 7-axis Manipulator

1.1 Manipulator model ..................................................................................................................1-1-2
1.2 Basic Specifications................................................................................................................1-1-3

1.2.1 Basic Specifications of NB4S/NB4LS Manipulator.........................................................1-1-3
1.2.2 Basic Specifications of NV6S/NV6LS/NV20S Manipulator ............................................1-1-4
1.3 Outside Dimensions and Working Range ..............................................................................1-1-5
1.4 Description on Each Part of Manipulator..............................................................................1-1-12

1.4.1 Allowable Load on Wrist Axis .......................................................................................1-1-12
1.4.2 Flange Dimensions of Wrist Axis..................................................................................1-1-16
1.4.3 Mounting Equipment on the Upper Arm .......................................................................1-1-18
1.4.4 Restrictions of Working Range.....................................................................................1-1-22
1.4.5 Instrument Connecting Cables and Gas (Air) Piping ...................................................1-1-23
1.4.6 Motion Warning Lamp (option) .....................................................................................1-1-27
1.4.7 Holding Brake ...............................................................................................................1-1-27
1.5 Reference Position of Moving Axis .......................................................................................1-1-28
1.5.1 Angular Reference Position of Each Joint in the Working Range ................................1-1-28
1.5.2 Angular Reference Position of Each Joint in the Starting Area ....................................1-1-29
1.6 Motion Direction of Each Axis...............................................................................................1-1-30
1.6.1 Motion of Each Axis ......................................................................................................1-1-30
1.6.2 Motion in the Cartesian Coordinate..............................................................................1-1-30
1.7 Changing Working Range ....................................................................................................1-1-36
1.7.1 Changing Working Range of Axis J1............................................................................1-1-36
1.7.2 Changing Working Range of Axes J2 , J3 and J7 (with the option mounted).....................1-1-37
1.8 Option ...................................................................................................................................1-1-41
Chapter 2 Foundation Work and Installation

2.1 Safety Measures Relating to Installation ................................................................................1-2-2
2.2 Installation Locations and Ambient Conditions.......................................................................1-2-5
2.3 Notes on Interference by Electromagnetic Noise ...................................................................1-2-6
2.4 Accessories.............................................................................................................................1-2-7
2.5 Transport Method....................................................................................................................1-2-8
2.6 Installation of Manipulator.....................................................................................................1-2-14

2.6.1 Installation Method .......................................................................................................1-2-14
2.6.2 Installation Method .......................................................................................................1-2-15
2.6.3 Using Optional Manipulator Stand................................................................................1-2-16
2.6.4 Maximum Manipulator Generative Force .....................................................................1-2-17
2.7 Note on Emergency stop of Manipulator ..............................................................................1-2-18
1
Table of Contents
Chapter 3 Periodic Inspection

3.1 Periodic Inspection .................................................................................................................1-3-2
3.1.1 Safety Measures for Inspection, Maintenance, Adjustments and Repairs of the Manipulator.....................1-3-2
3.1.2 Periodic Inspection Schedule .........................................................................................1-3-4
3.1.3 Notes on Periodic Inspection..........................................................................................1-3-4
3.1.4 Deadline for Supplying/ Repairing the Robot Maintenance Parts..................................1-3-4
3.2 List of Maintenance Items.......................................................................................................1-3-5
3.2.1 NB4S / NB4LS Manipulator ............................................................................................1-3-5
3.2.2 NV6S / NV6LS / NV20S Manipulator .............................................................................1-3-8
Chaputer 4 Maintenance
4.1 Tension Adjustments of Timing Belts ......................................................................................1-4-4
4.1.1 Tension Adjustments of Timing Belt for NB4S / NB4LS .................................................1-4-4
4.1.2 Tension Adjustment of Timing Belts of NV6S / NV6LS / NV20S ....................................1-4-6
4.2 Replacement and Replenishment of Grease for Reduction Gears...............................................................1-4-9
4.2.1 Grease Replacement Procedure for Axis J1, J2 and J3 Reduction Gears ....................1-4-9
4.2.2 Grease Replenishment Procedure forAxis J4, J5 and J6 Reduction Gears (NB4S / NB4LS).....................1-4-15
4.2.3 Grease Replenishment Procedure forAxis J4, J5 and J6 Reduction Gears...........................................1-4-16
4.2.4 Grease Replacement Procedure for Axis J7 ................................................................1-4-17
4.3 Replenishment of Grease for Gear(NB4S / NB4LS) ............................................................1-4-21
4.3.1 Grease Replacement Procedure for Axis J4, J5 Gears (NB4S / NB4LS)....................1-4-21
4.4 Grease Replenishment for Roller Bearing............................................................................1-4-23
4.4.1 Grease replenishment procedure for Axis J4 cross roller bearing ...............................1-4-23
4.4.2 Grease replenishment procedure for Axis J6 cross roller bearing (NB4S / NB4LS)1-4-24
4.5 Battery...................................................................................................................................1-4-25
4.5.1 Function of Battery .......................................................................................................1-4-25
4.5.2 Specification of Battery .................................................................................................1-4-25
4.5.3 Replacing Battery .........................................................................................................1-4-25
4.5.4 Notes on Battery Safekeeping......................................................................................1-4-26
4.6 Replacing Internal Wires ......................................................................................................1-4-27
Chapter 5 Parts List

5.1 Parts List .................................................................................................................................1-5-2
5.1.1 NB4S ..............................................................................................................................1-5-2
5.1.2 NB4LS ............................................................................................................................1-5-4
5.1.3 NV6S ..............................................................................................................................1-5-6
5.1.4 NV6LS ............................................................................................................................1-5-8
5.1.5 NV20S ..........................................................................................................................1-5-10
5.2 Location and List of Warning Label ......................................................................................1-5-12
Chapter 6 Internal Wires

6.1 Wiring Connection Figure .......................................................................................................1-6-2
6.1.1 Wiring Connection Figure for NB4S ...............................................................................1-6-2
6.1.2 Wiring Connection Figure for NB4LS .............................................................................1-6-4
6.1.3 Wiring Connection Figure for NV6S ...............................................................................1-6-7
6.1.4 Wiring Connection Figure for NV6LS .............................................................................1-6-9
6.1.5 Wiring Connection Figure for NV20S ...........................................................................1-6-12
2
7-axis Manipulator
Capter 1 Specifications of 7-axis Manipulator
Capter 2 Foundation Work and Installation
Capter 3 Periodic Inspection
Capter 4 Maintenance
Capter 5 Parts List
Capter 6 Internal Wires

Before Start
＜Characteristics of 7-axis Manipulator＞
The 7-axis manipulator is the product in pursuit of the usability for both arc welding and handling.
 Easily avoiding the jig and workpiece

The rotation of the axis J7 enables the interference avoidance motion without changing any position or
posture of the tools. This realizes the improvement of welding quality by keeping the best robot posture.
 Built-in welding cables in the axis J7 (Note 1)

The axis J7 has built in not only the in-manipulator cables but also the welding cables. Therefore, this
enables to fully use the range of robot motion without any interference with other peripheral equipment to be
caused by the irregular motion of externally wired cables.
 Enabling the compact welding line

The rotation of the axis J7 enables the flexible robot operation such as going around. As multiple robots can
be allocated in conjunction each other, the welding process can be integrated or shortened.
 Handy teaching
Utilizing the synchromotion technology, it is possible to perform manual operation for the ‘Tool position’ and
‘Tool posture’ without any burdens from the axis J7. It offers the way of teaching operation almost as the
same as the 6-axis manipulator.
(Note 1) FD-B4S/FD-B4LS: Standardized, FD-V6S/FD-V6LS/FD-V20S: Optional
＜Notes＞
・The 7-axis manipulator has a restriction on the applicable software and the optional products such as
sensors.
IMPORTANT ・For details, please contact our sales engineers.
・The standardized installation method for 7-axis manipulator is the Floor type.
・For the other types of installation such as the ceiling or the wall-hung type, please contact our sales
IMPORTANT engineers.
Chapter 1 Specifications of
7-axis Manipulator
This chapter describes the specifications of 7-axis manipulator.

1.1 Manipulator model ...................................................................................1-1-2
1.2 Basic Specifications .................................................................................1-1-3

1.2.1 Basic Specifications of NB4S/NB4LS Manipulator .............................1-1-3
1.2.2 Basic Specifications of NV6S/NV6LS/NV20S Manipulator.................1-1-4
1.3 Outside Dimensions and Working Range ................................................1-1-5
1.4 Description on Each Part of Manipulator ...............................................1-1-12

1.4.1 Allowable Load on Wrist Axis ...........................................................1-1-12
1.4.2 Flange Dimensions of Wrist Axis......................................................1-1-16
1.4.3 Mounting Equipment on the Upper Arm ...........................................1-1-18
1.4.4 Restrictions of Working Range.........................................................1-1-22
1.4.5 Instrument Connecting Cables and Gas (Air) Piping........................1-1-23
1.4.6 Motion Warning Lamp (option) .........................................................1-1-27
1.4.7 Holding Brake ..................................................................................1-1-27
1.5 Reference Position of Moving Axis ........................................................1-1-28
1.5.1 Angular Reference Position of Each Joint in the Working Range.....1-1-28
1.5.2 Angular Reference Position of Each Joint in the Starting Area.........1-1-29
1.6 Motion Direction of Each Axis ................................................................1-1-30
1.6.1 Motion of Each Axis .........................................................................1-1-30
1.6.2 Motion in the Cartesian Coordinate..................................................1-1-30
1.7 Changing Working Range......................................................................1-1-36
1.7.1 Changing Working Range of Axis J1................................................1-1-36
1.7.2 Changing Working Range of Axes J2 , J3 and J7 (with the option mounted)....1-1-37
1.8 Option ....................................................................................................1-1-41
1-1-1
1.1 Manipulator model
1.1 Manipulator model
The following section shows the nomenclature of manipulator model.
（１） NB4S／NB4LS
ＮＢ○Ｓ１－Ｎ○Ｆ○
N ： No support
U ： UL specifications Classification by overseas
K ： KCs specifications standard support
C ： CE specifications
F ： Floor-installed Classification by mount type
J ： Domestic specification Classification by shipment

C ： Overseas specification(China) destination
E ： Overseas specification(except China)
N ： Standard specification Classification by design No.
Manipulator series No.
Manipulator name
（２）NV6S／NV6LS／NV20S
ＮＶ○Ｓ１－Ｎ○Ｆ○
N ： No support
U ： UL specifications Classification by overseas
K ： KCs specifications standard support
C ： CE specifications
F ： Floor-installed Classification by mount type
J ： Domestic specification Classification by shipment

C ： Overseas specification(China) destination
E ： Overseas specification(except China)
N ： Standard specification Classification by design No.

C ： Standard outfit specification
Manipulator series No.
Manipulator name
1-1-2
1.2 Basic Specifications
1.2.1 Basic Specifications of NB4S/NB4LS Manipulator

Table 1.2.1.1 Basic Specifications of NB4S/NB4LS Manipulator
Item Specifications
Name NB4S NB4LS
Structure Vertical articulated type
Number of axis 7
Max. payload capacity 4 kg 4 kg
Positional repeatability +/- 0.08 mm (Note 1) +/- 0.08 mm (Note 1)
Drive system AC Servo motor
Drive capacity 3550W 5650W
Position feedback Absolute encoder
J1 (Revolving1) +/- 170° +/- 170°
Working range
J2(Fore/Back) -145°~ +70° -145°~ +70°

Arm
J7 (Revolving2) +/- 90° +/- 90°
J3 (Up/Down) -170°~ +142.6° -170°~ +154°
J4 (Swing) +/- 155° +/- 155°
Wrist J5 (Bending) -45°~ +225°(Note 2) -45°~ +225°(Note 2)
J6 (Twist) +/- 205° (Note 2) +/- 205° (Note 2)
J1 (Revolving1) 3.66 rad/s {210°/s} 3.40 rad/s {195°/s}
J2(Fore/Back) 3.66 rad/s {210°/s} 3.49 rad/s {200°/s}
Arm
Max. velocity
J7 (Revolving2) 3.14 rad/s {180°/s} 2.79 rad/s {160°/s}

J3 (Up/Down) 3.66 rad/s {210°/s} 3.49 rad/s {200°/s}
J4 (Swing) 7.33 rad/s {420°/s} 7.33 rad/s {420°/s}
Wrist J5 (Bending) 7.33 rad/s {420°/s} 7.33 rad/s {420°/s}
J6 (Twist) 10.5 rad/s {600°/s} 10.5 rad/s {600°/s}
J4 (Swing) 10.1 N*m 10.1 N*m
Allowable
J5 (Bending) 10.1 N*m 10.1 N*m
Moment
Wrist load
J6 (Twist) 2.94 N*m 2.94 N*m

2 2
Allowable J4 (Swing) 0.38 kg*m 0.38 kg*m
2 2
moment of J5 (Bending) 0.38 kg *m 0.38 kg *m
2 2
inertia J6 (Twist) 0.03 kg *m 0.03 kg *m
2 2
Arm operation cross-sectional area 2.57 m x 340° 5.28 m x 340°
Ambient temperature and humidity 0 ~ 45℃, 20 ~ 80 %RH (No condensation)
Mass (weight) 189 kg 321 kg
Upper arm payload capacity 10 kg (Note 3) 10 kg (Note 3)
Installation type Floor type
Paint color White (Munsell 10GY9/1)
Note) 1. The value of the positional repeatability is at the tool center point (TCP) compliant to ISO 9283
2. There are occasions where restrictions can be made to the operation range of the J6 axis, depending
on the J5 axis’s posture.
3. When loading the Max. payload capacity as the end effector.
IMPORTAN
1. The positional repeatability conform to ISO 9283.

2. The positional data of absolute encoder is backed up by the battery. The battery backup period with the
primary power OFF is approx. 3 years.
Exceeding this period will require the battery replacement and the absolute offset adjustments.
3. The battery backup period may be shorter depending on the environmental conditions, the use conditions
and so on.
4. A holding brake is provided in all axes.
5. The robot itself or peripheral jigs can be cause of interference according to their postures. Please be careful
about any interference when you teach the robot.
6. The above specifications are subject to change without notice.
1-1-3
1.2.2 Basic Specifications of NV6S/NV6LS/NV20S Manipulator

Table 1.2.2.1 Basic Specifications of NV6S/NV6LS/NV20S Manipulator
Item Specifications
Name NV6S NV6LS NV20S
Structure Vertical articulated type
Number of axes 7
Max. payload capacity 6 kg 6 kg 20 kg
Positional repeatability +/- 0.08 mm (Note 1) +/- 0.08 mm (Note 1) +/- 0.08 mm (Note 1)
Drive system AC Servo motor
Drive capacity 3600W 6000W 6600W
Position feedback Absolute encoder
J1 (Revolving1) +/- 170° +/- 170° +/- 170°
J2 (Lower arm) -145°~ +70° -145°~ +70° -145°~ +70°
Arm
Working range
J7 (Revolving2) +/- 90° +/- 90° +/- 90°

J3 (Upper arm) -170°~ +149° -170°~ +160° -170°~ +160°
J4 (Swing) +/- 180° +/- 180° +/- 180°
Wrist J5 (Bending) -50°~ +230° (Note 2) -50°~ +230° (Note 2) -50°~ +230° (Note 2)
J6 (Twist) +/- 360° (Note 2) +/- 360° (Note 2) +/- 360° (Note 2)
J1 (Revolving) 3.66 rad/s {210°/s} 3.40 rad/s {195°/s} 3.40 rad/s {195°/s}
J2 (Lower arm) 3.66 rad/s {210°/s} 3.49 rad/s {200°/s} 3.32 rad/s {190°/s}
Max. velocity
Arm
J7 (Revolving2) 3.14 rad/s {180°/s} 2.79 rad/s {160°/s} 2.79 rad/s {160°/s}
J3 (Upper arm) 3.66 rad/s {210°/s} 3.49 rad/s {200°/s} 3.14 rad/s {180°/s}
J4 (Swing) 7.33 rad/s {420°/s} 7.33 rad/s {420°/s} 6.98 rad/s {400°/s}
Wrist J5 (Bending) 7.33 rad/s {420°/s} 7.33 rad/s {420°/s} 6.98 rad/s {400°/s}
J6 (Twist) 10.82 rad/s {620°/s} 10.82 rad/s {620°/s} 10.5 rad/s {600°/s}
J4 (Swing) 11.8 N*m 11.8 N*m 43.7 N*m
Allowable
J5 (Bending) 9.8 N*m 9.8 N*m 43.7 N*m
Wrist load
Moment
J6 (Twist) 5.9 N*m 5.9 N*m 19.6 N*m
2 2 2
Allowable J4 (Swing) 0.30 kg*m 0.30 kg*m 1.09 kg*m
2 2 2
moment of J5 (Bending) 0.25 kg *m 0.25 kg *m 1.09 kg *m
inertia J6 (Twist) 0.06 kg *m
2
0.06 kg *m
2
0.24 kg *m
2
2 2 2
Arm operation cross-sectional area 2.58 m x 340° 5.40 m x 340° 3.91 m x 340°
Ambient temperature and humidity 0 ~ 45℃, 20 ~ 80 %RH (No condensation)
Mass (weight) 178 kg 316 kg 321 kg
Upper arm payload capacity 10 kg (Note 3) 20 kg (Note 3) 20 kg (Note 3)
Installation type Floor type
Paint color White (Munsell 10GY9/1)
Note) 1. The value of the positional repeatability is at the tool center point (TCP) compliant to ISO 9283
2. There are occasions where restrictions can be made to the operation range of the J6 axis,
depending on the J5 axis’s posture.
3. When loading the Max. payload capacity as the end effector.
IMPORTAN
1. The positional repeatability conform to ISO 9283.

