PRODUCT MIGRATION GUIDE NEWS Issue Date Month ##, 2022 Migration Guide: eCobra  i4H This guide provides useful information to help migrate users of the eCobra series to the i4H series. See the migration table at the end of this document for all available options and part number equivalents.

Key Difference Between the eCobra and i4H SCARA Robots SCARA Robots 1 Product eCobra i4H Comments Reach 600/800 mm 650/750/850 mm Maximum Payload 5.5 kg 15 kg XY ±0.017 mm ±0.015 mm Repeatability Z ±0.003 mm ±0.010 mm Theta ±0.019° ±0.005° Joint 1 ±105° ±152° Joint Range Joint 2 ±157.5° ±140° 210 mm 210 mm (standard) 410 mm (long) Joint 3 Joint 4 ±360° ±360° Joint 1 386 deg/s 450 deg/s Joint Speeds Joint 2 720 deg/s 720 deg/s Joint 3 1100 mm/s 1583 mm / s Joint 4 1200 deg/s 2400 deg/s N/A 588 N i4H: At a duty cycle of 3 seconds pushing and then 2 seconds not pushing Maximum Push Force - Joint 3 Vertical Inertia Moment (Max.) Joint 4 0.45kg/m2 0.5kg/m2 Lite Standard Pro 600: 0.66 s 800:

00.73 s 600: 0.55 s 800: 0.62 s 600: 0.39 s 800: 0.44 s 650: 00.41 s 750: 0.39 s 850: 0.39 s Cycle times may increase by up to 15% when operating in ambient temperatures above 20° C. 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. Burst and Blended Burst cycle times may increase by up to 15% when bellows are present. Burst 600: 0.66 s 800: 0.73 s 600: 0.55 s 800:

0.62 s 600: 0.45 s 800: 0.54 s 650: 00.45 s 750: 0.46 s 850: 0.50 s Cycle Times Sustained Data not available 650: 00.32 s 750: 0.31 s 850: 0.31 s Blended Burst 24 VDC: 6 A (max) 200 to 240 VAC: 10 A (max) 24 VDC: 8 A (max) 200 to 240 VAC: 12.0 A (max) Power Requirements Cleanroom ISO4 / Class 10, IP20, IP65 Cleanroom ISO4 / Class 10 + ESD, IP20, IP65 Multiple protections are not available simultaneously (Exception:

i4H Cleanroom + ESD) Available Environmental Protections Non-Food Grade Non-Food Grade (IP20 & Cleanroom) H1-N1 Compliant Food Grade (IP20, IP65) Grease / Oil Brake Release Location Rear side of J1 axis Base of robot Floor or Ceiling Floor, Wall, or Ceiling Ceiling mounting applies only to inverted type variants Configuration / Mounting Outer Link Main Harness External Internal See overall dimensions section for flyover dimension Multi-Robot Applications Yes (up to 4 units) With SmartController Yes (up to 8 units) with Integrated Control Integrated Control use requires compatible robot variants / firmware J3/Quill Protection Exposed (IP20) Enclosed (Cleanroom, IP65) Exposed (IP20) Enclosed (Cleanroom, IP65) Optional add-on bellows available for models that do not include them from the factory.

Ambient 5 to 40°C 0 to 40°C Environmental Temperature Requirements Humidity 5 to 90% non-condensing Range Weight (kg) 41 kg 50.4 – 54.5 kg iCS – Integrated Control (requires NJ501-Rxxx Series PLC) eAIB - Standard Control (optional SmartController EX) iCS – Integrated Control or Standard Control (Integrated Control requires NJ501-Rxxx Series PLC) Support for both Standard or Integrated Control on the i4H iCS controller Support for standalone control on the eCobra eAiB controller Support for integrated control on the eCobra iCS controller Controller

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* Please contact your OMRON representative for availability and release schedule. 2 12 Inputs / 8 outputs 12 Inputs / 8 outputs For Smart Contoller EX allows for additional 12 inputs / 8 outputs XIO 4 IO Blox (Standard) 8 IO Blox (Pro) 4 IO Blox IO Blox suppots 8 inputs / 8 outputs Additional IO Tool I/O N/A 5 inputs / 4 outputs Connectors See connector specifications on page 10 Inputs – NPN/PNP 24VDC Outputs – PNP 24VDC Inputs – NPN/PNP 24VDC Outputs – PNP 24VDC Specifications are the same for XIO, I/O Blox.

TIO inputs are NPN I/O Type Displays Rear of base Front of base Display Type Segmented LED LCD Status LED/External Status Indicator Amber LED light above Robot Status Panel and Segmented LED Multicolored LED light ring and LCD Tool Flange Type Non-ISO ISO Optional Cobra-to-i4H tool flange adapter available Force Sensing (Tool Flange) Possible with additional equipment N/A Integrated Pneumatic Valves No (2 Optional) No (3 Optional) Internally mounted inside outer link housing External Equipment Mounting Locations 3 1 Hole spacing under outer link on i4H is different than that of the eCobra Eyelet to Lift 1 on inner link none DeviceNet Yes (Requires optional SmartControllerEX) No EtherCAT eAIB:

No iCS: Yes (Only for communication with a NJ501-Rxxx series Integrated Controller) Yes (Only for communication with a NJ501-Rxxx series Integrated Controller) EtherCAT for the i4H cannot be used simultaneously with another supported network Ethernet Yes Yes Ethernet for the i4H cannot be used simultaneously with another supported network and requires a minimum firmware and hardware version FireWire eAIB: Yes ICS:

No No PROFINET No Yes* PROFINET for the i4H cannot be used simultaneously with another supported network and requires a minimum firmware and hardware version EtherNet/IP No (Possible with the use of ePLC Connect and/or ePLC I/O) Yes* EtherNet/IP for the i4H cannot be used simultaneously with another supported network and requires a minimum firmware and hardware version.

Controller eAIB iCS-ECAT iCS Programming Software Standard - ACE, V+ Integrated Control - Sysmac Studio, ACE (for service mode only) Standard – ACE, V+ Integrated Control – Sysmac Studio, ACE (for service mode only) ePLC supported on Standard models (eCobra eAiB-based models require Standard or Pro software licenses for ePLC support) Firmware Supported eV+ 2.1B30 to 2.4C10 3.0C1 5.0C1 Standard – 4.0C3 Integrated Control – 5.0C1 ACE Software Supported ACE 3.3.3.1 to ACE 3.8.3.250 ACE 4.0.3.150 to ACE 4.6.3.50 4.4.3.250+ (for service mode only) Standard – ACE 4.6.3.50 Integrated Control – ACE 4.4.3.250+ (for service mode only) Sysmac Studio Available N/A V1.45+ V1.50+

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Standard Dimensions i4H 650 eCobra 600 i4-750H eCobra 800 i4-850H 3

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Work Envelope i4H Work Envelope NOTE: Collisions are possible with i4H that were impossible with eCobra eCobra Work Envelope eCobra 600 eCobra 800 4

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