LEHF10 Gripping force F [N] Gripping point L [mm] 10 8 6 4 2 0 0 20 40 60 80 100 35 30 25 20 15 10 5 0 0 20 40 60 80 100 LEHF20 Gripping force F [N] Gripping point L [mm] LEHF32 Gripping force F [N] Gripping point L [mm] LEHF40 Gripping force F [N] Gripping point L [mm] 200 160 120 80 40 0 0 30 60 90 120 150 120 90 60 30 0 0 20 40 60 80 100 Gripping force accuracy: ±30% (F.S.) Gripping force accuracy: ±25% (F.S.) Gripping force accuracy: ±20% (F.S.) Gripping force accuracy: ±20% (F.S.) Pushing force/Trigger level [%] Pushing speed [mm/sec] 110 100 90 80 70 60 50 40 30 0 10 20 30 40 F F L Attachment Workpiece Finger L Workpiece F F Finger Attachment Step 1 Check the gripping force: Series LEHF �� Indication of gripping force Gripping force shown in the graphs below is expressed as “F”, which is the gripping force of one finger, when both fingers and attachments are in full contact with the workpiece as shown in the figure below. �� Set the workpiece gripping point “L” so that it is within the range shown in the figure below. Pushing force 100% 70% 40% Pushing force 100% 70% 40% Pushing force 100% 70% 40% 70% 40% . Pushing force is one of the values of step data that is input into the controller. L: Gripping point F: Gripping force L: Gripping point F: Gripping force External Gripping State Internal Gripping State �� Set the [Pushing force] and the [Trigger LV] within the range shown in the figure below. Selection of Pushing Speed Pushing force and trigger level range Pushing force 100% Selection Procedure Model Selection Series LEHF 351