2. The positional data of absolute encoder is backed up by the battery. The battery backup period with the
primary power OFF is approx. 3 years.
Exceeding this period will require the battery replacement and the absolute offset adjustments.
3. The battery backup period may be shorter depending on the environmental conditions, the use conditions
and so on.
4. A holding brake is provided in all axes.
5. The robot itself or peripheral jigs can be cause of interference according to their postures. Please be careful
about any interference when you teach the robot.
6. The above specifications are subject to change without notice.
1-1-4
1.3 Outside Dimensions and Working Range

(1)NB4S
Fig. 1.3.0.1 Outside Dimensions and Working Range of NB4S (unit : mm)
Note) This figure does not demonstrate the working range of the equipment-mounted robot.
When equipments and tools are mounted, the robot may interfere with itself. Therefore, before
performing operations, be sure that the robot does not come in contact with itself.
Approaching the operating robot may result in a fatal injury. Keep out of the robot
working range whenever the power is ON.
WARNING
1-1-5
R3
4 5
Fig. 1.3.0.2 Outside Dimensions and Working Range of NB4S (RT3500H + AF-4012) (unit : mm)
WARNING
1-1-6
(2)NB4LS
P-Point Working Range

P点動作範囲
1040
220
220
1823
760
525
1685
1581 185
765 1243
2008
Fig. 1.3.0.3 Outside Dimensions and Working Range of NB4LS (unit : mm)
WARNING
1-1-7
TCP Working Range

TCP動作範囲
P点動作範囲
170°
P-Point
4xφ18
P点
57.5
R76
130
5
5
55
R2
R2
00
R37
8
170°

TCP Working Rang
P点動作範囲
TCP動作範囲
P-Point
P点
1823
220
1040
2370
220
TCP
530
760
136
525
185
1685
2233
1581 765 1243

2008
2104 2555
Fig. 1.3.0.4 Outside Dimensions and Working Range of NB4LS (RT3500H + AF-4012) (unit : mm)
WARNING
1-1-8
(3)NV6S
170°
300
67
R2
134
300
R55
27
4
R14
170°
1160
Fig. 1.3.0.5 Outside Dimensions and Working Range of NV6S (unit : mm)
WARNING
1-1-9
(4)NV6LS
170°
17
R3
P-Point
P点
134
R5
98
R2
00
6
170°
1050
150
1821
P-Point 100
760
P点
1435
3504
525
1683
185
1587 715 1291
2006
Fig. 1.3.0.6 Outside Dimensions and Working Range of NV6LS (unit : mm)
WARNING
1-1-10
(5)NV20S
17
R3
516
180
P-Point
300
R5
97 P点
R1
71
0
750
115
150
1525
760
P-Point
1435
P点
525
1388
185
1305 597 1113

1710
Fig. 1.3.0.7 Outside Dimensions and Working Range of NV20S (unit : mm)
WARNING
1-1-11
1.4 Description on Each Part of Manipulator
1.4.1 Allowable Load on Wrist Axis

The payload of manipulator must not exceed each max. payload capacity (NB4S / N4LS :4kg, NV6S / NV6LS:
6kg, NV20S / 20kg), including a welding torch, a chucking tool in handling and a workpiece.
Mounting a standard welding torch does not cause any problems to the manipulator, but both the moment and
the moment of inertia must be within the allowance stated in the table below when the manipulator is used for
handling or any other similar purposes.
Also, when a load is imposed not in the form of mass but force, a wrist axis must not be used with these
maximum allowable values exceeded.
Table 1.4.1.1 Allowable Load on Wrist Axis
NB4S / NB4LS NV6S / NV6LS
Axis
Name Allowable Allowable Allowable Allowable
Moment Moment of Inertia Moment Moment of Inertia
J4 10.1 N*m 0.38 kg *m
2
11.8 N*m 0.30 kg *m2
J5 10.1 N*m 0.38 kg *m2 9.8 N*m 0.25 kg *m2
J6 2.94 N*m 0.03 kg *m2 5.9 N*m 0.06 kg *m2
NV20S
Axis
Name Allowable Allowable
Moment Moment of Inertia
2
J4 43.7 N*m 1.09 kg *m
2
J5 43.7 N*m 1.09 kg *m
J6 19.6 N*m 0.24 kg *m2
1-1-12
(1) Allowable Load on Wrist Axis for NB4S / NB4LS Manipulator
Distance from Axis J6
220
Rotation Center
J6軸回転中心からの距離
(mm)
W=4kg (237)
258

W=3kg 300
(310)
Rotation Center
345
400
(mm)
Fig.1.4.1.1 Allowable Load on Wrist Axis (NB4S / NB4LS)

Note: Though the center of gravity shown above fully satisfies the allowable load moment, the allowable
moment of inertia is not always satisfied.
Fig. 1.4.1.2 Wrist load conditions (NB4S / NB4LS)
1-1-13
(2) Allowable Load on Wrist Axis for NV6S / NV6LS / NV20S Manipulator

Rotation Center
(mm) 200 144 100
W=6kg
Rotation Center
W=3kg
(mm)
(a) NV6S / NV6LS

Rotation Center
(mm)
Rotation Center
(b) NV20S
Note: Though the center of gravity shown above fully satisfies the allowable load moment, the allowable
moment of inertia is not always satisfied.
Fig.1.4.1.3 Allowable Load on Wrist Axis (NV6S / NV6LS / NV20S)
1-1-14
(a)NV6S / NV6LS
(b)NV20S
Fig. 1.4.1.4 Wrist load conditions
1-1-15
1.4.2 Flange Dimensions of Wrist Axis

(1) Flange Dimensions of Wrist Axis for NB4S / NB4LS Manipulator
Fig.1.4.2.1 shows the flange dimensions of wrist axis. Fit a tool using the flange spigot (ø57H7 or ø75h7),
and position it properly using a reamed hole (ø6H7, 6 deep). To fix the tool in position, use 4XM5 female
screws.
The length of M5 bolts must be shorter than 10 mm so that it fits the tapping hole of the flange part on wrist
axis.
4.5
φ57 H7
φ
2xφ6 H7 6 deep
4XM5 10 deep 45° 深さ 6
深さ 10
(equally spaced)
(equally spaced)
（等配）
（等配）
P.C.D.67
A View A
A矢視図
Fig.1.4.2.1 Flange Dimensions of Wrist Axis (NB4S / NB4LS) (unit : mm)
To avoid damaging to the motors or the reduction gears due to overload, be sure to
keep the allowable load on the wrist axis.
CAUTION
Use a specified tightening torque (Strength grade 12.9 : 7.25 N*m) for firmly tightening
M5 bolts so that tools are prevented from falling off or forcibly flown off.
Note that M6 bolts must be fit into a tapping hole (10 mm deep) in the wrist axis flange.
WARNING
1-1-16
(2) Flange Dimensions of Wrist Axis for NV6S / NV6LS / NV20S Manipulator
Fig.1.4.2.2 ,Fig.1.4.2.3 shows the flange dimensions of wrist axis. Fit a tool using the flange spigot (ø25H7
or ø50h7), and position it properly using a reamed hole (ø6H7, 6 deep). To fix the tool in position, use 4XM6
female screws.
The length of M6 bolts must be shorter than 8 mm so that it fits the tapping hole of the flange part on wrist
axis.
7.5
6
(equally spaced)
(equally spaced)
（等配）
（等配）
.D .40
A P.C
View A
A矢視図
Fig.1.4.2.2 Flange Dimensions of Wrist Axis (NV6S / NV6LS) (unit : mm)
6.5
6
（equally spaced）（equally spaced）

（等配）（等配）
0
. D.4
P. C
View A
A
A矢視図
Fig.1.4.2.3 Flange Dimensions of Wrist Axis (NV20S) (unit : mm)
keep the allowable load on the wrist axis.
CAUTION
Note that M6 bolts must be fit into a tapping hole (8 mm deep) in the wrist axis flange.
WARNING
1-1-17
1.4.3 Mounting Equipment on the Upper Arm

(1) NB4S / NB4LS
The upper arm is provided with the mounting face for devices such as a wire feeding unit and a gas solenoid
valve. To mount equipment, use 4 x M8 female screws shown in the figure (a) top face (the top 1 of upper arm)
and 2 x M8 female screws shown in the figure (a) top face (the top 2 of upper arm) in Fig.1.4.3.1 , Fig.1.4.3.2.
As for 2 x M8 female screws shown in the figure (b) side face (the side of upper arm) and the figure (c) back
face (the back of upper arm), use them when mounting the OTC optional products. Do not use them for
mounting the products other than specified.
a) The maximum payload on the upper arm
The maximum payload on the upper arm depends on the maximum wrist axis payload capacity. Be sure to
comply with the formula below..
A+B1+B2≦C A : Max. wrist payload capacity (kg)
B1: Mountable mass on the Top2 of upper arm (kg)
B2: Mountable mass on the Top1 of upper arm (kg)
C : Max. mountable mass (kg)
Table 1.4.3.1 The maximum payload on the upper arm
NB4S NB4LS
A Max. 4kg
B1 Max. 2kg
B2 Max. 10kg Max. 20kg
C 14kg 24kg
For instance, suppose that when mounting a mass of 3kg including a holder onto the tip of wrist axis, the
upper arm can be mounted with an equipment of 11 kg (total of B1 + B2) or less.
b) The barycentric position for mounting equipment on the back of upper arm must be within the 100-mm
pitch position of 4 x M8 female screws shown in the figure (b) side face (the top 1 of upper arm) in
Fig.1.4.3.1 , Fig.1.4.3.2. The area specified as ‘NOT-endurable’ may cause intervention with the lower arm
of manipulator. Therefore, when mounting the equipment in the ‘NOT-endurable’ area, take maximum care
in operating to avoid intervention. The area of ‘NOT-endurable’ is shown by hatching in Fig.1.4.3.1 ,
Fig.1.4.3.2 below.
keep the max. mountable mass on the upper arm.
CAUTION
WARNING
1-1-18
95 100※
40
The top 1 of upper arm

上部アーム・上部１
40
50
上部アーム・上部２
The side of upper arm

上部アーム・側面部
The back of upper arm
上部アーム・後部
Fig. 1.4.3.1 Equipment Mounting Position on the Upper Arm (NB4S) (unit: mm)
95 100※
4xM8 16 deep 40
深さ 16
上部アーム・上部１
40
50
The area that prohibits the

installation of the equipment
2xM8 16 deep 機器取付け不可領域
深さ 16
The top 2 of upper arm 4xM8 16 deep
上部アーム・上部２深さ 16 25
(a)Top view
9
上面図
300
117
200
116
110 20 105
N.P.
140
104
140
124
107
2xM8 16 deep
深さ 16
The side of upper arm
上部アーム・側面部
2xM8 12 deep
深さ 12 9
50 70 The back of upper arm 25
(b)Side view 上部アーム・後部
(c)Back view
側面図背面図
Fig. 1.4.3.2 Equipment Mounting Position on the Upper Arm (NB4LS) (unit: mm)
1-1-19
(2) NV6S / NV6LS / NV20S

The upper arm is provided with the mounting face for devices such as a wire feeding unit and a gas solenoid
valve. To mount equipment, use 4 x M8 female screws shown in the figure (a) top face and figure (b) side face
(the top 1 of upper arm), and 4 x M8 female screws shown in the figure (a) top face (the top 2 of upper arm) in
Fig.1.4.3.4, Fig.1.4.3.5.
As for 2 x M8 female screws shown in (c) back face (the back of upper arm), use them when mounting the OTC
optional products. Do not use them for mounting the products other than specified.
a)The maximum payload on the upper arm(NV6S,NV6LS,NV20S(In the case of A≦10kg))
The maximum payload on the upper arm depends on the maximum wrist axis payload capacity. Be
sure to comply with the formula below.
Relational Expression a：A＋B1＋B2≦C
A ：Max. wrist payload capacity (kg)
B1 ：Mountable mass on the Top 2 of upper arm (kg)
C ：Max. mountable mass (kg)
b)The maximum payload on the upper arm(NV20S(In the case of 10kg＜A≦20kg))
The maximum payload on the upper arm depends on the maximum wrist axis payload capacity. Be
sure to comply with the formula below.
Relational Expression b：2A＋B1＋B2≦45
A ：Max. wrist payload capacity (kg)
C ：Max. mountable mass (kg)
Table 1.4.3.2 The maximum payload on the upper arm
NV6S NV6LS NV20S
Relational Expression a a a b
A Max. 6kg Max. 6kg ～10kg 10～20kg
B1 Max. 2kg
B2 Max. 16kg Max. 26kg Max. 35kg Max. 25kg
C 16kg 26kg 35kg 35～25kg
Specific example
relational expression ａ suppose that when mounting a mass of 3kg including a holder onto the tip of
wrist axis of NV6S, the upper arm can be mounted with an equipment of 13 kg (total of B1 + B2) or less.
relational expression ｂ suppose that when mounting a mass of 15kg including a holder onto the tip of
wrist axis of NV20S, the upper arm can be mounted with an equipment of 15 kg (total of B1 + B2) or less.
図 1.4.3.3 Relationship between Max Wrist Payload Capacity and Mountable on the Upper Arm
keep the max. mountable mass on the upper arm.
CAUTION
WARNING
1-1-20
c) The barycentric position for mounting equipment on the upper arm must be within the 140-mm pitch
position (※ part) of 4 x M8 female screws shown in the figure (b) side face (the top 1 of upper arm) in
Fig.1.4.3.4, Fig.1.4.3.5. The area specified as ‘NOT-endurable’ may cause intervention with the lower arm
of manipulator. When mounting the equipment in the ‘NOT-endurable’ area, take maximum care in
operating to avoid intervention. The area of NOT-endurable’ is shown by hatching in Fig.1.4.3.4,
Fig1.4.3.5. below.
30 108
4xM8 12　deep
深さ12
上部アーム・上部２
40
300
200
4xM8 16 deep 76
深さ16
※140
40 60
上部アーム・上部１ 40
151
151
140
130

上部アーム・後部
Fig. 1.4.3.4 Equipment Mounting Position on the Upper Arm of NV6S Manipulator (unit: mm)
31 179
7
40
4xM8 12 deep 4xM8 16 deep

　　　深さ12 深さ16
The top 2 of upper arm (a)Top view The top 1 of upper arm The area that prohibits the
上部アーム・上部２上面図上部アーム・上部１ installation of the equipment
機器取付け不可領域
119 ※140
40 60
40
300
200
124
150
150
143
134
4xM8 12 deep
　　　深さ12 15 25
(b)Side view 上部アーム・後部 (c)Back view
側面図背面図
Fig. 1.4.3.5 Equipment Mounting Position on the Upper Arm of NV6LS / NV20S Manipulator (unit: mm)
1-1-21
1.4.4 Restrictions of Working Range
Each axis of the manipulator has a limit in its working range for safety management and interference prevention.
The limit of working range set by the program in the robot controller is called “Soft Limit”.
In addition, the manipulator is usually equipped with an overrun limit switch and/or mechanical stoppers in case
that the manipulator moves beyond the Soft Limit.
7-axis manipulator has the working range restrictions as shown in the table 1.4.4.1 below.
Table 1.4.4.1 Restrictions of Working Range on Each Axis

Axis Overrun Limit Mechanical
Soft Limit
Name Switch Stopper
Standard Standard
J1 Optional equipment
equipment equipment
Standard Standard
equipment equipment
Standard Standard
equipment equipment
Standard Standard
equipment equipment
Standard Optional
J4 Unequipped
equipment equipment
Standard Standard
J5 Unequipped
equipment equipment
Standard
J6 Unequipped Unequipped
equipment
Fig.1.4.4.1 Limit of Working Range
1-1-22
1.4.5 Instrument Connecting Cables and Gas (Air) Piping

Inside the manipulator, the instrument connecting cables and a gas (air) hose are built in for a wire feeding unit
mounted on top of the upper arm and for driving or signaling instruments such as a gas solenoid valve.
The max allowable pressure of a gas (air) hose is 1.0MPa or less(At 20℃).
Gas (Air) Hose Outlet
Connector (CN29)ELP-06V(J.S.T. Mfg .Co.,Ltd)

Prepare counter-connector Gas (Air) Hose
ELR-06V(J.S.T. Mfg . Co.,Ltd)
Connector (CN28)YLR-01VF(J.S.T. Mfg .Co.,Ltd)
Prepare counter-connector
YLP-01V(J.S.T. Mfg .Co.,Ltd)
Connector (CN27)ELR-02V(J.S.T. Mfg .Co.,Ltd)
ELP-02V(J.S.T. Mfg . Co.,Ltd) Instrument Connection Cables
Connector (CN41)ELP-02V(J.S.T. Mfg .Co.,Ltd) Cable 2 1 NC
0.3mm×6pcs+
Prepare counter-connector Gas (Air) Hose 2 2
2
Cable [0.3mm ]
0.5mm×2pcs+1.25mm×4pcs
2
2
ELR-02V(J.S.T. Mfg . Co.,Ltd) 3 Cable [0.3mm ]

+Shield 2
Connector (CN26)ELR-03V(J.S.T. Mfg .Co.,Ltd) Pins

4 Cable [0.3mm ]
Cable［0.3mm ] ※
2
Prepare counter-connector 5
1 2 3 4
ELP-03V(J.S.T. Mfg . Co.,Ltd) 6 NC
5 6 7 8 9 7
2
Cable [0.3mm ]
10 11 12 13 8
2
Cable [0.3mm ]
※Gas Connection metal fittings 14 15 16 9 NC
2
10 Cable [0.5mm ]
2
11 Cable [0.5mm ]
2
Gas (Air) inlet 12 Cable [1.25mm ]

2
(9/16-18UNF) 13 Cable [1.25mm ]

2
※Removing the adapter 14 Cable [1.25mm ]

2
allows the use of 15 Cable [1.25mm ]

Rc3/8 (PT3/8) Rc3/18(PT3/8) tapperd plug. 16 Shield
9/16-18UNF ※With shield
Max allowable pressure: 1.0MPa(At 20℃)
Instrument Cable Connector(CN4)
SRCN2A25-16P <Allocation of CN4 Connector Pins>
ＣＮ１
(Japanese Aviation Electoronics A
industry Ltd.)
SRCN6A25-16S
(Japanese Aviation Electoronics
industry Ltd.)
Welding cable terminal(M10) J1 Grease filler port
Fig.1.4.5.1 Instrument Connecting Cables and Gas (Air) Piping for NB4S Manipulator
Gas (Air) Hose Outlet Cable Outlet

Cable
Prepare counter-connector Gas (Air) Hose
Instrument Connection Cables
Connector (CN27)ELR-02V(J.S.T. Mfg .Co.,Ltd) 2
0.3mm×6pcs+ 1 NC
Prepare counter-connector 2 2
0.5mm×2pcs+1.25mm×4pcs 2
2 Cable [0.3mm ]
ELP-02V(J.S.T. Mfg . Co.,Ltd) +Shield 2
3 Cable [0.3mm ]
Connector (CN41)ELP-02V(J.S.T. Mfg .Co.,Ltd) 2
Pins 4 Cable [0.3mm ]

1 2 3 4 5 Cable 0.3mm ]
2
※
5 6 7 8 9 6 NC
Connector (CN26)ELR-03V(J.S.T. Mfg .Co.,Ltd) 10 11 12 13 7 Cable [0.3mm ]
2
Prepare counter-connector 14 15 16 8 Cable [0.3mm ]

2

2
10 Cable [0.5mm ]
2
11 Cable [0.5mm ]
2
12 Cable [1.25mm ]
2
13 Cable [1.25mm ]
2
14 Cable [1.25mm ]
2
15 Cable [1.25mm ]
※With shield 16 Shield
<Allocation of CN4-1/CN4-2 Connector Pins>
Fig.1.4.5.2 Instrument Connecting Cables and Gas (Air) Piping for NB4LS Manipulator
1-1-23
Cable Outlet
Gas (Air) Hose Outlet
Connector (CN27)ELR-02V(J.S.T. Mfg .Co.,Ltd)
Prepare counter-connector Instrument Connection Cables
2 1 NC
ELP-02V(J.S.T. Mfg . Co.,Ltd) 0.3mm×6pcs+ 2
2 2 2 Cable [0.3mm ]
Connector (CN41)ELP-02V(J.S.T. Mfg .Co.,Ltd) 0.5mm×2pcs+1.25mm×4pcs 2
Cable 3 Cable [0.3mm ]
+Shield
Prepare counter-connector Gas (Air) Hose 4 Cable [0.3mm
2
]
Pins
ELR-02V(J.S.T. Mfg . Co.,Ltd) 5 Cable［0.3mm
2
] ※
Connector (CN26)ELR-03V(J.S.T. Mfg .Co.,Ltd) 1 2 3 4 6 NC
Prepare counter-connector 5 6 7 8 9 2
7 Cable [0.3mm ]
ELP-03V(J.S.T. Mfg . Co.,Ltd) 10 11 12 13 8 Cable [0.3mm
2
]
14 15 16 9 NC
2
10 Cable [0.5mm ]
※Gas Connection metal fittings 2
11 Cable [0.5mm ]
2
12 Cable [1.25mm ]
2
13 Cable [1.25mm ]
2
Gas (Air) inlet 14 Cable [1.25mm ]

