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