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Industrial Automation
i4H
SCARA Robots
New i4H robot for precision machining, assembly, and material handling
ACE software is available to download from the Omron US website.
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last update: July 11, 2022
| Product | i4-650H | i4-750H | i4-850H | ||||
|---|---|---|---|---|---|---|---|
| Quill Length | 210 mm | 410 mm | 210 mm | 410 mm | 210 mm | 410 mm | |
| Number of Axes | 4 | ||||||
| Reach | 650 mm | 750 mm | 850 mm | ||||
| Maximum Payload*1 | 15 kg | ||||||
| Repeatability at 100%
speed |
XY | ±0.015 mm | |||||
| Joint 3 | ±0.01 mm | ||||||
| Joint 4 | ±0.005° | ||||||
| Joint Range | Joint 1 | ±152° | |||||
| Joint 2 | ±140° | ||||||
| Joint 3 | 210 mm (Standard Quill), 410 mm (Long Quill) | ||||||
| Joint 4 | ±360° | ||||||
| Inertia Moment (Max.) | Joint 4 | 0.5 kg-m2 | |||||
| Maximum push force -
downward, no load*2 |
Joint 3 | 588 N | |||||
| Joint Speeds | Joint 1 | 450 deg/s | |||||
| Joint 2 | 720 deg/s | ||||||
| Joint 3 | 1583 mm/s | ||||||
| Joint 4 | 2400 deg/s | ||||||
| Cycle Times*3,*4 | Burst*5 | 0.41 s | 0.39 s | 0.39 s | |||
| Sustained | 0.45 s | 0.46 s | 0.50 s | ||||
| Blended Burst*5 | 0.32 s | 0.31 s | 0.31 s | ||||
| Power Requirements | DC | 24 VDC ±10%, 8 A max. | |||||
| AC | 200 to 240 VAC, 50/60 Hz, Single Phase, 12.0 A max. | ||||||
| Protection | IP20 | IP20 / NEMA Type 1 | |||||
| IP65 | IP65 / NEMA Type 4, Food Grade Lubrication
NSF H1, ISO 21469 certified |
||||||
| Food Grade | NEMA Type 1, Food Grade Lubrication
NSF H1, ISO 21469 certified |
||||||
| Electrostatic Discharge | Conductive and grounded external surfaces | ||||||
| Cleanroom | ISO 4 / Class 10 | ||||||
| Mounting | Table, Inverted, Wall | ||||||
| Environment
Requirements |
Ambient Temperature | 0° to 40°C | |||||
| Humidity Range | 5% to 90% non-condensing | ||||||
| Weight | IP20 Models | 50.4 kg | 50.8 kg | 50.9 kg | 51.3 kg | 51.6 kg | 52.0 kg |
| IP65 / Cleanroom
Models |
52.9 kg | 53.3 kg | 53.4 kg | 53.8 kg | 54.1 kg | 54.5 kg | |
| On-board I/O | Inputs | 12 Sinking / Sourcing (XIO), 5 Sinking (TIO), 0 to 30 VDC | |||||
| Outputs | 12 Sourcing, 24 VDC ±10%, 0.7 A per output
1.5 A max. @ 25ºC for all circuits |
||||||
| Tool network connection (Ethernet/EtherCAT) | 1 (4 pin, M12 female) | ||||||
| Electrical pass-through ports | 2 (19 pin, M23 male) | ||||||
| Pneumatic ports | 8 (6 mm, push-type fittings) max. pressure 0.55 Mpa | ||||||
| Vacuum ports (Cleanroom Models) | 2 (10 mm push-type fittings) 0.14 m3/minute min.,
81 mm water vacuum |
||||||
| Belt Encoder | 2 line driver inputs (A, B, and Z) | ||||||
| RS-232C serial communication ports | 1 (troubleshooting information only) | ||||||
| Programming Software | Sysmac Studio / ACE Version 4*6 | ||||||
| IPC Application Manager | Robot Vision Manager, PackManager | ||||||
| Controller | NJ501-R Series (Integrated Control robots only) | ||||||
*1 Payload includes any object(s) attached to a robot link or tool flange, including end-effectors, tooling, valves, grippers,
and objects being handled by the robot.
*2 At a duty cycle of 3 seconds pushing and then 2 seconds not pushing.
*3 Cycle times may increase by up to 15% when operating in ambient temperatures above 20° C.
*4 Cycle time is defined as a continuous path with straight-line motion in which the robot tool moves up 25 mm, laterally
305 mm, down 25 mm, and then back along the same path (not achievable over all paths in the robot working
envelope). Values listed are with no joint 4 rotation, at 20°C ambient with a 2.0 kg payload. Blended Burst cycle uses
the same criteria with arc motion.
*5 Burst and Blended Burst cycle times may increase by up to 15% when bellows are present.
*6 Use Sysmac Studio for Integrated Control robots. Use ACE Version 4 for Standard Control robots.
and objects being handled by the robot.
*2 At a duty cycle of 3 seconds pushing and then 2 seconds not pushing.
*3 Cycle times may increase by up to 15% when operating in ambient temperatures above 20° C.
*4 Cycle time is defined as a continuous path with straight-line motion in which the robot tool moves up 25 mm, laterally
305 mm, down 25 mm, and then back along the same path (not achievable over all paths in the robot working
envelope). Values listed are with no joint 4 rotation, at 20°C ambient with a 2.0 kg payload. Blended Burst cycle uses
the same criteria with arc motion.
*5 Burst and Blended Burst cycle times may increase by up to 15% when bellows are present.
*6 Use Sysmac Studio for Integrated Control robots. Use ACE Version 4 for Standard Control robots.
last update: July 11, 2022
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