2
(9/16-18UNF) 15 Cable [1.25mm ]

※Removing the adapter 16 Shield
※With shield
allows the use of
Rc3/8 (PT3/8) 9/16-18UNF Rc3/18(PT3/8) tapperd plug. <Allocation of CN4 Connector Pins>
Max allowable pressure: 1.0MPa(At 20℃)
Instrument Cable Connector(CN4)
ＣＮ１
SRCN2A25-16P
A
industry Ltd.)
SRCN6A25-16S
industry Ltd.)
J1 Grease filler port
Fig. 1.4.5.3 Instrument Connecting Cables and Gas (Air) Piping for NV6S Manipulator

0.3mm×6pcs+ 1 NC
2 Cable [0.3mm ]
3 Cable [0.3mm ]

5 Cable 0.3mm ]
2
1 2 3 4 ※
5 6 7 8 9 6 NC
Connector (CN26)ELR-03V(J.S.T. Mfg .Co.,Ltd) 10 11 12 13 7 Cable [0.3mm ]
2
Prepare counter-connector 14 15 16 8 Cable [0.3mm ]

2

2
10 Cable [0.5mm ]
2
11 Cable [0.5mm ]
2
12 Cable [1.25mm ]
2
13 Cable [1.25mm ]
2
14 Cable [1.25mm ]
2
15 Cable [1.25mm ]
Fig. 1.4.5.4 Instrument Connecting Cables and Gas (Air) Piping for NV6LS Manipulator
1-1-24

0.3mm×6pcs+ 1 NC
2 Cable [0.3mm ]
3 Cable [0.3mm ]

※
2
1 2 3 4 5 Cable 0.3mm ]
5 6 7 8 9 6 NC
Connector (CN26)ELR-03V(J.S.T. Mfg .Co.,Ltd) 10 11 12 13 7
2
Cable [0.3mm ]
Prepare counter-connector 14 15 16 8
2
Cable [0.3mm ]
2
10 Cable [0.5mm ]
2
11 Cable [0.5mm ]
2
12 Cable [1.25mm ]
2
13 Cable [1.25mm ]
2
14 Cable [1.25mm ]
2
15 Cable [1.25mm ]
Fig. 1.4.5.5 Instrument Connecting Cables and Gas (Air) Piping for NV20S Manipulator
1-1-25
For welding application, Fig.1.4.5.6. Fig.1.4.5.7. below shows the wiring diagram of the built-in cables in the manipulator.
Base Side Electrical Connection of Manipulator Upper Arm Side
CN4 CN29
White
Red
Yellow,Blue,Green Wire Feed Device(Encorder)
Orange
SRCN6A25-16S
SRCN2A25-16P
CN41
Gray
Black SOL Gas Solenoid Valve
CN26
Yellow
Blue
White Others
CN27
Red
Black Wire Feed Device(Motor)
CN28
Green
Others
CN2
MOLEX 58691-0020
Yellow
Blue Warning Lamp
Red
White
Shock Sensor LS
Welding Cable Connection Terminal

2
Terminal size M10 Electric Wire size 80mm
For NB4S
Fig.1.4.5.6 Wiring Connection Figure(welding type)(NB4S/NV6S)
Base Side Electrical Connection of Manipulator Upper Arm Side
CN4-1 CN29-1
White
Red
Yellow,Blue,Green
Orange
Wire Feed Device(Encorder)
SRCN6A25-16S
SRCN2A25-16P
CN41-1
Gray
CN26-1
Yellow
Blue
White Others
CN27-1
Red
CN28-1
Green
Others
CN4-2 CN29-2
White
Red
Yellow,Blue,Green
Orange
Wire Feed Device(Encorder)
SRCN6A25-16S
SRCN2A25-16P
CN41-2
Gray
CN26-2
Yellow
Blue
White Others
CN27-2
Red
CN28-2
Green
Others
CN2
MOLEX 58691-0020
Yellow
Blue Warning Lamp
Red
White
Shock Sensor LS
Welding Cable Connection Terminal

2
Terminal size M10 Electric Wire size 80mm
for NB4LS
Fig.1.4.5.7 Wiring Connection Figure(welding type)(NB4LS/NV6LS/NV20S)

When using these built-in cables for applications other than welding, prepare the counter-connectors shown from
Fig.1.4.5.1 to Fig.1.4.5.5.
1-1-26
1.4.6 Motion Warning Lamp (option)

A manipulator is provided with a connector for the motion warning lamp. This warning lamp is optionally available
to indicate “Servo ON”, “Automatic Operation” and so on.
Refer to the “1.8 Option” for more details.
(a)NB4S (b)NV6S
(c)NB4LS (d)NV6LS/NV20S
Fig.1.4.6.1 Motion Warning Lamp
1.4.7 Holding Brake
All the motors of 7-axis manipulator have built in holding brakes respectively.
A holding brake is intended to prevent the manipulator arm from falling when the control power is OFF or
when the servo power is OFF due to an emergency stop.
These brakes will be released only when the servo power is turned on.
1-1-27
1.5 Reference Position of Moving Axis

The angular reference position of each joint in the working range and the starting area of 7-axis
manipulator is as follows.
1.5.1 Angular Reference Position of Each Joint in the Working Range
Axis J1 : 0 deg. is at front position.

Axis J2 : 0 deg. is at horizontal position. (The above figure shows 90 deg.)
Axis J3 : Defined as 0 deg. when the angle between the upper and the lower arm is 90 deg.
Axis J4 : 0 deg. is the position where the Axis J3 and J4 are laid in a straight line.
Axis J5 : Defined as -90 deg. when the axis points the direction of a plumb down.
Fig.1.5.1.1 Reference Position of Moving Axis for 7 Axis Manipulator (in the Working Range)
1-1-28
1.5.2 Angular Reference Position of Each Joint in the Starting Area

Axis J2 : 0 deg. is at vertical position.
Axis J3 : Defined as 0 deg. when the upper arm is parallel to the ground.
Fig.1.5.2.1 Reference Position of Moving Axis for 7-axis Manipulator (in the Starting area)
1-1-29
1.6 Motion Direction of Each Axis

The direction of axis motion when operating 7-axis manipulator respectively by manual operation of each
axis or the Cartesian coordinate is as follows.
1.6.1 Motion of Each Axis

The axis corresponding to each axis key on Teach pendant can move independently as shown in the
figure.
Keys on Teach Pendant
Axis
Movement Unit / Mechanism
Name
J4 RX-
М１ М２
Z+
Ｊ１
Revolving
J3 RY+
(Left-right 1)
J5
Lower Arm 1
RX+
Ｊ２ Z- RY-
(Front-Back)
Lower Arm 2 RZ+ RZ-

Ｊ７ J6
(Left-right 2)
Y+ J2
Ｊ３ Upper Arm J7 X+
(Up-Down)
X-
Ｊ４ Wrist
(Swing)
Y- X+
Ｊ５ Wrist
(Bending)
X-
Ｊ６ Wrist J1
(Twist)
Fig.1.6.1.1 Name of the Motion Axis for 7-axis Manipulator
1.6.2 Motion in the Cartesian Coordinate

The motion in the Cartesian coordinate contains the body axis movement for fixing the torch tip position
and the wrist axis movement for fixing the torch posture. Also, there are types of wrist axis movement;
one is the Cartesian coordinate movement by Euler angle and the other is by R.P.Y. (roll-pitch-yaw)
angle.
It is available to select either “Euler angle” or “R.P.Y. angle” by operating the teach pendant.
(1) Body Axis Movement (Base Coordinate System)
1-1-30
Fig.1.6.2.1 Body Axis Movement in the Base Coordinate System for 7-axis Manipulator
(2) Wrist Axis Movement

(Euler Angle, Base Coordinate System)
· Axis J4 Movement
RX+
The torch rotates around Z-Axis with the torch tip fixed.
RX-
Torch Line
トーチ線 Z-Axis
Z軸方向
Fig.1.6.2.2 Axis J4 Moving Direction

· Axis J5 Movement
A torch makes a circular movement around the torch tip that

lies on the plane spanned by the torch line and Z-Axis with the
torch tip fixed.
RY-
Torch Line RY+

トーチ線 Z-Axis
Z軸方向
· Axis J6 Movement
A torch rotates around the torch line at fixed torch angle with the torch tip fixed.
·
Z-Axis
Ｚ軸方向
Axis J6 Rotation Center
J6軸回転中心線
Ｊ４
RZ+
Ｊ５
RZ-
Torch Tip Torch Line

Torch Angle
トーチ先端トーチ線 Z-Axis
Horizontal Plane トーチ角度
Z軸方向
水平面Ｊ６
Torch Line Fig.1.6.2.4 Axis J6 Moving Direction
トーチ線
Fig.1.6.2.5 Wrist Axis Moving Direction in the Base Coordinate System
1-1-31
(3) Wrist Axis Movement (Roll-Pitch-Yaw) Z-Axis

Z軸
· Axis J4 Movement
A tool rotates around the X-Axis with the center of the

tool fixed.
RX+
X-Axis
X軸
RX-
· Axis J5 Movement Z-Axis

A tool rotates around the Y-Axis with the center of the
Z軸
tool fixed.
RY+
Y-Axis
Y軸 RY-
· Axis J6 Movement: Z-Axis

A tool rotates around the Z-Axis with the center of the
Z軸
tool fixed.
RZ+
RZ-
X-Axis
X軸
1-1-32
(4) Body Axis Movement (Tool Coordinate System)
X- Y+
Z+
Y
Z
Z-
Y- X+
X
Fig.1.6.2.9 Body Axis Movement in Tool Coordinate System
Y X
Fig.1.6.2.10 Body Axis Movement in the Tool Coordinate System when the Posture of the Manipulator Changes
1-1-33
(5) Wrist Axis Movement (Tool Coordinate System)

· Axis J4 Movement
A torch rotates around the Z-Axis (torch line) with the torch tip fixed.
Z Z
RX- RX+
Y Y
X X
Axis J4 Moving Direction

J4軸動作方向
· Axis J5 Movement
A torch rotates around the Y-Axis with the torch tip fixed.
RY-
Z
RY+ Y
X
J5軸動作方向
· Axis J6 Movement
Same as the Axis J4 movement.
RZ-
Y
X RZ+
J6軸動作方向
1-1-34
WARNING
Movement Around the Singular Point in Cartesian Coordinate
Performing the manual operation in Cartesian coordinate or linear/circular interpolation movement around the
singular point may result in danger, causing abrupt movement of an unexpected axis.Therefore, when the
manipulator needs to work around the singular point, be sure to manually operate each axis.
In addition, teach a robot in such a manner that a linear/circular trajectory will not pass near the singular point.
Teaching otherwise provides no guarantee of the set velocity and the trajectory accuracy for the taught point. 7-axis
have the following two postures referred to as “Singular Point”.
1. Singular Point for Axis J4 and J6 (see Fig.1.6.2.14)

The posture when the rotation Axis J6 intersects the rotation
Axis J4.
Fig.1.6.2.14 Singular Point for Axis J4 and J6

Axis J1.

Axis J2
1-1-35
1.7 Changing Working Range
1.7.1 Changing Working Range of Axis J1

According to the conditions of the manipulator’s surrounding area, axis J1 can restrict its working range
Furthermore, by mounting the limit switch (option) limitations can be provided, both electronically and
mechanically.(NB4LS / NV6LS / NV20S)
Axis J1 can be changed its working range according to the ambient condition, which is available by changing
the setting position of stopper bolt as shown in the figure below. Also modify the Soft Limit area at this time.
Stopper
ストッパ
Stopper
ストッパ
2.Install Stopper 1.Remove Stopper

ストッパを取り付ける。ストッパを取り外す。
１．Install Stopper（OPTION）
オプションのストッパを取り付ける。
Fig.1.7.1.1 Changing Working Range of Axis J1 Fig.1.7.1.2 Changing Working Range of Axis J1
(NB4S / NV6S) (NB4LS / NV6LS / NV20S)
In order to install stopper bolts, select two positions (+ and -) for the desired working range from the positions
shown in Fig.1.7.1.3 or Fig.1.7.1.4 Note that it must be set within +170 ﾟ~ -170 ﾟsince the working range in
excess of +/-170 ﾟ cannot be set. In addition, the arm must face the front of the robot in the working range.
Select the working range from the + side and the - side in Fig.1.7.1.3.
The stopper bolts are mounted at +/-170 ﾟ at factory shipment.
Stopper (Movable Side)

ストッパ（移動側）
(Fixed to Frame by the back)
(フレームに裏から固定）
Axis J1 -90°
Rotary -120° -60°
Direction
J1軸 Arm -150° -30° Stopper Lever
アームストッパレバー
回転方向
(Fixed Side)
　-
-170° （固定側）
Arm Front
アーム正面 Axis J1 Limit SW
+170° J1軸リミットスイッチ
Axis J1 (Option)
Rotary （オプション）
Direction +150° +30°
J1軸 +120°
回転方向 +60°
+90°
　+ Flame
フレーム
Fig.1.7.1.3 Stopper Bolt Setting Position (NB4S / NV6S)
Stopper (Movable Side)

ストッパ (移動側）
(Fixed to Frame by the back)
-90° （フレームに裏から固定）
-120° -60°
Axis J1
Rotary Arm
Direction アーム -150° -30° Stopper Lever
　J1軸ストッパ
回転方向
(Fixed Side)
　-
-170° （固定側）
Arm Front
アーム正面
+170°
Axis J1
Rotary
Direction +150° +30°
J1軸
回転方向
　　+
+120° +60°
+90°
Fig.1.7.1.4 Stopper Bolt Setting Position (NB4LS / NV6LS / NV20S)
1-1-36
1.7.2 Changing Working Range of Axes J2 , J3 and J7 (with the option mounted)
For the axis J2 , J3 and J7 the working range can be changed by installing the optional Dog and Limit Switch.
At this time, modify the Soft Limit area as well. The installation position and the adjustment angle of Limit
Switch in each manipulator is shown in the figure below. When setting the dog, select a single position in each
(+) and (-) side in the desired working range.
The limit switch will not operate properly if the dog’s installation position of the J3 axis’s maximum operation
edge is misplaced. Be sure to install the dog by referring to the following figures shown below.
Axis J2 Rotary Axis J2 Rotary

Direction Direction
J2軸回転方向 J2軸回転方向
　+ 　-
-45°
+30° -60°
-90°
+60°
+70°
ドグ -120°
-145°
Dog
ドグ
Fig.1.7.2.1 Dog Setting Position on Axis J2(NB4S / NV6S)

Vertical Position
Direction Direction
0°
　+ 　　-
Axis J2 Limit SW
+30°
-60°
+60°
+75°
Dog
-120°
-145°
Fig.1.7.2.2 Dog Setting Position on Axis J2(NB4LS / NV6LS / NV20S)
1-1-37
Axis J3 Rotary
Direction
J3軸回転方向
　+
The angle contained by Axis J2
and Axis J3 is 90 degree.
J2軸とのなす角度が90°の時
0°
Axis J3 Rotary
Dog Direction
Dog
ドグ J3軸回転方向
ドグ
　-
+72.6°
-70°
-30°
+30°
Use the first,a tap of second

from the edge and install Dog.
端から1番目、2番目のタップを
利用し、ドグを取り付けます
Fig.1.7.2.3 Dog Setting Position on Axis J3(NB4S)

0°
-70°
+79° -50°
+60°
-20°
+30°
Fig.1.7.2.4 Dog Setting Position on Axis J3(NB4LS)
1-1-38
Use the first,a tap of second

Dog
ドグ
Dog
ドグ
+79°
-65°
+60°
-30°
+30°
Use the second,a tap of third

Fig.1.7.2.5 Dog Setting Position on Axis J3(NV6S)
Axis J3 Rotary
Direction
J3軸回転方向
　＋
0°
Axis J3 Rotary
Direction
J3軸回転方向
　　－
Fig.1.7.2.6 Dog Setting Position on Axis J3(NV6LS / NV20S)
1-1-39
Use the 1 ,a tap of ,

Use the ,a tap of ,
and install Dog.
and install Dog.
1 とのタップを利用し、
とのタップを利用し、
ドグを取り付けます
ドグを取り付けます
Use the ,a tap of ,
and install Dog.
Use the ,a tap of , とのタップを利用し、
and install Dog. ドグを取り付けます
とのタップを利用し、 +30°
ドグを取り付けます -30°
1
+60°
-60°
+90° -90°
Dog
ドグ
Use the ,a tap of , Use the ,a tap of ,
and install Dog. Dog and install Dog.
とのタップを利用し、ドグとのタップを利用し、
ドグを取り付けますドグを取り付けます
Direction Direction
J7軸回転方向 Arm Front J7軸回転方向
　- アーム正面　+
Fig.1.7.2.7 Dog Setting Position on Axis J7(NB4S / NB4LS / NV6S / NV6LS / NV20S)
1-1-40
1.8 Option
1.8 Option
(1) Part to restrict the working area of Axis J1 (electric)
The following part can restrict the working area of Axis J1 electrically.
DAIHEN Part No. Name Specifications
L10460V00 Cable assembly LS1 Limit switch parts for working restriction of Axis J1.
L10485M Stopper block Assy. Only for NB4LS / NV6LS / NV20S
(2) Part to restrict the working area of Axis J1 (machine)
The working area of axis J1 can be mechanically restricted.
DAIHEN Part No.. Name Specifications
Mechanical stopper parts for axis J1’s working
L10485M Stopper block Assy. arearestrictions
(NB4LS / NV6LS / NV20S)
(3) Parts to restrict the workings areas of Axes J2,J7 and J3 (electric)
The following parts can restrict the working areas of Axes J2,J7 and J3 electrically.
For NB4S / NB4LS / NV6S / NV6LS / NV20S
L7400Q00 Cable assembly LS2 Limit switch parts for working restriction of
Axes J2,J7 and J3.
For NV6S / NB4S
L11545P00 Dog accessories
Dog parts for working restriction of Axes J2,J7 and J3.
For NB4LS / NV6LS / NV20S
L11558S00 Dog accessories
Dog parts for working restriction of Axes J2,J7 and J3.
(4) Mechanical stoppers for Axis J4

The following parts can restrict the working area of Axis J4 mechanically.
L10470N00 Mechanical stopper J4 Mechanical stopper for Axis J4 of NB4S
L10460N00 Mechanical stopper J4 Mechanical stopper for Axis J4 of NV6S
L10485P00 Mechanical stopper J4 Mechanical stopper for Axis J4 of NV6LS / NV20S
(5) Warning lamp

The warning lamp lights up while the robot is working (the servo power is ON).
This is mounted on top of the upper arm of manipulator.
L6600R00 Warning lamp Color：amber
L6600S Warning lamp Color：red
(6) Welding cables and parts mounted

① For NV6S
The welding cables are mounted along the robot body from its back to Axis J3 passing through the inside of
Axis J1.
L11545T00 Additional power cable ASSY For NV6S
② For NV6LS,NV20S
The welding cables are mounted along the robot body from its back to Axis J3 passing through the inside of
Axis J1.
L11558V00 Additional power cable ASSY For NV6S,NV20S
(7) Jig to check the home position
The following jig is a necessary item to check the home position of each axis.
L10725C Mechanical origin checking parts For NB4S
L10725B Mechanical origin checking parts For NV6S
L10725K Mechanical origin checking parts For NV4LS
L10725L Mechanical origin checking parts For NV6LS
L10725Q Mechanical origin checking parts For NV20S
※ The option is not used for “Mechanical adjustment(Performing encoder reset and encoder correction)”
1-1-41
1.8 Option
(8) Manipulator stand
A manipulator stand is available by option.

