Performance Specifications; General Performance Information; Stopping Distances And Times - Omron i4H User Manual

2 Specifications
2-2

Performance Specifications

The following sections provide robot performance specifications.
2-2-1

General Performance Information

The following table provides general performance information for the robot.
Item
Maximum Payload
Reach
Joint Range
Joint 4 Moment of Inertia
Downward Push Force burst
*2
with no load
*3*4
Cycle Time
Repeatability at 100% speed
Joint speeds
(maximum)
*1. Payload is considered as any object(s) attached to a robot link or tool flange including items such as 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 time is defined as a continuous path with straight-line motion cycle in which the robot tool moves up
25 mm, over 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 for sustained motion, no joint 4 rotation, with a 2 kg payload
at 20° C ambient temperature.
*4. Cycle times may increase by up to 15% when operating in ambient temperatures above 20° C.
Z-axis Quill Bending Moment
When the robot is operating at high payloads with high acceleration / deceleration, the z-axis quill is
subject to excessive bending moments. Careful considerations must be made under these conditions.
Refer to 4-2 Payload and Acceleration Considerations on page 4-3 for more information.
2-2-2

Stopping Distances and Times

The following graphs present information required by Clause 7.2 n of ISO 10218-1. This information
should be used to calculate the safe distance needed when designing and installing safeguarding de-
vices.
2-10
i4-650H
15 kg
*1
650 mm
Joint 1 ±152°
Joint 2 ±140°
•
Joint 3 210 mm
•
410 mm (long quill model)
Joint 4 ±360°
2
0.5 kg-m maximum
588 N
0.45 s
•
X, Y: ±0.015 mm
•
Joint 3: ±0.01 mm
•
Joint 4: ±0.005°
Joint 1 450 deg/s
Joint 2 720 deg/s
Joint 3 1583 mm/s
Joint 4 2400 deg/s
i4-750H
750 mm 850 mm
0.46 s 0.50 s
i4H Robots User's Manual (I660)
i4-850H