For details, refer to “2.6.3 Using optional manipulator stand” in this instruction manual.
Model Name Specifications
L-3626 Stand Stand height：400mm
・ Do not alter or remodel our products.

・ You may get injured or have your equipment damaged because of fire, failure or
malfunction caused by altering or remodeling the product.
DANGER ・ The warranty does not cover any altered or remodeled products.
1-1-42
Chapter 2 Foundation Work and Installation
This chapter provides the instructions for the foundation work and installation.
2.1 Safety Measures Relating to Installation..................................................1-2-2
2.2 Installation Locations and Ambient Conditions.........................................1-2-5
2.3 Notes on Interference by Electromagnetic Noise.....................................1-2-6
2.4 Accessories..............................................................................................1-2-7
2.5 Transport Method.....................................................................................1-2-8
2.6 Installation of Manipulator ......................................................................1-2-14
2.6.1 Installation Method ...........................................................................1-2-14
2.6.2 Installation Method ...........................................................................1-2-15
2.6.3 Using Optional Manipulator Stand....................................................1-2-16
2.6.4 Maximum Manipulator Generative Force .........................................1-2-17
2.7 Note on Emergency stop of Manipulator................................................1-2-18
1-2-1
2.1 Safety Measures Relating to Installation
■ Measures to Ensure the Safety of Personnel Entering inside the Operating

Range of the Robot
While the robot is operating, there is a danger that the operators will come into contact
with the robot. For this reason, erect a guarding fence to ensure that the operators will
be kept at a distance from the robot. Accidents may occur if operators or other
DANGER individuals gain admittance inside the operating range of the robot by mistake.
Guarding fence
ISO 13857:2008 Safety of machinery - Safety distances to prevent hazard zone
being reached by the upper and lower limbs.
The guarding fence must be constructed in such a way that it cannot be easily climbed
over or easily moved. If the guarding fence is too low, individuals may climb over it and
enter inside the operating range of the robot, leading to accidents.
DANGER
Provide a door in the guarding fence to allow access in and out of the operating range.
Be absolutely sure to install a safety plug in the door, and construct the door in such a
way that it will not open unless the plug is removed. The entry of an individual inside the
CAUTION guarding fence can be detected by means of the signals from the safety plug.
Take steps to provide an interlock so that the servo power (motor power) of the robot
is turned off when the safety plug has been removed or ensure that the motor power
is turned off while the guarding fence is open. The robot can be stopped automatically
when an individual has made an attempt to enter inside the guarding fence. (The
CAUTION robot controller has a safety plug input.)
1-2-2
Provide the emergency stop button of the robot in a location where it can be pressed
immediately by the operator.
Accidents may occur since the emergency stop operation cannot be initiated
CAUTION immediately. (The robot controller has an external emergency stop input.)
If it is not possible to erect a guarding fence, install photoelectric switches, mat switches,
etc. in every location where individuals can enter inside the operating range of the robot
in place of the safety plug. The robot can be stopped automatically when an individual
DANGER has entered inside the operating range of the robot.
Color-code the floor so that the danger area (operating range of the robot) can be easily
identified visually.
CAUTION
■ Safety measures for positioning the robot and its peripheral devices
Do not position the operation and adjustment controls inside the operating range of the
robot. The robot may cramp the access to these controls.
Place the robot control panel, interlock panel and all other operation panels in positions
DANGER where they can be operated outside the guarding fence.
If an operation stand is to be provided, provide it with an emergency stop button as well.

Emergency stop can be initiated immediately even when fault occurs during operation
using the operation stand.
CAUTION
Do not route the wires and hoses between the robot body and the control panel,
inter-lock panel, etc. in such a way that the operators will trip over them or the forklift
trucks will run straight over them. Otherwise, operators may fall over, wires may break or
WARNING become disconnected, causing accidents.
Do not place the control panel, interlock panel, operation stand, etc. in positions where
the movements of the robot body are not visible.
If the robot movements cannot be seen, the operator will be slow to respond even when
fault has occurred, and this may lead to a serious accident. Accidents may also be
DANGER caused if the presence of the operators cannot be verified.
Place restrictions on the operating range of the robot if the necessary work range of the
robot is smaller than the range in which the robot can be operated. Restrictions can be
placed using limit switches and mechanical stoppers. Even if the robot has moved out of
CAUTION the normal work range due to a fault, for instance, it can be stopped ahead of time.
(Refer to “1.6 Changing Working Range” .)
1-2-3
In the range where the movements of the robot body can be seen satisfactorily, install
light-shielding boards, covers, etc. in the directions where operators may be exposed to
spatter while welding is in progress. Operators may be injured by the light emitted during
CAUTION welding, by spatter, etc.
Ensure that the display of the automatic and manual modes indicating the operating
status of the robot is large and conspicuous enough to enable the modes to be easily
recognizable from a distance. The use of a buzzer, alarm or other warning to signal the
start of auto operation is also effective. This will enable the fact that auto operation is
WARNING underway to be easily verified from a distance.
Minimize the number of protruding parts on the devices around the robot.
If necessary, place covers over them. Protruding parts are dangerous when they are
touched by the operator even under normal circumstances, and they constitute a hazard
as well if the robot should suddenly move, surprising and possibly knocking over the
CAUTION operator in the process.
Avoid the kind of layout where operators need to put their hands inside the fenced
area to load and unload the work pieces. The robot may move to the place where an
operator has placed his or her hands inside the fenced area.
DANGER
■ Safety Precautions for Installation Work
In installing the robot, it is important to position the robot where the operator will not be
cramped. While tools are still installed on the robot, the robot must not be operated in its
maximum operating range so that it touches its peripheral devices.
WARNING
The designated method for installing the robot must be followed without fail. Following a
method which is not designated may cause the robot to move or topple over during
operation which is extremely dangerous.
WARNING
Before proceeding to connect the wires between the robot and the robot controller or
peripheral devices, ensure that the connection methods are thoroughly understood.
Faults may be caused in the operation of the robot by taking the wrong steps.
WARNING
Ensure that the grounding work is done properly. If there are any welders or other
devices that generate significant levels of noise, proceed with the designated grounding
work for them.
WARNING
When moving the robot into position and installing it, be very careful not to damage the
wiring. Furthermore, after having positioned the units, take protective measures such as
providing protective covers to ensure that the wiring will not be damaged by the
WARNING operators and other individuals or by the forklift truck.
1-2-4
2.2 Installation Locations and Ambient Condition
2.2 Installation Locations and Ambient Conditions
(1) The ambient temperature must be in the 0 to 45 degrees Celsius range.

(2) The ambient relative humidity must be in the 20 to 80%RH range, and there must be no condensation.
(3) The amounts of dust, dirt, oily vapors, water, etc. must be minimal.
(4) There must be no flammable or corrosive liquids or gases present.
(5) There must be no major sources of impact or vibration.
(6) No major sources of electrical noise must be in the vicinity of the robot.
2
(7) The vibration level must be less than 0.5G (4.9m/s ).
(8) Avoid direct sunlight.
1-2-5
2.3 Notes on Interference by Electromagnetic Noise
2.3 Notes on Interference by Electromagnetic Noise

A high-frequency arc starting unit, an inverter-type welding power supply and other units that generate
electromagnetic noises may cause an adverse effect on the robot system, such as malfunction.
To prevent this effect, select a proper installation location and install them in a most appropriate manner.
1-2-6
2.4 Accessories
2.4 Accessories
7-axis manipulator is provided with the following standard accessories.
Table. 2.4.0.1 Standard accessories (L7700D)

Name Specifications Qt. Remarks
Hexagon Socket Head For fixing the main body
M16X50 4
Cap Screw (Strength grade: 10.9)
Spring Washer M16 4 For fixing the main body
7-axis manipulator can be provided with the following parts as optional accessories.
Table. 2.4.0.2 Optional accessories

Name Specifications Qt. Remarks
Allen Wrench Set L7096B 1 Tool
Point Mark Assembly L7096C 1 For origin confirmation
Arrow Indicator Plate NB10107A 1set 12 pcs / set
1-2-7
2.5 Transport Method

Use a crane or a forklift to transport the manipulator for unpacking or installing. The manipulator must be
transported at the factory-configured posture as shown in from Table 2.5.0.1 to Table. 2.5.0.5.
When transporting the manipulator with a crane for NB4S/NV6S, hook a rope on the bracket of manipulator
using shackles and lift it up as shown in from Fig. 2.5.0.1 and Fig.2.5.0.5 by a transport posture with the angle
specified in the Table 2.5.0.1 and Table 2.5.0.5.
When transporting the manipulator with a forklift, secure the manipulator onto a pallet as shown in from Fig.
2.5.0.6 to Fig. 2.5.0.10 in order to prevent it from overturning. The weight of a single NB4S manipulator is 189kg,
that of NV6S manipulator is 178 kg (not including the weight of bracket 2.5kg (L11545H01) in each manipulator),
that of NB4LS manipulator is 321 kg, that of NV6LS manipulator is 316 kg and that of NV20S manipulator is 321
kg (not including the weight of bracket 4.0kg (L11558H01) in each manipulator) respectively. Use a pall
et strong enough to withstand the load in each case.
Be sure to prevent impacts especially against Section during transport.

WARNING
When transporting or installing the manipulator, take ample care not to apply load by
such as putting your weight on or pulling the End arm part, Axis J6 part, etc.
WARNING
For NB4S/NV6S, fit the bracket when transporting, and be sure to remove it before the
robot operation. After removing the bracket, keep it with care, and fit two bolts and
washers to tapped holes to prevent from entering trash into the tapped hole or from
WARNING losing the bolts.
Wire Rope
ロープ
Withstand Load : min.0.8t (1760 lb)
耐荷重：800kg以上
Length : min. 1.5m (60 in.)
長さ　：1.5m以上
End arm
エンドアーム Shackles
シャックル
Prepare shackles that meet the following requirements.
Model :SC-12
Bracket
Withstand Load: 0.9t (1980 lb)
ブラケット
Center of Ａ ISO 2415
（L11545H01）シャックルは下記のものをご用意ください
Gravity
Fit this item when 重心型番　：SC-12
transporting the 耐荷重：0.9t
robot, and be sure to JIS B2801
Hexagon Head Bolt
remove it before 六角ボルト
Ａ 2xM10x25
the robot operation.After
removing the
bracket, keep it with care. Spring Washer
搬送時には、必ず取り付バネワッシャ
けてください。
(402)
W(M10)
ロボット動作前には、必ず
取り外して
Washer
ください。取り外し後は、 (9) J6 Unit (65) ワッシャ
紛失しない
J6軸部 W(M10)
よう大切に保管してくださ (a)Front View (b)Side View
い。正面図側面図
Note1) Center of Gravity position is reference.
Fig. 2.5.0.1 Transport Method for NB4S Manipulator (by crane)
Table. 2.5.0.1 NB4S Axis angle in the transport posture
Installation type Axis J1 Axis J2 Axis J7 Axis J3 Axis J4 Axis J5 Axis J6
Floor type 0° 160° 0° -70° -80° -90° 0°
1-2-8

WARNING
Wire Rope
ロープ
End arm Shackles
エンドアームシャックル
Model :SC-12
Bracket Withstand Load: 0.9t (1980 lb)
ブラケットＡ ISO 2415
（L11558H01） Center of シャックルは下記のものをご用意ください
Gravity 型番　：SC-12
Fit this item when
重心耐荷重：0.9t
transporting the
robot, and be sure to JIS B2801
Hexagon Head Bolt
remove it before Ａ六角ボルト
the robot operation.After 2xM12x25
removing the
bracket, keep it with care.
Spring Washer
搬送時には、必ず取り付
バネワッシャ
けてください。 W(M12)
(432)
取り外して
ください。取り外し後は、 J6 Unit Washer
紛失しない J6軸部ワッシャ
(21) (70) W(M12)
よう大切に保管してくださ
い。 (a)Front View (b)Side View
正面図側面図
Fig. 2.5.0.2 Transport Method for NB4LS Manipulator (by crane)
Table. 2.5.0.2 NB4LS Axis angle in the transport posture
Floor type 0° 165° 0° -70° -20° -100° 0°
Wire Rope
ロープ
Shackles
シャックル
Bracket Center of Model :SC-12
ブラケット
Gravity Withstand Load: 0.9t (1980 lb)
重心 ISO 2415
（L11545H01）
Ａシャックルは下記のものをご用意ください
Fit this item when 型番　：SC-12
transporting the 耐荷重：0.9t
JIS B2801
Hexagon Head Bolt
robot, and be sure to
六角ボルト
remove it before
Ａ 2xM10x25
the robot operation.After
removing the
bracket, keep it with care. Spring Washer
搬送時には、必ず取り付けバネワッシャ
てください。 W(M10)
(376)
取り外して
ください。取り外し後は、 Washer
紛失しない (9) (59) ワッシャ
よう大切に保管してくださ W(M10)
(a)Front View (b)Side View
い。正面図側面図

Fig. 2.5.0.3 Transport Method for NV6S Manipulator (by crane)
Table. 2.5.0.3 NV6S Axis angle in the transport posture
Floor type 0° 160° 0° -65° 0° -70° 0°
1-2-9

WARNING
Wire Rope
ロープ
Shackles
シャックル
Bracket Model :SC-12
ブラケット Center of Withstand Load: 0.9t (1980 lb)
（L11558H01） Gravity ISO 2415
Fit this item when 重心シャックルは下記のものをご用意ください
transporting the
Ａ型番　：SC-12
robot, and be sure to 耐荷重：0.9t
remove it before JIS B2801 Hexagon Head Bolt
the robot operation.After 六角ボルト
Ａ
removing the 2xM12x25
搬送時には、必ず取り付け
Spring Washer
てください。
バネワッシャ
W(M12)
取り外して
(427)
ください。取り外し後は、
紛失しない Washer
よう大切に保管してくださワッシャ
い。 (20) (76) W(M12)
正面図側面図
Fig. 2.5.0.4 Transport Method for NV6LS Manipulator (by crane)
Table. 2.5.0.4 NV6LS Axis angle in the transport posture
Floor type 0° 165° 0° -70° 0° -90° 0°
Wire Rope
ロープ
Shackles
シャックル
Bracket Model :SC-12
ブラケット Center of Withstand Load: 0.9t (1980 lb)
（L11558H01） Gravity ISO 2415
Fit this item when 重心シャックルは下記のものをご用意ください
transporting the
Ａ型番　：SC-12
robot, and be sure to 耐荷重：0.9t
remove it before JIS B2801 Hexagon Head Bolt
the robot operation.After 六角ボルト
Ａ
removing the 2xM12x25
搬送時には、必ず取り付け
Spring Washer
てください。
バネワッシャ
ロボット動作前には、必ず W(M12)
取り外して
(442)
ください。取り外し後は、
紛失しない Washer
よう大切に保管してくださワッシャ
い。 (19) (76) W(M12)
正面図側面図
Fig. 2.5.0.5 Transport Method for NV20S Manipulator (by crane)
Table. 2.5.0.5 NV20S Axis angle in the transport posture
Floor type 0° 165° 0° -70° 0° -50° 0°
1-2-10
Protector
緩衝材
Fixing Rope or Belt

ベルト類
Pallet Forklift
パレットフォークリフト
Fig. 2.5.0.6 Transport Method for NB4S Manipulator (by forklift)
Protector
緩衝材
Fixing Rope or Belt

ベルト類
Pallet Forklift
Fig. 2.5.0.7 Transport Method for NB4LS Manipulator (by forklift)
Ensure that the manipulator is moved into position by individuals who have acquired
the permits or licenses needed for carrying out slinging work, operating cranes,
driving forklift trucks, etc. The weights of the robot and the robot controller are given
in the Operation Manual and Maintenance Manual. After checking the weights, adopt
WARNING handling procedures which are commensurate with these weights.
When hoisting the manipulator and/or the robot controller, follow the method set forth
in this manual or in the Maintenance Manual. Moving the robot into position using a
method not specified by the manufacturer may cause the robot to topple over or fall,
WARNING which may lead to accidents.
Take more than enough care to ensure that the wiring is not damaged during the
moving and installation processes. After having positioned the units, take protective
measures such as providing protective covers to ensure that the wiring will not be
WARNING damaged by the operators, other individuals or the forklift trucks.
1-2-11
Protector
緩衝材
Fixing Rope or Belt

ベルト類
Pallet Forklift
Fig. 2.5.0.8 Transport Method for NV6S Manipulator (by forklift)
Protector
緩衝材
Fixing Rope or Belt

ベルト類
Pallet Forklift
Fig. 2.5.0.9 Transport Method for NV6LS Manipulator (by forklift)
1-2-12
Protector
緩衝材
Fixing Rope or Belt

ベルト類
Pallet Forklift
Fig. 2.5.0.10 Transport Method for NV20S Manipulator (by forklift)
1-2-13
2.6 Installation of Manipulator
2.6.1 Installation Method

Large reaction force will be applied to the revolving base from all directions when the manipulator works at an
adjustable speed. Considering this mentioned above, the base needs to tolerate not only the static load but also
the reaction force at adjustable speed. Install the manipulator with its revolving base stable.
RP
φ
RP
RP :Reference Plane
(a) NB4S / NV6S
RP
RP
RP :Reference Plane
A
(b) NB4LS / NV6LS / NV20S
Fig. 2.6.1.1 Manipulator Installation Dimensions（unit : mm）
1-2-14
2.6.2 Installation Method
Movements of the manipulator cause a large force of inertia, requiring the installation floor to be strong and rigid.
Therefore, when the manipulator and jigs are to be mounted together on the same common frame base, the
frame base must be at least 20 mm in thickness and the manipulator must be firmly fixed using four pieces of
hexagon socket head cap screws (M16) and spring washer with a tightening torque of 216 N*m. For the
mounting method of the manipulator on the base, see Fig. 2.6.2.1.
Fig. 2.6.2.1 Installing the Manipulator Directly on Common Frame Base
1-2-15
2.6.3 Using Optional Manipulator Stand

Movements of the manipulator cause a large force of inertia, requiring the installation floor to be strong
and rigid. When the concrete floor thickness is more than 200 mm, use anchor bolts (M16) shown in Fig.
2.6.3.1 for installation.
If the floor is not strong enough, use J-type anchor bolts as shown in Fig. 2.6.3.1 for installation.
The anchor Installation must be in conformity with the manufacturer indicator.
If the thickness of a concrete base is 200mm or less, form the foundation in advance after an enough review.
The concrete anchors, J-type anchor bolts and jack bolts or the like must be prepared by a user.
Jack Bolt
ジャッキボルト(M12)
Anchor Bolt
Lock Nut アンカーボルト(M16)
ロックナット Lock Nut
ロックナット(M16)
(M12) (Tightening Torque:107.8N･m）
（締め付けトルク：107.8N･m）
420
Spring Washer
4xM12 320
バネワッシャ(M16)
4xφ18
Flat Washer
平ワッシャ(M16)
420
Manipulator Stand
ロボットスタンド
Supporting Plate
サポートプレート
500
Foundation View A
基礎
Fig. 2.6.3.1 Using an Optional Manipulator Stand for Installation (unit: mm)
1-2-16
2.6.4 Maximum Manipulator Generative Force

Movements of the manipulator may cause a large force as shown in Table 2.6.4.1.
Please design the common frame base that has an enough safety factor to the force shown below.
Table. 2.6.4.1 Maximum manipulator generative force

Maximum vertical Maximum horizontal Maximum vertical Maximum horizontal
Name
generative force FV generative force FH generative moment MV generative moment MH
NB4S 5300 N 3800 N 4000 N*m 3300 N*m
NB4LS 8100 N 5400 N 8600 N*m 5500 N*m
NV6S 5500 N 4000 N 4400 N*m 3300 N*m
NV6LS 8700 N 5500 N 6900 N*m 5600 N*m
NV20S 10600 N 7100 N 10000 N*m 8600 N*m
Fig. 2.6.4.1 Maximum manipulator generative force
1-2-17
2.7 Note on Emergency stop of Manipulator
Table 2.7.0.1 shows the length of time from Emergency stop SW pressed to the robot stopped and the
angles of each axis to move. For designing a work cell etc., these values shall be considered.
Table 2.7.0.1 Emergency stop of Manipulator

Stop Time Stop Angle
Model Axis No.
［ms］［deg］
Axis J1 520 50.8
Axis J2 500 45.6
Axis J7 490 36.8
NB4S Axis J3 450 37.2
Axis J4 510 56.8
Axis J5 500 57.2
Axis J6 480 61.7
Axis J1 540 41.6
Axis J2 480 42.5
Axis J7 520 36.6
NB4LS Axis J3 540 34.0
Axis J4 530 58.8
Axis J5 520 64.7
Axis J6 630 77.6
Axis J1 470 52.6
Axis J2 510 53.4
Axis J7 600 40.5
NV6S Axis J3 340 23.4
Axis J4 310 46.6
Axis J5 260 35.6
Axis J6 300 56.5
Axis J1 460 61.0
Axis J2 490 41.9
Axis J7 500 36.0
NV6LS Axis J3 430 23.0
Axis J4 480 50.3
Axis J5 460 51.0
Axis J6 470 69.3
Axis J1 600 73.3
Axis J2 560 53.2
Axis J7 520 40.5
NV20S Axis J3 480 25.3
Axis J4 500 51.0
Axis J5 500 48.0
Axis J6 490 71.6
1-2-18
Chapter 3 Periodic Inspection
This chapter provides the instructions on the periodic inspection.

3.1 Periodic Inspection ..................................................................................1-3-2
3.1.2 Safety Measures for Inspection, Maintenance, Adjustments and Repairs of the Manipulator...1-3-2
3.1.3 Notes on Periodic Inspection .............................................................1-3-4
3.1.4 Deadline for Supplying/ Repairing the Robot Maintenance Parts ......1-3-4
3.2 List of Maintenance Items ........................................................................1-3-5
3.2.1 NB4S / NB4LS Manipulator................................................................1-3-5
3.2.2 NV6S / NV6LS / NV20S Manipulator .................................................1-3-8
1-3-1
3.1 Periodic Inspection
3.1.1 Safety Measures for Inspection, Maintenance, Adjustments and Repairs of the Manipulator
To perform inspection, maintenance, adjustments, repairs or other similar work on the manipulator, access to the
robot working range may be required, or work with the primary-side power or the servo power turned on may be
necessary. In any case, be sure to observe the following precautions for inspection, maintenance, adjustments
and repairs.

Whenever the power is ON, never enter the robot working range. Approaching the
operating robot may result in a fatal injury.
WARNING
Never touch any charged parts. Touching any charged part may result in a fatal electric
shock hazard or burn.
WARNING
Never put your hand, finger, hair, clothes or the like close to any rotating section.
Putting your hand, finger, hair or clothes close to the wire feed roll of the wire feed
unit may cause you to get caught, resulting in a serious injury.
Similarly, putting your hand, finger, hair or clothes close to the rotating section of a
WARNING cooling fan may cause you to get caught and hurt.
(1) Prior to carrying out robot inspection, maintenance, adjustments, repairs, etc., be sure to wear a helmet,
safety shoes, gloves and other protective means that may be deemed necessary, as specified by law.
To be more specific, wear clothes that are suited to each specific work.
(2) Prior to initiating work, press the EMERGENCY Stop button or the Stop button to check if the robot system
stops instantly. Furthermore, if a safety plug, a dead man switch or other protective devices are added to the
robot system, they must be checked for proper operation. Should any fault be detected, stop the inspection
work, turn off the primary power immediately, check for causes and take necessary countermeasures
accordingly.
(3) Ensure that personnel who are not operating the robot must not approach the guarding fence.
(4) Prior to starting work, put up a sign “Under Inspection”

at a visible place to let people around the robot system
know that inspection is now being carried out. Under Inspection
(5) Do not use any equipment that may generate electromagnetic noises, in and around the place where
inspection is being performed.
(6) At least two workers should be involved in the inspection or maintenance work, one performing actual work
and the other serving as a watcher.
(7) Personnel to be involved in robot inspection, maintenance, adjustment and/or repairs should receive
instructions and training on robot functions, operation and maintenance. In addition, if special equipment or
facilities are provided in the robot system, then their entire mechanism must also be fully understood.
(8) Robot inspection, maintenance, adjustment and repairs must be performed by only those who are qualified by
receiving special training. Furthermore, even if they have received such special training, they are not allowed
to perform inspection, maintenance, adjustment or repairs of other machinery that they are not fully familiar
with.
1-3-2
(9) Any sign that may be given to workers, watchmen and/or operators of related machines must be in conformity
with the Customer’s safety management standards.
(10) The watcher must observe the following. He shall:
A) Stand at a place that commands a view of the entire robot working range, and devote himself to the duty
of watching the work.
B) Always hold the EMERGENCY Stop button, and press it immediately whenever any abnormality occurs.
C) Make sure that people other than those who are involved in inspection, etc. do not come close to the
robot working range.
(11) The workers to be involved in inspection or other work must observe the following.
A) If work can be carried out outside the robot working range, specify the work details prior to starting the
work. In any case, be sure that work is done outside the robot working range.
B) In principle, perform inspection, etc., with the robot stopped. However, if such inspection or other work is
inevitably required during robot operation, then be sure to report this to the responsible safety manager,
and with permission obtained, perform the work outside the robot working range.
C) If the robot is required to be in an operable condition when performing inspection work or the like, specify
the work procedure details beforehand so that safe work can be efficiently proceeded with. Furthermore,
if work is not particularly required to be performed in the robot operable condition, carry out the work with
the robot controller, the welding power supply and/or other input-side power supplies all turned off. If no
special safety procedure is required, be sure to turn off such input-side power supplies for jigs and
peripheral equipment or to make them inactive.
D) When working in the robot working range, be sure you are always in a ready-to-act posture so that you
can immediately press the EMERGENCY Stop button just in case of robot malfunction.
E) Carefully check your footing before starting work. Be sure to avoid an unstable scaffold or a scaffold
provided at an elevated position (more than 2 meters high).
F) When you are in the robot working range, do not perform work with your back facing the manipulator.
G) To replace PCBs provided in the robot controller or the teach pendant, take anti-static electricity
countermeasures including anti static electricity sheets.
(12) If any abnormal condition has occurred during work, carefully perform the following procedure.
A) If any malfunction is observed on the robot system, immediately press the EMERGENCY Stop button.
B) Immediately report this to the watcher, turn off the control power
Do not Switch ON
of the robot controller, then put up a sign “Do not switch on.”
C) Be sure to check that all the related machines are stopped.
D) When necessity arises to go inside the guarding fence, be sure that the person who is going to enter pulls
out the safety plug himself, carries it with him and proceeds with the work concerned.
E) Even when the robot has automatically stopped due to a fault in supply voltage to the robot system,
hydraulic pressure or air pressure of related equipment, make sure that it is at a complete stop, then
investigate causes to take necessary countermeasures.
F) If the EMERGENCY Stop switch or other safety devices should have failed to operate, immediately turn
off the primary power, investigate causes and take necessary countermeasures.
G) To restart the robot after stopping it by pressing the EMERGENCY Stop button, investigate causes, take
necessary countermeasures, replace the safety plug, then restart it from outside the guarding fence.
(13) To end the work, carefully check that the necessary connectors, covers, panels, etc. have been all correctly
mounted and wired.
1-3-3
3.1.2 Periodic Inspection Schedule

The periodic inspection is indispensable in order to continue operating Almega series in a safe and an efficient
manner. Perform the periodic inspection in accordance with the following schedule.
Be sure to overhaul in either a period of whole 6 years or 30,000 cumulative operating hours after delivery,
whichever is shorter.
The inspection and maintenance period is estimated, supposing the manipulator only for Arc welding use. For
more frequent use such as handling operation, that period may be shorter.
Contact to our engineers for details.
3yr
Maintenanc
1yr 1yr 1yr
Inspection Inspection Inspection
3mths 3mths 3mths 3mths 3mths 3mths 3mths 3mths 3mths 3mths 3mths 3mths
Inspection Inspection Inspection Inspection Inspection Inspection Inspection Inspection Inspection Inspection Inspection Inspection
DailyInspection
0 3mths 6mths 9mths 1yr 15mths 18mths 21mths 2yr 27mths 30mths 33mths 3yr ～
3.1.3 Notes on Periodic Inspection
(1) Periodic inspection must be performed by those who have received the special training program by the
Government or DAIHEN Corporation and maintenance instructions offered by DAIHEN Corporation, or at
their presence.
(2) Prior to performing inspection or maintenance, be sure to turn off the external breaker.
Note that, with turning off only the non-fuse breaker of the robot controller, the primary side of the non-fuse
breaker is still being applied with voltage.
In order to show that inspection or maintenance is underway, hang a noticeable sign on the switch of
the external breaker.
警告 WARNING
感電注意 ELECTRIC SHOCK
１．通電中は本装置内部の部品に
触れないで下さい。
can kill.
２．設置および点検時には一次側 ● Do not touch live electrical
Never touch the charged parts. の電源を遮断して下さい。（本
装置のブレーカをＯＦＦにし
parts.
● Disconnect all power
ても，ブレーカの一次側には before installing or servicing.
電圧が印加されています。）
● Multiple sources of voltage
WARNING ３．充電部がありますので，電源
を遮断した後１分間は本装置
内部の部品に触れないで下さい。
may exist inside this
enclosure.
NK3637
3.1.4 Deadline for Supplying/ Repairing the Robot Maintenance Parts
Deadline for supplying the robot maintenance parts is guaranteed for 7 years from the discontinuation date of the
product, and that for repairing is for 10 years.
For the detailed information about discontinuation date of the product, please see the guidance on the
maintenance parts in our homepage: http://www.daihen.co.jp/ .
※Repair of the maintenance parts is provided for the above period of time in principle, however, we will support our
customers as long as the stock is available.
We will make our every effort to secure the required maintenance parts. However, please note that it may be
occasionally unavailable due to the external factors such as the market situation even during the guaranteed
period.
1-3-4
3.2 List of Maintenance Item
3.2 List of Maintenance Items
3.2.1 NB4S / NB4LS Manipulator

Mainten
Inspection
-ance
No. Location Item Corrective Action
3 1 3 6
Daily
mths yr yrs yrs
Entire Outer Attached spatter, dust
1 ○ Visual check and cleaning
appearance or other foreign matter
2 ○ Matchmark panel Peeling, soiling Visual check
・External cable Scratches, soiling and
3 ○ Visual check
・Lead wire loose connectors
・Torch Bracket
・Leader
4 ○ ・Inner guide Cracks, chipping Bending Visual check; Replacing the parts
・cable guide①,②
・Resin part etc
Visual check with origin
Deviation
checking program.
Confirm that there is no noticeable
5 ○ Torch aiming point
play by checking around 6th axis
Backlash and play
output flange by hand (back/forth,
right/left, up/down).
Looseness at cable
Retightening
connection
Worn tip Replacing tip
6 ○ Welding torch
Attached spatter on nozzle Cleaning or replacing
Attached spatter on torch
Cleaning
mounted section
Visual check, inspection and
Worm feed roll
replacing if needed
7 ○ Wire feed unit
Attached oil or dust on
Cleaning
strainer and feed roll
・Coaxial power Scratched or bent cable Visual check, inspection and
cable Worn or bent coil liner replacing if needed.
・Gas hose Damaged hose, gas Check with soapy water applied
8 ○
・Welding power leakage and replacing
cable Looseness at cable
・Conduit cable Retightening
connection
9 ○ Major bolts Looseness Retightening
Connector housing
10 ○ Looseness Retightening
(Base portion)
No noise and vibration by servo
11 ○ Brake Brake operating ON. No falling of the arm with
the servo OFF.
Welding cable Visual check, inspection
12 ○ ○ ● mounted to the Defects and damage Replace when any abnormality
main body is detected
Damaged cable
Check visually and retighten if
○ ○ Loose connectors
13 Internal wires necessary.
Bolt for mounting
● Replacement Replacement
Grease replacement Grease replacement (See
Reduction gear
14 ● ● ● Abnormality in the Chapter 4.2).Replacing if the
(Axis J1, J2, J3)
reduction gear reduction gear is abnormal.
Grease replacement Grease replacement (See
Reduction gear
(Axis J7),Gear
Grease replenishment Grease replenishment (See
Reduction gear
(Axis J4, J5, J6)
Tension adjustment (See
Timing belt Tension strength of belt
17 ○ ○ ● Chapter 4.1).Replacing if the
(Axis J5) Abnormality in the belt
tension belt is abnormal.
Gear Grease replenishment
18 ● ● ● Grease replenishment
(Axis J4,J6) (See Chapter 4.3)
1-3-5
Mainten
Inspection
-ance
3 1 3 6
Daily
mths yr yrs yrs
Grease replenishment (See
Grease replenishment
Cross roller bearing Chapter 4.4).Replacing if the
19 ● ● ● Abnormality in the
(Axis J4,J6) bearing is abnormal.
Cross roller bearing
Replacement (See Chapter
20 ○ ● ● Battery Replacement
4.5)
21 ● Overhaul
○：Inspection, ●：Replacement
J3 7
J4
14
16
11 3
J5 1
11
16
17 8
12
4 11
4
4 11 15
16 J7 4xM16x50 2
9
18 20 216N m
J6 6
2
J2 14 5
11
18
13
19
J4
19
J6
10
11
13 13
J1
12
Fig. 3.2.1.1 Check Points of NB4S / NB4LS Manipulator
警告 WARNING
can kill.
Never touch live electrical parts. の電源を遮断して下さい。（本
parts.
enclosure.
NK3637
1-3-6
(a) NB4S
(b) NB4LS
Fig. 3.2.1.2 Check Points on major bolts of NB4S / NB4LS Manipulator
1-3-7
3.2
3.2.2 NV6S / NV6LS / NV20S Manipulator

Mainten
Inspection
-ance
3 1 3 6
Daily
mths yr yrs yrs
Entire Outer Attached spatter, dust
1 ○ Visual check and cleaning
appearance or other foreign matter
2 ○ Matchmark panel Peeling, soiling Visual check
・External cable Scratches, soiling and
3 ○ Visual check
・Lead wire loose connectors
Cracks, chipping Visual check; Check with torch
・Torch mount
4 ○ Bending positioning gauge, replacing the
・Resin part etc
parts if needed.
Visual check with origin checking
Deviation program; Check with torch
positioning gauge.
5 ○ Torch aiming point Confirm that there is no noticeable
play by checking around 6th axis
Backlash and play
output flange by hand (back/forth,
right/left, up/down).
Looseness at cable Retightening
connection
Worn tip Replacing tip
6 ○ Welding torch Attached spatter on Cleaning or replacing

nozzle
Attached spatter on Cleaning
torch mounted
section
Visual check, inspection and
Worm feed roll
replacing if needed.
7 ○ Wire feed unit
Attached oil or dust on Cleaning
strainer and feed roll
Scratched or bent
・Coaxial power cable Visual check, inspection and
cable Worn or bent coil liner replacing if needed.
・Gas hose
8 ○ Damaged hose, gas Check with soapy water applied
・Welding power
cable leakage and replacing
・Conduit cable Looseness at cable
Retightening
connection
9 ○ Major bolts Looseness Retightening
Connector housing
10 ○ Looseness Retightening
(Base portion)
No noise and vibration by
11 ○ Brake Brake operating servo ON. No falling of the arm
with the servo OFF.
Damaged cable
Check visually and
○ ○ Loose connectors
12 Internal wires retighten if necessary.
Bolt for mounting
● Replacement Replacement
Grease replacement
Grease replacement
Reduction gear (See Chapter 4.2)
(Axis J1, J2, J3) Replacing if the reduction gear is
reduction gear
abnormal
Grease replacement
Grease replacement
Reduction gear (See Chapter 4.2)
(Axis J7),Gear Replacing if the reduction gear is
reduction gear
abnormal
Grease replenishment Grease replenishment
Reduction gear
15 ● ● ● Abnormality in the (See Chapter 4.2).Replacing if the
(Axis J4, J5, J6)
Tension strength of Tension adjustment
Timing belt
16 ○ ○ ● belt (See Chapter 4.1).Replacing if the
(Axis J5, J6)
Abnormality in the belt tension belt is abnormal.
Crossroller bearing (See Chapter 4.4)
(Axis J4) Replacing if the cross roller
Cross roller bearing
bearing is abnormal
1-3-8
Mainten
Inspection
-ance
3 1 3 6
Daily
mths yr yrs yrs
Replacement (See Chapter
18 ○ ● ● Battery Replacement
4.5)
19 ● Overhaul
○：Inspection, ●：Replacement
J3 J4
13 15
11 3
J5
11
15 11
16
J7
14 4
11
15 4xM16x50 2
16
J6 216N m 9 6
4
5
J2 13 18
11
12
17
10
12
11
13
J1
Fig.3.2.2.1 Check Points of NV6S / NV6LS / NV20S Manipulator
警告 WARNING
can kill.
Never touch live electrical parts. の電源を遮断して下さい。（本
parts.
enclosure.
NK3637
1-3-9
(a) NV6S
(b) NV6LS
(c) NV20S
Fig.3.2.2.2 Check Points on major bolts of NV6S / NV6LS / NV20S Manipulator
1-3-10
Chapter 4 Maintenance
This chapter provides the instructions on the maintenance of robots.
4.1 Tension Adjustments of Timing Belts........................................................1-4-4

4.1.1 Tension Adjustments of Timing Belt for NB4S / NB4LS......................1-4-4
4.1.2 Tension Adjustment of Timing Belts of NV6S / NV6LS / NV20S.........1-4-6
4.2 Replacement and Replenishment of Grease for Reduction Gears ..........1-4-9
4.2.1 Grease Replacement Procedure for Axis J1, J2 and J3 Reduction Gears.........1-4-9
4.2.2 Grease Replenishment Procedure for Axis J4, J5 and J6 Reduction Gears
(NB4S/NB4LS) ...................................................................................1-4-15
4.2.3 Grease Replenishment Procedure for Axis J4, J5 and J6 Reduction Gears..1-4-16
4.2.4 Grease Replacement Procedure for Axis J7 ............................................1-4-17
4.3 Replenishment of Grease for Gear(NB4S / NB4LS) ..............................1-4-21
4.3.1 Grease Replacement Procedure for Axis J4, J5 Gears (NB4S) .......1-4-21
4.4 Grease Replenishment for Roller Bearing .............................................1-4-23
4.4.1 Grease replenishment procedure for Axis J4 cross roller bearing....1-4-23
4.4.2 Grease replenishment procedure forAxis J6 cross roller bearing (NB4S / NB4LS)........1-4-24
4.5 Battery ...................................................................................................1-4-25
4.5.1 Function of Battery...........................................................................1-4-25
4.5.2 Specification of Battery ....................................................................1-4-25
4.5.3 Replacing Battery.............................................................................1-4-25
4.5.4 Notes on Battery Safekeeping .........................................................1-4-26
4.6 Replacing Internal Wires........................................................................1-4-27
1-4-1
This chapter provides the instructions on the maintenance of robots.
To perform inspection, maintenance, adjustment, repairs or other similar works on the robot system, access to the
robot working range may be required, or work with the primary-side power or the servo power turned on may be
necessary. In any case, be sure to observe the following precautions for inspection, maintenance, adjustments and
repairs.

Whenever the power is ON, never enter the robot working range.Approaching the
operating robot may result in a fatal injury.
WARNING
Never touch any live electrical parts.Touching any live electrical parts may result in a
fatal electric shock hazard or a burn.
WARNING
Never put your hand, finger, hair, clothes or the like close to any rotating section.
Bringing hands, fingers, hair or clothes close to the wire feed roll of the wire feed unit
may cause an injury by being caught by it.
Bringing hands, fingers, hair or clothes close to the rotating section of a cooling fan may
WARNING cause an injury by being caught by it.
(1) Before carrying out robot inspection, maintenance, adjustments, repairs, etc., be sure to wear a helmet, safety
shoes, gloves and other protective means that may be deemed necessary, as specified by law.
To be more specific, wear clothes that are suited to each specific work.
(2) Before initiating work, press the EMERGENCY Stop button or the Stop button to check if the robot system stops
instantly. Furthermore, if a safety plug, a Deadman switch and/or other protective devices are added to the robot
system, they must be checked for their proper operation. Should any fault be detected, stop the inspection work,
turn off the primary power immediately, check for causes and take necessary measures accordingly.
(3) Ensure that personnel who are not operating the robot must not approach the guarding fence.
(4) Before starting work, put up a sign “Under Inspection” Under Inspection
at a visible place to notify people around the robot system
that the inspection is now underway.
(5) Do not use any devices that may generate electromagnetic noises in and around the place where the inspection
is being conducted.
(6) At least two workers should be involved in the inspection or maintenance work, one performing the actual work
and the other serving as a watchman.
(7) Personnel who are going to conduct the robot inspection, maintenance, adjustment and/or repairs should
receive instructions and training on robot functions, operation and maintenance. In addition, if special devices or
facilities are provided in the robot system, their entire mechanism must also be fully understood.
(8) Robot inspection, maintenance, adjustment and repairs must be performed only by qualified personnel who
have received special training. Furthermore, even if they have received such special training, they are not
allowed to perform inspection, maintenance, adjustment or repairs of machinery other than those they are fully
familiar with.
(9) Any sign that may be given to workers, watchmen and/or operators of related machines must be in conformity
with the Customer’s safety management standards.
1-4-2
(10) The watchman has to observe the following.
A) Stand at a place that commands a view of the entire robot work envelope and concentrate on the duty of
watching the work.
B) Always hold the EMERGENCY STOP button and press it immediately whenever any abnormality occurs.
C) Keep personnel except the teaching operator away from the robot work envelope.
(11) The workers to be involved in the inspection or other works must observe the following.
A) If work can be carried out outside the robot working range, specify the work details before starting the work and
make sure to carry out the work outside the robot working range.
B) In principle, perform inspection, etc., with the robot stopped. However, if the inspection or other work is inevitably
required while the robot is operating, be sure to report this to the responsible safety manager, and, with
permission obtained, perform the work outside the robot working range.
C) If the robot is required to be in an operable condition when the inspection work or the like is carried out, specify
the work procedure in detail beforehand so that work can be carried out safely and efficiently. Furthermore, if work
is not particularly required to be performed in the robot operable condition, carry out the work while the robot
controller, the welding power supply and/or other input-side power supplies are all turned off.
If no special safety procedure is required, be sure to turn off such input-side power supplies for jigs and peripheral
equipment or make them inactive.
D) When working in the robot working range, be sure that you are always in a ready-to-act posture to be promptly
able to press the EMERGENCY Stop button in case of robot malfunction.
E) Check your footing carefully before initiating work. Be sure to avoid an unstable scaffold or a scaffold provided at
an elevated position (more than 2 meters high).
F) When you are in the robot working range, do not perform work with your back facing the manipulator.
G) When replacing PCBs provided in the robot controller or the teach pendant, take countermeasures against static
electricity, for instance by using anti-static electricity sheets.
(12) If any abnormal condition occurs during the work, follow the procedure below carefully.
A) If any malfunction is observed in the robot system, press the EMERGENCY Stop button immediately.
B) Report this immediately to the watchman, turn off the control

power of the robot controller, and then put up a sign
“Do Not Switch On”. Do Not Switch ON
C) Make sure that all the related machines are stopped.
D) When necessity arises to go inside the guarding fence, be sure that the person who is going to enter pulls out the
safety plug himself, carries it with him while proceeding with the work concerned.
E) Even when the robot has automatically stopped due to a fault in supply voltage to the robot system, hydraulic
pressure or air pressure of related equipment, make sure that the robot is at a complete stop. Then, investigate
causes and take necessary countermeasures.
F) If the EMERGENCY Stop switch or other safety devices should have failed to operate, turn off the primary power
immediately, investigate causes and take necessary countermeasures.
G) In order to restart the robot after stopping it by pressing the EMERGENCY Stop button, investigate causes, take
necessary countermeasures, replace the safety plug, and then restart it from outside the guarding fence.
(13) To end the work, check carefully that the necessary connectors, covers, panels, etc. have been all
correctly mounted and wired.
1-4-3
4.2 Replacement and Replenishment of Grease for Reduction Gears
4.1 Tension Adjustments of Timing Belts

To make the timing belts tension adjustments, every year or every 3,000 operating hours, whichever is shorter
period.
Attaining smooth transmission by the timing belt requires appropriate belt tension. For the adjusting method of
timing belt tension of each axis, read the following instructions.
When making this adjustment, be careful not to allow the timing pulleys to rotate at no load because the origin
point may move out of its position, which will in turn require readjustments.
4.1.1 Tension Adjustments of Timing Belt for NB4S / NB4LS

To drive Axis J5, timing belt is used between the motor and the reduction gear.
(1) Removing a cover from the upper arm will reveal the timing belt as shown in Fig.4.1.1.1.
(2) Loosen three motor fixing bolts (M5x10) and turn the motor bracket around the parallel pin to adjust the belt
tension so that it can be coincident with the value specified in Fig 4.1.1.1.
Press the timing belt of Axis J5 with the force and at the location both shown in Table 4.1.1.1 to make the
deflection become coincident with the value specified in Fig 4.1.1.1.
(3) When the specified deflection value is obtained, retighten the motor fixing bolts with a tightening torque of 7.3
N*m, and apply LOCKTITE to the bolts in order to prevent them from loosening.
※Twist the upper side of the timing belt round to near side, and then install it the timing pulley on the AC
servomotor.
Table 4.1.1.1 Belt Deflection Values for Tension Adjustments of Timing Belts
Axis NB4S / NB4LS
name Pressing force Deflection
J5 9.8 N 5～6 mm
きつい (29)
Motor Fixing Bolt(3pcs.) Tight ヘイコウピン
モータ固定用ボルト（3本）
L=5～6mm
PARALLEL PIN
Tightening torque7.25N･m
締付けトルク　7.25N･m 9.8N
50
Fig 4.1.1.1 Tension Adjustments of Timing Belt for Axis J5 (Unit : mm) (NB4S / NB4LS)
1-4-4
(4) When all the adjustments have been successfully completed, apply an appropriate amount of sealing
agent (Pure Sealant) to the entire circumference of the cover-mounting surface.
And then fix the cover.
Pure Sealant Application Surface(Shaded Area)

ピュアシーラント塗布面（斜線部）
Fig 4.1.1.2 Application Surface of Sealing Agent (Pure Sealant)
・ Do not get your hand caught in the moving section.

・ Improper adjustment of belt tension may cause damage to the belt.
・ Then, it may result in the arm falling.
WARNING
1-4-5
4.1.2 Tension Adjustment of Timing Belts of NV6S / NV6LS / NV20S
To drive Axis J5 and J6, timing belts are used between the motor and the reduction gear.
(1) Removing covers from both sides of Axis J5 and J6 Unit will reveal the timing belts of the respective axes as
shown in Fig 4.1.2.1 (for NV6S / NV6LS).or Fig 4.1.2.2 (for NV20S)
(2) To make their tension adjustments, loosen three pieces of motor fixing bolts (NV6S/NV6LS:M5x14; NV20S:
M6x 20) and the lock nut of each motor unit and adjust the belt tension as described below, using the
tension adjusting bolt.
Press the timing belt (of Axis J5 or Axis J6) at the center with a force shown in Table 4.1.2.1 and adjust the
tension by tightening or loosening the adjusting bolt until the deflection obtained becomes the specified
value shown below. When using the tension meter, set the value as specified in Table 4.1.2.2 and Table
4.1.2.3.
(3) When the specified deflection value is obtained, lock the adjusting bolt with the lock nut, retighten the motor
fixing bolts with a tightening torque (NV6S/NV6LS:7.3 N*m;NV20S:11.8 N*m), and then apply LOCKTITE to
these bolts in order to prevent them from loosening.
Table 4.1.2.1 Belt Deflection Values for Tension Adjustments of Timing Belts
Axis NV6S / NV6LS NV20S
name Pressing force Deflection Pressing force Deflection
J5 2.6mm 3.3mm
3.8N 8.6N
J6 4.2mm 5.4mm
Table 4.1.2.2 Belt Tension Values for Tension Adjustments of Timing Belts
NV6S / NV6LS
Axis
Unit Mass of
name Belt Span Belt Tension Belt Width
Belt
J5 165mm 47.6 ~
0.034kg/m 6mm
J6 265mm 52.0 N
Table 4.1.2.3 Belt Tension Values for Tension Adjustments of Timing Belts
NV20S
Axis
Unit Mass of
name Belt Span Belt Tension Belt Width
Belt
J5 207.5mm 105.1 ~
0.034kg/m 12mm
J6 335mm 110 N
1-4-6
Lock Nut Adjusting Bolt

ロックナット調整ボルト
L=2.6mm
4.9N
Motor Fixing Bolt(M5x14:3pcs.)

82.5 82.5
モータ固定用ボルト（M5x14:3本）
Tightening Torque7.25N･m
締付けトルク7.25N･m
Adjusting Bolt Lock Nut

ロックナット
L=4.2mm
調整ボルト
4.9N
132.5 132.5

Tightening Torque7.25N･m
締付けトルク7.25N･m
Fig 4.1.2.1 Tension Adjustments of Timing Belts for Axis J5 and J6 (NV6S / NV6LS) (Unit : mm)
Lock Nut Adjusting Bolt

L=3.3mm
ロックナット調整ボルト
8.0～8.3N
Motor Fixing Bolt(M6x20:3pcs.) 103.75 103.75

モータ固定用ボルト（M6x20:3本） (a) Axi s J 5 side
Tightning Torque 11.8N・m Ｊ５軸側
締付トルク　11.8N・m
Adjusting Bolt Lock Nut

ロックナット
L=5.4mm
調整ボルト
8.2～8.5N
167.5 167.5
Tightning Torque 11.8N・m
締付トルク　11.8N・m
(b) Axi s J 6 side
Ｊ６軸側
Fig 4.1.2.2 Tension Adjustments of Timing Belts for Axis J5 and J6 (NV20S) (Unit : mm)
1-4-7
(4) When all the adjustments have been successfully completed, apply an appropriate amount of sealing
agent (Pure Sealant) to the entire circumference of the cover-mounting surface.
And then fix the cover.
Fig 4.1.2.3 Application Surface of Sealing Agent (Pure Sealant) (NV6S / NV6lS)
Fig 4.1.2.4 Application Surface of Sealing Agent (Pure Sealant) (NV20S)
・ Do not get your hand caught in the moving section.

・ Improper adjustment of belt tension may cause damage to the belt.
・ Then, it may result in the arm falling.
WARNING
1-4-8

Carry out periodical replacement and replenishment of grease for the reduction gear, referring to Table 4.2.0.1.
Table 4.2.0.1 Period of Replacement and Replenishment Grease
Axis Name Period for Replacement and Replenishment of Grease

Every three years or every 3,000 operating hours,
J1, J2, J3, J7 Replacement
Every one year or every 3,000 operating hours,
J4, J5, J6 Replenishment
If you request us for replacement or replenishment work, you will be charged for the work.
4.2.1 Grease Replacement Procedure for Axis J1, J2 and J3 Reduction Gears
For the location of inlet and outlet, see Fig 4.2.1.4 to Fig4.2.1.5
Use the grease gun with the filling amount check counter function.
If it is not possible to prepare the tool to check the grease filling amount, users are able to measure the difference in
the grease amount before and after the greasing work to see the amount actually injected. Injecting of grease more
than necessary may cause a grease leakage or abnormal robot operation.
When the internal pressure is at the high level such as soon after the manipulator has stopped, it is very dangerous
because the grease may spatter at the moment of removing the plug of grease inlet port and outlet port. Therefore,
take enough care in performing soon after the manipulator has stopped.
(1) Set the posture of manipulator suitable for the work.

Table 4.2.1.1 Posture at the grease replacement
Axis J1 Axis J2 Axis J3
Any 90° 0°
※ TP display angle of Axis J2 and J3 is the one of the Axis J2 and J3 displayed
when the axis monitor is started with the teach pendant.
(2) Remove a plug from each outlet (Axis J1 and J2) and a grease nipple (Axis J3).
(3) Replace the grease nipple on Axis J3 (or A-PT 1/8 type) with a plug on each axis inlet.
(4) Make sure that neither grease inlet port nor outlet port has a choke. Inject the grease for some 50mm from the
tip of the outlet hose [φ8×5, Max. length 100mm].Attach the air equipment fitting [Rc1/8,φ8] and the outlet
hose to the outlet port.
※As the outlet port for the J1 axis is located inside the frame, attach the air equipment fitting and the hose to the
outlet port and lay it outside the frame. (for NB4LS/NV6LS/NV20S)
Fig.4.2.1.1 Air equipment fitting and outlet hose for choke checking
1-4-9
(5) Prepare the grease catch container under the outlet part. Use the grease gun to inject the grease of 1.4ml
from the grease inlet port at the rate of 1.6ml/sec. or lower. And make sure that the grease comes out from the
tip of outlet hose. If not, eliminate a choke from the hole of inlet and outlet port.
Fig.4.2.1.2 Grease catch container
(6) Use the grease gun to inject the given amount of grease at the rate of 1.6ml/sec. or lower. At this time, make
sure that the color of grease come out is gradually going to change. In addition, be sure to observe the
injecting rate. If not, it may cause a abnormal robot operation.
Grease to use is VIGOGREASE RE0, and the filling amount is as follows.
Table.4.2.1.2 Amount of Grease
Type of equipment Axis J1 Axis J2 Axis J3
Grease VIGOGREASE RE0
NB4S / NV6S
Amount 250ml 220ml 120ml
Grease VIGOGREASE RE0
NB4LS / NV6LS / NV20S
Amount 620ml 580ml 305ml
※ The density of VIGOGREASE RE0 is 0.9g/ml.
(7) Check the amount of grease injected and discharged when the actual injecting amount reaches the given
filling amount. As for the actual injecting amount, check the grease gun counter or the difference in the amount
before and after the greasing work. For the discharged amount on the other hand, check the grease catch
container to see the difference in the amount before and after the greasing work. When the amount of injected
and discharged becomes equal, it is considered that the grease replacement has been completed. Then, go to
the procedure (12).
(8) If the discharged amount is less than the injected amount, the difference indicates the surplus. In that case,
discharge the surplus by applying push-out air into the outlet port so that the injected and discharged amount
becomes equal.
(9) Remove the grease nipple from the inlet port, and attach the air equipment fitting [Rc1/8,φ8] and the outlet
hose [φ8×5, Max. length 100mm] to the inlet port.
(10) Prepare the grease catch container as shown in Fig.4.2.1.2.
(11) Make the pressure of push-out air lower than the maximum of 0.025MPa using the precision regulator.
If the grease does not come out but only air even if applying push-out air, operate the target axis at the low
speed with the posture shown in Table.4.2.1.3 and within the working range shown in Fig.4.2.1.3, applying
push-out air at the same time, to discharge the surplus. When the amount of injected and discharged
becomes equal, it is considered that the grease replacement has been completed. Then, go to the procedure
(12).
1-4-10
Table.4.2.1.3 Recommended posture
Recommended Recommended Recommended

Axis posture with posture with posture with
J1 axis at motion J2 axis at motion J3 axis at motion
J1 Any Any Any
J2 Any 90° 90°
J3 Any Any 0°
(a) Low speed working range of J1 axis
(b) Low speed working range of J2 axis
(c) Low speed working range of J3 axis
Fig.4.2.1.3 Low speed working range in applying push-out air
1-4-11
(12) Wipe off grease adhered to the body, and attach the plug. To attach it, wrap the seal tape around the screw
part.
※ On completion of replacement, be sure to attach the plug to the grease inlet port of every axis and fit the
removed grease nipple to the outlet port of J3 axis.
※ When operating after grease replenishment, grease may leak from the outlet. This is just remains from the
outlet, not an abnormal thing. Wipe off leaked grease.
※ The Rc1/8 grease nipple and plug are tightened by torques of 8 N*m.
・ Do not enter the robot work area while the power is ON.
・ Also, never apply grease while the robot is operating.
・ Be sure to take out a plug and grease nipple in the outlet port, otherwise grease
may flow into the motor inside to result in damage of the motor.
・ Carry out the proper replacement/refill of grease, otherwise the reduction gear may
be damaged.
WARNING
・ When the internal pressure is at the high level such as soon after the manipulator
has stopped, it is very dangerous because the grease may spatter at the moment of
removing the plug of grease inlet port and outlet port. Therefore, take enough care
in performing soon after the manipulator has stopped.
(Outlet)(排出口)
View ”A”
”A”矢視図
(Outlet)(排出口)
Fig 4.2.1.4 Location of grease inlet and outlet in Axis J1, J2 and J3 reduction gears. (NB4S)
1-4-12
Axis J3
Backside of Upper-arm
(Upper)
第3軸上腕後部（上）
(Rc 1/8)
Axis J3
Backside of Upper-arm Axis J3
(Lower) Upside of Lower-arm
第3軸上腕後部（下）第3軸下腕上部
(Rc 1/8) (Rc 1/8)
Axis J2
Backside of Frame
(Upper)
第2軸プラグ（上） Axis J2
(Rc 1/8) Downside of Lower-arm
Axis J1 第2軸下腕下部
Axis J2 Inside of Frame (Rc 1/8)
Backside of Frame J1軸フレーム内部
(Lower) (Rc 1/8)
第2軸プラグ（下）
(Rc 1/8)
Axis J1
Connector Plate
第1軸コネクタプレート
(Rc 1/8)
Fig 4.2.1.5 Location of grease inlet and outlet in Axis J1, J2 and J3 reduction gears. (NB4LS)
(Outlet)(排出口) View ”A”

”A”矢視図
(Outlet)(排出口)
Fig 4.2.1.6 Location of grease inlet and outlet in Axis J1, J2 and J3 reduction gears. (NV6S)
1-4-13
Axis J3
Backside of Upper-arm
(Upper)
第3軸上腕後部（上）
(Rc 1/8)
Axis J3
Backside of Upper-arm Axis J3
(Lower) Upside of Lower-arm
第3軸上腕後部（下）第3軸下腕上部
(Rc 1/8) (Rc 1/8)
Axis J2
Backside of Frame
(Upper)
第2軸プラグ（上） Axis J2
(Rc 1/8) Downside of Lower-arm
Axis J1 第2軸下腕下部
Axis J2 Inside of Frame (Rc 1/8)
Backside of Frame J1軸フレーム内部
(Lower) (Rc 1/8)
第2軸プラグ（下）
(Rc 1/8)
Axis J1
Connector Plate
第1軸コネクタプレート
(Rc 1/8)
Fig 4.2.1.7 Location of grease inlet and outlet in Axis J1, J2 and J3 reduction gears. (NV6LS / NV20S)
1-4-14
4.2.2 Grease Replenishment Procedure for Axis J4, J5 and J6 Reduction Gears (NB4S / NB4LS)
Table 4.2.2.1 Amount of Grease

Grease Multemp AC-N Multemp AC-N Harmonic SK-2
NB4S / NB4LS
Amount 5ml 3ml 2ml
(1) Remove two pieces of plugs each from Axis J4, J5 and J6.
As for the plugs of grease filler port for the axis J6, take out the axis-J6 motor cover.
(2) Apply grease (Multemp AC-N) to the Axis J4, J5 and J6 using a sharpened-point tool such as an injector.
Comply with the prescription as shown in Table 4.2.2.1.
(3) After replenishment, remount the plugs (2 positions each). To mount it, apply seal agent such as a sealant
to the screw part.
Fig. 4.2.2.1 Location of plug in Axis J4, J5 and J6 reduction gears (NB4S / NB4LS)
be damaged.
WARNING
1-4-15
4.2.3 Grease Replenishment Procedure for Axis J4, J5 and J6 Reduction Gears
(NV6S / NV6LS / NV20S)
Table4.2.3.1 Amount of Grease
Grease Harmonic SK-2
NV6S / NV6LS
Amount 5ml 3ml 3ml
Grease Harmonic SK-2
NV20S
Amount 5ml 5ml 5ml
(1) Remove two pieces of plugs each from Axis J4, J5 and J6.
(2) Apply grease (Harmonic SK-2) to the Axis J4, J5 and J6 using a sharpened-point tool such as an injector.
Comply with the prescription as shown inTable.4.2.3.1.
(3) After filling grease, attach the plugs (2 places each) using the tightening torque 2.5N･m.
In attaching the plugs, wrap a sealing tape around the screw part.
Axis J4 Plug
(Air vent hole)
Ｊ４軸通気口
プラグ(M6x0.75)
Axis J5 Plug Axis J4 Plug
(Air vent hole) (Grease filler port)
Ｊ５軸通気口Ｊ４軸給油口
プラグ(M6x0.75) プラグ(M6x0.75)
Axis J5 Plug
(Grease filler port)
Ｊ５軸給油口
Axis J6 Plug
プラグ(M6x0.75)
(Air vent hole)
Ｊ６軸通気口
Axis J6 Plug
プラグ(M6x0.75)
Ｊ６軸給油口
プラグ(M6x0.75)
NV6 LS/ NV2 0S
(a )Ax is J5, 6 ( c)A xis J4
Ｊ５、６軸Ｊ４軸
Axis J4 Plug
(Air vent hole)
Ｊ４軸通気口
プラグ(M6x0.75)
Axis J4 Plug
Ｊ４軸給油口
プラグ(M6x0.75)
NV 6S
(b )Ax is J4
Ｊ４軸
Fig.4.2.3.1 Location of plug in Axis J4, J5 and J6 reduction gears (NV6S / NV6LS / NV20S)
be damaged.
WARNING
1-4-16
4.2.4 Grease Replacement Procedure for Axis J7

For the location of inlet and outlet, see Fig 4.2.4.4
Use the grease gun with the filling amount check counter function.
If it is not possible to prepare the tool to check the grease filling amount, users are able to measure the difference in
the grease amount before and after the greasing work to see the amount actually injected. Injecting of grease more
than necessary may cause a grease leakage or abnormal robot operation.
When the internal pressure is at the high level such as soon after the manipulator has stopped, it is very dangerous
because the grease may spatter at the moment of removing the plug of grease inlet port and outlet port. Therefore,
take enough care in performing soon after the manipulator has stopped.
There are two possible patterns in the posture of manipulator when replacing grease. As the upper grease inlet
and outlet port are switched according to the posture, please take maximum care not to treat them in the
wrong way. (See Fig. 4.2.4.4.)
Table 4.2.4.1 Posture at the grease replacement

Axis J2 Axis J7 Axis J3
Posture 1
160° 0° Any
(Recommended)
Posture 2 45° 0° Any
※TP display angle of Axis J2 and J3 is the one of the Axis J2 and J3
displayed when the axis monitor is started with the teach pendant.
※If not possible to carry out the replacement with the posture 1, work with the posture 2.
(1) Set the posture of manipulator with the Axis J2 at 90°in order to check there is no choke either in the
grease inlet or outlet port. The other axes can be at arbitrary angle.
・In the case of posture 1 (Recommended)

(2) Remove the grease nipple from the grease outlet port.
(3) Remove the plug from the upper grease inlet port, and return the grease nipple (A-PT 1/8 type) once
taken off in the procedure (2). → Go to the procedure (4).
・In the case of posture 2
(2) Remove the plug from the grease outlet port. →Go to the procedure (4).
(4) Make sure that neither grease inlet port nor outlet port has a choke. Inject the grease for some 50mm
from the tip of the outlet hose [φ8×5, Max. length 100mm].Attach the air equipment fitting [Rc1/8,φ8]
and the outlet hose to the outlet port.
Fig.4.2.4.1 Air equipment fitting and outlet hose for choke checking
1-4-17
(5) Prepare the grease catch container under the outlet part. Use the grease gun to inject the grease of
1.4ml from the grease inlet port at the rate of 1.6ml/sec. or lower. And make sure that the grease comes
out from the tip of outlet hose. If not, eliminate a choke from the hole of inlet and outlet port.
Fig.4.2.4.2 Grease catch container
(6) After checking, remove the grease nipple from the upper grease inlet port, and attach it to the lower inlet
port. Then, attach the plug to the upper inlet port.
(7) Implement the same procedure (4) and (5) for the lower inlet port.
(8) After checking, attach the plug to the grease outlet port.
(9) Set the posture of manipulator to the one when replacing grease as shown in Table 4.2.4.1.
(10) Remove the plug from the grease outlet port, and prepare the grease catchr.
(11) Inject the grease at the rate of 1.6ml/sec. or lower using the grease gun referring to Table 4.2.4.2
from the lower grease inlet port. At this time, make sure that the color of grease come out is gradually
going to change. In addition, be sure to observe the injecting rate. If not, it may cause abnormal robot
operation.
(12) After injecting grease from the lower grease inlet port, remove the grease nipple from the part and then
attach it to the upper grease inlet port. Instead, attach the plug to the lower inlet port.
(13) Implement the same procedure (11) for the upper grease inlet port.
Table.4.2.4.2 Amount of Grease
Grease injecting part
Type of equipment Upper grease Lower grease
inlet port inlet port
NB4S / NB4LS / Grease Multemp FZ No.00i
NV6S / NV6LS /
NV20S Amount 66ml 42ml(29ml)
※ The density of Multemp FZ No.00is 0.9g/ml.
※ The amount in ( ) indicates when replacing the reduction gear.
(14) Check the discharged amount when injection work from two places reaches the expected injecting
amount. As for the actual injecting amount, check the grease gun counter or the difference in the amount
before and after the greasing work. For the discharged amount on the other hand, check the grease catch
container to see the difference in the amount before and after the greasing work. When the amount of
injected and discharged becomes equal, it is considered that the grease replacement has been
completed. Then, go to the procedure (19).
(15) If the discharged amount is less than the injected amount, the difference indicates the surplus. In
that case, discharge the surplus by applying push-out air into the outlet port so that the injected and
discharged amount becomes equal.
(16) Remove the grease nipple from the inlet port, and attach the air equipment fitting [Rc1/8,φ8] and the
outlet hose [φ8×5, Max. length 100mm] to the inlet port. Be sure to attach the plug to the unused grease
inlet port.
(17) Prepare the grease catch container as shown in Fig.4.2.4.2.
1-4-18
(18) Make the pressure of push-out air lower than the maximum of 0.025MPa using the precision
regulator. If the grease does not come out but only air even if applying push-out air, operate the target
axis at the low speed with the posture shown in Table.4.2.4.1 and within the working range shown in
Fig.4.2.4.3, applying becomes equal, it is considered that the grease replacement has been completed.
Then, go to the procedure (20)
(a)Posture 1 (b)Posture 2
姿勢１姿勢２
図 4.2.4.3 Low speed working range in applying push-out air(Axis-7)
(19) Wipe off grease adhered to the body, and attach the plug. To attach it, wrap the seal tape around the
screw part.
※ On completion of replacement, be sure to attach the plug to the grease inlet port of every axis and fit the
removed grease nipple to the outlet port.
※ When operating after grease replenishment, grease may leak from the outlet. This is just remains from
the Outlet not an abnormal thing. Wipe off leaked grease.
※ The Rc1/8 grease nipple, and plug are tightened by torques of 8 N*m.
be damaged.
WARNING
1-4-19
Fig 4.2.4.4 Location of grease inlet and outlet in Axis J7 reduction gears.
1-4-20
4.3 Replenishment of Grease for Gear(NB4S / NB4LS)

Carry out periodical replenishment of grease for the gear, referring to Table 4.3.0.1.
Table 4.3.0.1 Period of Replenishment Grease

Axis Name Period for Replenishment of Grease
J4, J6 Every one year or every 3,000 operating hours, whichever is shorter
If you request us for replenishment work, you will be charged for the work.
4.3.1 Grease Replacement Procedure for Axis J4, J5 Gears (NB4S / NB4LS)
Table 4.3.1.1 Amount of Grease

Type of equipment Axis J4 Axis J6
Grease Albania EP-2
NB4S / NB4LS
Amount 5ml 2ml
(1) Remove the plugs of grease filler port on the axis J4 (1 location) and J6 (2 locations on the sides).
(2) Apply grease (Albania EP-2) using a sharpened-point tool such as an injector.
Comply with the prescription as shown in Table 4.3.1.1.
To apply grease carefully in all the teeth of the gear, slightly shift the axis for greasing, moving the teeth, and
apply grease little by little. Before greasing, in addition, make sure that the manipulator is servo OFF.
Do not apply it with the manipulator ON.
(3) After replenishment, remount the plugs. To mount it, apply seal agent such as a sealant to the screw part.
※ The tightening torque for each plug of Rc1/8 is specified to be 8 N*m.
Axis J4 Grease filler port

グリス給油口
(Rc 1/8)
Axis J6 Grease filler port

グリス給油口
(Rc 1/8)
Fig. 4.3.1.1 Location of plug in Axis J4, J6 Gears(NB4S)
1-4-21
Fig. 4.3.1.2 Location of plug in Axis J4, J6 Gears(NB4LS)

WARNING
1-4-22
4.4 Grease Replenishment for Roller Bearing

Replenish the cross roller bearing with grease according to the cycle shown in Table 4.4.0.1.
Table 4.4.0.1 Grease replenishment cycle
Axis name Cycle of replenishment
J4
Every one year or every 3,000 operating hours, whichever is shorter.
J6 (NB4S)
If you request us for replenishment work, you will be charged for the work.
4.4.1 Grease replenishment procedure for Axis J4 cross roller bearing
Table 4.4.1.1 Amount of grease

TP display angle of Amount of
Type Glease
Axis J4 grease
-90°
0°
NB4S / NB4LS 1ml each
90°
Daphne 150°
Multilex WR No.2 -90°
0°
NV6S / NV6LS / NV20S 1ml each
90°
180°
※ You are recommended to use a manual grease gun with a displacement of 1ml.
※ When the amount of grease is more than the specified one, the operation will not be
hindered, while the grease may leak from the rotating section.
※ TP display angle of Axis J4 is the one of the Axis J4 displayed when the axis monitor is
started with the teach pendant.
Apply grease using a grease gun.

Operate the Axis J4 to the TP display angle shown in Table 4.4.1.1 to apply the amount of grease
shown in the table.
Before greasing, make sure that the manipulator is servo OFF.
After greasing, shake down the Axis J4 after the application to have grease spread.
Fig.4.4.1.1 Location of grease inlet plug of Axis J4 cross roller bearing
WARNING ・ Carry out the proper replacement/refill of grease, otherwise the bearing may be
damaged.
1-4-23
4.4.2 Grease replenishment procedure for Axis J6 cross roller bearing

(NB4S / NB4LS)
Table 4.4.2.1 Amount of grease
Type Glease TP display angle of Axis J6 Amount of grease

Daphne 0°
NB4S / NB4LS 1ml each
Multilex WR No.2 180°
※ You are recommended to use a manual grease gun with a displacement of 1ml.
※ When the amount of grease is more than the specified one, the operation will not be hindered, while
the grease may leak from the rotating section.
※ TP display angle of Axis J6 is the one of the Axis J6 displayed when the axis monitor is started with
the teach pendant.
(1) Remove a plug from the grease filling port of J6 axis (1 place).
(2) Mount a grease nipple (A-M6F) to the grease filling port. (To fix the nipple, tighten it by hand, and
turn it around about one-sixth.) Use a grease gun to fill grease. Position Axis J6 at the TP display
angle as shown in Table 4.4.2.1, and inject the amount specified in this Table. Before greasing,
make sure that the manipulator is servo OFF.
(3) After that, remove the grease nipple and then attach the plug. In attaching the plugs, wrap a sealing
tape around the screw part. The tightening torque for each plug of Rc1/8 is specified to be 2.5
N*m. After greasing, shake down the Axis J6 after the application to have grease spread.
Fig.4.4.2.1 Location of grease inlet plug of Axis J6 cross roller bearing of NB4S / NB4LS
・ Carry out the proper replacement/refill of grease, otherwise the bearing may be
WARNING
damaged.
1-4-24
4.5 Battery
4.5 Battery
4.5.1 Function of Battery
A battery is provided to back up data of each absolute encoder used in the manipulators. This battery supplies
power to the absolute encoder for data backup purpose when the control power is OFF.
If the battery voltage excessively drops, it may fail to properly store the data. Timing of replacement depends on
the use condition, however, replace all of them at once periodically once in 3 years.
・ The life of the battery is about three years. If more than three years have passed, the
battery has to be replaced.
・ This is not a rechargeable battery. If you try to charge this battery, it may be
damaged. Be sure not to try charge this battery.
WARNING
・ The data backup period of the absolute encoder might become shorter depending
on the environmental conditions, operating conditions, and other factors.
4.5.2 Specification of Battery

Nominal voltage: 3.6V
* The above specification is applicable when absolute encoders and other loads are connected.
4.5.3 Replacing Battery

The replacing procedure described below.（see Fig. 4.5.3.1）
(1) Perform “check go/back” operation in accordance with the basic posture check program <such as P9999>
and make sure that the origin position is in alignment with the matchmark <▲> . If that is not the case, mark
that position.
(2) Remove the upper surface cover from the manipulator.
(3) While the control power is ON, cut off the tie band that fixes the batteries and take off the battery box.
(4) Replace the used batteries in the battery case with the new one. Replace with only DAIHEN Part
No.5096-434.Be sure to replace all of them at this time. At this time, be careful at the orientation in which
batteries are inserted. If placing a battery in a wrong position, the battery may be damaged.
・ Disconnecting the battery with the control power OFF results in the loss of absolute
encoder data. Be sure to turn on the control power when replacing the battery.
・ When the power is ON, never touch any parts of the robot controller other than the
battery since doing so may result in an electric shock hazard.
・ Because of the possible occurrence of a fire or an electric shock hazard, never

attempt to short circuit when replacing the battery with a new one or while conveying
and scrapping it.
WARNING ・ This battery is lithium battery. Be sure to scrap it in accordance with law or the like.
・ Do not dispose of batteries in fire. If the batteries are put in fire, they may explode by
rapid heating.
・ The replacement of the batteries should be done in principle by a trained technician.
・ At disposal of the batteries, insulate the terminal parts with or the like.
1-4-25
4.5 Battery
(5) Connect four new battery connectors.
(6) Fix the battery box with a tie band. At this time, be careful at the orientation of the battery box. If the orientation
is wrong, the batteries may be damaged (see Fig. 4.5.3.1).
The tie band is to be prepared by a customer.
(7) Install a connector plate.
(8) Perform “check go/back” operation in accordance with the basic posture check program <P9999>, and make
sure that the origin position will not change from that obtained in (1) above.
(9) Perform “encoder reset” operation at the basic posture check program <P9999>. Refer to the instruction
manual “SETUP”. Also, see the aforementioned section to reset the encoder if the encoder data have been
lost.
Battery Battery
バッテリーバッテリー Tie Band
Tie Band (Careful Position)
(Careful Position) 結束バンド
結束バンド（位置に注意）
（位置に注意）
Battery Box
Battery Box
View ”A” View ”A”

”A”矢視図 ”A”矢視図
Fig. 4.5.3.1 Battery
4.5.4 Notes on Battery Safekeeping
・ Store the battery in non-condensing, well ventilated locations, avoiding high temperatures and high humidity.
You are recommended to store them at room temperature(20+/-15℃) with minimal temperature variation and
relative humidity of 70% or below.
・ Note that the batteries are to be stored only for 6 months, and enforce “First-in, first-out” rigidly.
・ Because of the possible occurrence of a fire or an electric shock hazard, never

attempt to short circuit when replacing the battery with a new one or while
conveying and scrapping it.
WARNING
・ This battery is lithium battery. Be sure to scrap it in accordance with law or the like.
1-4-26
4.6 Replacing Internal Wires
4.6 Replacing Internal Wires

Replace the internal wires of manipulator every 6 years or every 30,000 operating hours, though the use
condition may differ in each case.
Before replacing, contact to DAIHEN.

1-4-27
Chapter 5 Parts List
This chapter provides the instructions on the Parts List.

5.1 Parts List..................................................................................................1-5-2
5.1.1 NB4S .................................................................................................1-5-2
5.1.2 NB4LS ...............................................................................................1-5-4
5.1.3 NV6S .................................................................................................1-5-6
5.1.4 NV6LS ...............................................................................................1-5-8
5.1.5 NV20S .............................................................................................1-5-10
5.2 Location and List of Warning Label........................................................1-5-12
1-5-1
5.1 Parts List
5.1 Parts List
5.1.1 NB4S
Location Ref. No. Parts Name DWG. No. & Model Q’ty DAIHEN Part No.
① AC Servomotor W-L02662 1 W-L02662
Axis J1 ② RV Reduction Gear L11130X00 1 L11130X00
③ Grease VIGOGREASE RE0 250ml 100-0624*
④ AC Servomotor W-L02641 1 W-L02641
Axis J2 ⑤ RV Reduction Gear L11130Y00 1 L11130Y00
⑦ AC Servomotor W-L02712 1 W-L02712
Axis J7 ⑧ Cyclo Reduction Gear W-L02383 1 W-L02383
⑨ Grease Multemp FZ No.00 108ml 100-0127
Axis J3 ⑥ RV Reduction Gear L11130Z00 1 L11130Z00
⑩ AC Servomotor W-L02148 1 W-L02148
⑪ Harmonic Reduction Gear W-L02034 1 W-L02034
⑫ Cross Roller Bearing W-L02551 1 W-L02551
Axis J4
⑬ Grease Multemp AC-N 5ml 2670-052*
⑭ Grease Albania EP-2 5ml 2670-017*
⑮ Grease Daphne Multilex WR No.2 4ml 100-1491*
⑯ Harmonic Reduction Gear L10725H 1 L10725H00
Axis J5 ⑰ Timing Belt W-L02051 1 W-L02051
⑱ Pure Sealant Pure sealant clear 15ml 100-1516*
⑬ Grease Multemp AC-N 3ml 2670-052*
⑲ AC Servomotor W-L02147 1 W-L02147
⑳ Harmonic Reduction Gear W-L02036 1 W-L02036
Cross Roller Bearing W-L02556 1 W-L02556
Axis J6 ⑱ Pure Sealant Pure sealant clear 3ml 100-1516*
Grease Harmonic SK-2 2ml 2670-053*
⑭ Grease Albania EP-2 2ml 2670-017*
⑮ Grease Daphne Multilex WR No.2 2ml 100-1491*
Battery(Note) W-L02722 or W-L01399 4 5096-434
Cable Assembly (1)
L11545D00 1 L11545D00
（frame rear to lower arm）
Cable Assembly (2)
L11545E00 1 L11545E00
（lower arm interior）
Cable Assembly (3)
（lower arm to upper arm）
L11545F00 1 L11545F00
Internal
Wires Cable Assembly (2)
(for Axis J5 and J6 of upper arm L10470F00 1 L10470F00
interior)
Cable Assembly (3)
(for Axis J5 and J6 of upper arm L10470G00 1 L10470G00
interior)
Cable Assembly (4)
L10470H00 1 L10470H00
(for Axis J6 of upper arm interior)
Axis J5 Unit
L10470C00 1 L10470C00
(Axis J5 Unit assembly)
Assembly Axis J6 Unit
(Axis J6 Unit assembly) L11140B00 1 L11140B00
Power Cable Assy1
L11130M00 1 L11130M00
Welding (inside of Axis J1)
cables Power Cable Assy2
(from Axis J2 to the upper arm) L11545T00 1 L11545T00
1-5-2
5.1 Parts List
Note) On January 1, 2009, for revision of the UN Recommendations on the Transport of Dangerous Goods, Model
Regulations-15th edition, Transportation regulation of Lithium battery is partially revised.
When you transport the Lithium battery by air, transport it according to providing items of the newest ICAO-TI and
IMDG Code of IMO
IMPORTANT
1. Grease: Minimum quantity for a single order of VIGOGREASE RE0 is about 556 ml in a 500-g can.
2. Grease: Minimum quantity for a single order of Multemp FZ No.00 is about 556 ml in a 500-g can.
3. Grease: Minimum quantity for a single order of Multemp AC-N is about 500 ml in a 500-g can.
4. Grease: Minimum quantity for a single order of Harmonic SK-2 is about 500ml in a 500-g can.
5. Grease: Minimum quantity for a single order of Albania EP-2 is 200ml.
6. Grease: Minimum quantity for a single order of Daphne Multilex WR No.2 is 400g.
7. The minimum quantity for a single order of pure sealant is 330 ml.
8. * mark is recommendatory spare parts.
13 J4
11
10
J5 10 J4
17 12
16 1 J3 15
13 6
3
7 J7
8
19 18 9
14 Pure Sealant Application Surface 18
20 ピュアシーラント塗布
22 J6 J5 21
15
J6
3
5 23
J2 4
J4
14
1
2
3
J1
Fig.5.1.1.1 NB4S

1-5-3
5.1 Parts List
5.1.2 NB4LS
DAIHEN
Location Ref. No. Parts Name DWG. No. & Model Q’ty
Part No.
① AC Servomotor W-L02641 １ W-L02641
Axis J1 ② Cyclo Reduction Gear W-L02116 １ W-L02116
③ Grease VIGOGREASE RE0 620ml 100-0624
④ AC Servomotor W-L02152 １ W-L02152
Axis J2 ⑤ Cyclo Reduction Gear W-L02152 １ W-L02117
⑥ AC Servomotor W-L02712 １ W-L02712
Axis J7 ⑦ Cyclo Reduction Gear W-L02383 １ W-L02383
⑧ Grease Multemp FZ No.00 108ml 100-0127
Axis J3 ⑨ RV Reduction Gear L10725F １ L10725F00
⑩ AC Servomotor W-L02148 １ W-L02148
⑪ Harmonic Reduction Gear W-L02034 １ W-L02034
⑫ Cross Roller Bearing W-L02551 １ W-L02551
Axis J4
⑬ Grease Multemp AC-N 5ml 2670-052※
⑭ Grease Albania EP-2 5ml 2670-017※
⑮ Grease Daphne Multilex WR No.2 4ml 100-1491※
⑯ Harmonic Reduction Gear L10725H １ L10725H00
Axis J5 ⑰ Timing Belt W-L02051 １ W-L02051
⑱ Pure Sealant Pure sealant clear 15ml 100-1516※
⑬ Grease Multemp AC-N 3ml 2670-052※
⑲ AC Servomotor W-L02147 １ W-L02147
⑳ Harmonic Reduction Gear W-L02036 １ W-L02036
Cross Roller Bearing W-L02556 １ W-L02556
Axis J6 ⑱ Pure Sealant Pure sealant clear 3ml 100-1516※
Grease Harmonic SK-2 2ml 2670-053※
⑭ Grease Albania EP-2 2ml 2670-017※
⑮ Grease Daphne Multilex WR No.2 2ml 100-1491※
Cable Assembly (1)
L11558D00 １ L11558D00
Cable Assembly (2)
L11558E00 １ L11558E00
Cable Assembly (3)
L11558F00 １ L11558F00
Internal Cable Assembly (2)
Wires (for Axis J5 and J6 of upper L10525D00 １ L10525D00
arm interior)
Cable Assembly (3)
(for Axis J5 and J6 of upper L10525E00 １ L10525E00
arm interior)
Cable Assembly (4)
(for Axis J6 of upper arm L10470H00 １ L10470H00
interior)
Axis J5 Unit
L10470C00 １ L10470C00
Assembly
Axis J6 Unit
L11140B00 １ L11140B00
Power Cable Assy1
(inside of Axis J1) L10485Q00 １ L10485Q00
Welding
cables Power Cable Assy2
(from Axis J2 to the upper L11558T00 １ L11558T00
arm)
Note) On January 1, 2009, for revision of the UN Recommendations on the Transport of Dangerous Goods, Model
Regulations-15th edition, Transportation regulation of Lithium battery is partially revised.
When you transport the Lithium battery by air, transport it according to providing items of the newest ICAO-TI and
IMDG Code of IMO
1-5-4
5.1 Parts List
IMPORTANT
3. Grease: Minimum quantity for a single order of Multemp AC-N is about 500 ml in a 500-g can.
4. Grease: Minimum quantity for a single order of Harmonic SK-2 is about 500ml in a 500-g can.
5. Grease: Minimum quantity for a single order of Albania EP-2 is 200ml.
13 J4
11
10
1 J3 J4
J5 10 12
9
17 3
16 15
13
6 J7
7
8
19 18
14
20
22 J6
J5 18
3 Pure Sealant Application Surface
5 21
ピュアシーラント塗布 15
J2 4 23 J6
J4 14
1
2
3
J1
図 5.1.2.1 ＮＢ４ＬＳ

1-5-5
5.1 Parts List
5.1.3 NV6S
Location Ref. No. Parts Name DWG. No. & Model Q’ty DAIHEN Part No.
Axis J1 ② RV Reduction Gear L11130X00 1 L11130X00
④ AC Servomotor W-L02641 1 W-L02641
Axis J2 ⑤ RV Reduction Gear L11130Y00 1 L11130Y00
⑦ AC Servomotor W-L02712 1 W-L02712
Axis J7 ⑧ Cyclo Reduction Gear W-L02383 1 W-L02383
⑨ Grease Multemp FZ No.00 108ml 100-0127
Axis J3 ⑥ RV Reduction Gear L11130Z00 1 L11130Z00
⑪ Harmonic Reduction Gear W-L01948 1 W-L01948
Axis J4 ⑫ Cross Roller Bearing W-L02555 1 W-L02555
⑬ Grease Harmonic SK-2 5ml 2670-053*
⑭ Grease Daphne Multilex WR No.2 4ml 100-1491*
⑮ Harmonic Reduction Gear W-L01949 1 W-L01949
Axis J5 ⑯ Timing Belt J5 W-L01945 1 W-L01945
⑰ Pure Sealant Pure sealant clear 10ml 100-1516*
⑱ Harmonic Reduction Gear W-L02270 1 W-L02270
Axis J6 ⑲ Timing Belt J6 W-L01946 1 W-L01946
⑰ Pure Sealant Pure sealant clear 10ml 100-1516*
⑳ Battery(Note) W-L02722 or W-L01399 4 5096-434
Cable Assembly (1)
L11545D00 1 L11545D00
Cable Assembly (2)
Internal L11545E00 1 L11545E00
L11545F00 1 L11545F00
Cable Assembly (2)
(for Axis J5 and J6 of upper arm L10460G00 1 L10460G00
interior)
Axis J5 and J6 Unit
Assembly L10460B00 1 L10460B00
(Axis J5 and J6 Unit assembly)
Note) On January 1, 2009, for revision of the UN Recommendations on the Transport of Dangerous Goods,
Model Regulations-15th edition, Transportation regulation of Lithium battery is partially revised.
When you transport the Lithium battery by air, transport it according to providing items of the newest
ICAO-TI and IMDG Code of IMO
IMPORTANT
3. Grease: Minimum quantity for a single order of Harmonic SK-2 is about 500 ml in a 500-g can.
1-5-6
5.1 Parts List
13 J4
11
10
J5 10
16
15 1 J3
13 6
3
7 J7
10 8
19 9 Pure Sealant Application Surface
18 17
13 J6 ピュアシーラント塗布
J5,6
3
5 20
J2 4
12
14
J4
1
2
3
J1
Fig.5.1.3.1 NV6S

1-5-7
5.1 Parts List
5.1.4 NV6LS
DAIHEN
Part No.
Axis J4 ⑫ Cross Roller Bearing W-L02555 １ W-L02551
⑬ Grease Harmonic SK-2 5ml 2670-053※
⑭ Grease Daphne Multilex WR No.2 4ml 100-1491※
⑮ AC Servomotor W-L02148 １ W-L02148
⑯ Harmonic Reduction Gear W-L01949 １ W-L01949
Axis J5 ⑰ Timing Belt J5 W-L01945 １ W-L01945
⑮ AC Servomotor W-L02148 １ W-L02148
⑲ Harmonic Reduction Gear W-L02270 １ W-L02270
Axis J6 ⑳ Timing Belt J6 W-L01946 １ W-L01946
Cable Assembly (1)
L11558D00 １ L11558D00
Cable Assembly (2)
Internal L11558E00 １ L11558E00
L11558F00 １ L11558F00
Cable Assembly (2)
(for Axis J5 and J6 of upper arm L10485G00 １ L10485G00
interior)
Axis J5 and J6 Unit
Assembly L10460B00 １ L10460B00
(Axis J5 and J6 Unit assembly)
IMPORTANT
1-5-8
5.1 Parts List
13 J4
11
10
1 J3
9
J5 15 3
17
16
13
J7
6
7
19 8
21
20
13 J6
3 J5,6 18
5
J2 4 ピュアシーラント塗布
12
14
J4
1
2
3
J1
Fig.5.1.4.1 NV6LS

1-5-9
5.1 Parts List
5.1.5 NV20S
DAIHEN
Part No.
Axis J4 ⑫ Cross Roller Bearing W-L02551 １ W-L02551
⑭ Grease Daphne Multilex WR No.2 4ml 100-1491※
⑮ Harmonic Reduction Gear W-L02114 １ W-L02114
Axis J5 ⑯ Timing Belt(1) W-L02028 １ W-L02028
⑰ Pure Sealant Pure sealant clear 10ml 100-1516※
⑱ Harmonic Reduction Gear W-L02115 １ W-L02115
Axis J6 ⑲ Timing Belt(2) W-L02029 １ W-L02029
⑰ Pure Sealant Pure sealant clear 10ml 100-1516※
⑳ AC Servomotor W-L02722 or W-L01399 4 5096-434
Cable Assembly (1)
L11558D00 １ L11558D00
Wires （lower arm interior） L11558E00 １ L11558E00
Wires L11558F00 １ L11558F00
Cable Assembly (2)
(for Axis J5 and J6 of upper L10485G00 １ L10485G00
arm interior)
Axis J5 and J6 Unit
(Axis J5 and J6 Unit L10485B00 １ L10485B00
assembly)
IMPORTANT
1-5-10
5.1 Parts List
13 J4
11
10
J5 10
1 J3
16
15 9
3
13
J7
10 6
19 7
8
18
13 J6
J5,6 17
5 ピュアシーラント塗布
20
J2 4
12
14
J4
1
2
3
J1
図 5.1.5.1 ＮＶ２０Ｓ

1-5-11
5.2 Location and List of Warning Label
5.2 Location and List of Warning Label
Every manipulator and robot controller of Almega series is provided with a warning labels (that states the
special cautions to be observed) to ensure the safe operation of the robot system.
If such warning labels have been peeled off or damaged, order them from our local distributor or our sales
office.
Table 5.2.0.1 Warning Label

Q’ty
Location Item Name Parts No
NB4S NV6S
Manipulator Waning Label NK7248 2 3
NB4S / NB4LS
Waning Label NK7024 1 1
NV6S / NV6LS / NV20S
N K7 24 8
NK 72 48
N K7 02 4 N K7 02 4
NB4S / NB4LS NV6S / NV6LS / NV20S
Fig. 5.2.0.1 Warning Label Location
1-5-12
Chapter 6 Internal Wires
This chapter provides the instructions on the Internal Wires.

6.1 Wiring Connection Figure ........................................................................1-6-2
6.1.1 Wiring Connection Figure for NB4S ...................................................1-6-2
6.1.2 Wiring Connection Figure for NB4LS .................................................1-6-4
6.1.3 Wiring Connection Figure for NV6S ...................................................1-6-7
6.1.4 Wiring Connection Figure for NV6LS .................................................1-6-9
6.1.5 Wiring Connection Figure for NV20S ...............................................1-6-12
1-6-1
6.1 Wiring Connection Figure
6.1.1 Wiring Connection Figure for NB4S
Fig.6.1.1.1 Wiring Connection Figure for NB4S
1-6-2
Fig. 6.1.1.2 Wiring Connection Figure for NB4S

1-6-3
6.1.2 Wiring Connection Figure for NB4LS
図 6.1.2.1 Wiring Connection Figure for NB4LS
1-6-4
1-6-5

1-6-6
6.1.3 Wiring Connection Figure for NV6S
Fig.6.1.3.1 Wiring Connection Figure for NV6S
1-6-7
Fig. 6.1.3.2 Wiring Connection Figure for NV6S

1-6-8
6.1.4 Wiring Connection Figure for NV6LS
Fig. 6.1.4.1 Wiring Connection Figure for NV6LS
1-6-9
1-6-10

1-6-11
6.1.5 Wiring Connection Figure for NV20S
1-6-12
1-6-13

1-6-14

1L11545A E 3 Manipulator

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■ Give this manual to the operator.

■ For help, call your distributor.

Cases in which death or serious injury can be expected if handled incorrectly.

Cases in which injury or physical damage can be expected if handled incorrectly.

The following symbols are also used for important checkpoints:

A particularly important checkpoint is shown.

Injury which does not require either hospitalization or long-term treatment as an

Direct and indirect damage in connection with damage of property and

Chapter 1 Specifications of 7-axis Manipulator

1.2 Basic Specifications................................................................................................................1-1-3

1.4 Description on Each Part of Manipulator..............................................................................1-1-12

Chapter 2 Foundation Work and Installation

2.2 Installation Locations and Ambient Conditions.......................................................................1-2-5

2.3 Notes on Interference by Electromagnetic Noise ...................................................................1-2-6

2.5 Transport Method....................................................................................................................1-2-8

2.6 Installation of Manipulator.....................................................................................................1-2-14

Chapter 3 Periodic Inspection

Chapter 5 Parts List

Chapter 6 Internal Wires

Capter 1 Specifications of 7-axis Manipulator

Capter 2 Foundation Work and Installation

Capter 3 Periodic Inspection

Capter 5 Parts List

Capter 6 Internal Wires

 Easily avoiding the jig and workpiece

 Built-in welding cables in the axis J7 (Note 1)

 Enabling the compact welding line

(Note 1) FD-B4S/FD-B4LS: Standardized, FD-V6S/FD-V6LS/FD-V20S: Optional

This chapter describes the specifications of 7-axis manipulator.

1.2 Basic Specifications .................................................................................1-1-3

1.4 Description on Each Part of Manipulator ...............................................1-1-12

1.1 Manipulator model

The following section shows the nomenclature of manipulator model.

F ： Floor-installed Classification by mount type

J ： Domestic specification Classification by shipment

N ： Standard specification Classification by design No.

Manipulator series No.

F ： Floor-installed Classification by mount type

J ： Domestic specification Classification by shipment

N ： Standard specification Classification by design No.

Manipulator series No.

1.2 Basic Specifications

1.2.1 Basic Specifications of NB4S/NB4LS Manipulator

J2(Fore/Back) -145°~ +70° -145°~ +70°

J7 (Revolving2) 3.14 rad/s {180°/s} 2.79 rad/s {160°/s}

J6 (Twist) 2.94 N*m 2.94 N*m

1. The positional repeatability conform to ISO 9283.

1.2.2 Basic Specifications of NV6S/NV6LS/NV20S Manipulator

J7 (Revolving2) +/- 90° +/- 90° +/- 90°

1. The positional repeatability conform to ISO 9283.

1.3 Outside Dimensions and Working Range

P-Point Working Range

TCP Working Range

P-Point Working Range

1581 765 1243

1305 597 1113

1.4 Description on Each Part of Manipulator

1.4.1 Allowable Load on Wrist Axis

(1) Allowable Load on Wrist Axis for NB4S / NB4LS Manipulator

Distance from Axis J6

Distance from Axis J5

Fig.1.4.1.1 Allowable Load on Wrist Axis (NB4S / NB4LS)

Fig. 1.4.1.2 Wrist load conditions (NB4S / NB4LS)

J6 (Twist) 2.94 Nm 2.94 Nm

（equally spaced）（equally spaced）