Mounting direction Positioning pin Mounting direction Positioning pin Mounting direction Positioning pin Specifications How to Mount Note 1) Gripping force should be from 10 to 20 times the workpiece weight. Moving force should be 150% when releasing the workpiece. Gripping force accuracy should be ±30% (F.S.) for LEHF10, ±25% (F.S.) for LEHF20 and ±20% (F.S.) for LEHF32/40. Note 2) Pushing speed should be set within the range during pushing (gripping) operation. Otherwise, it may cause malfunction. The opening/closing speed and pushing speed are for both fingers. The speed for one finger is half this value. Note 3) The speed and force may change depending on the cable length, load and mounting conditions. Furthermore, if the cable length exceeds 5 m, then it will decrease by up to 10% for each 5 m. (At 15 m: Reduced by up to 20%) Note 4) Repeated length measurement accuracy means dispersion (value on the controller monitor) when the workpiece is repeatedly held in the same position. Note 5) There will be no influence of backlash during pushing (gripping) operation. Make the stroke longer for the amount of backlash when opening. Note 6) Repeatability means the variation of the gripping position (workpiece position) when the gripping operation is repeatedly performed by the same sequence for the same workpiece. Note 7) A reference value for correcting an error in reciprocal operation. Note 8) Impact resistance: No malfunction occurred when the gripper was tested with a drop tester in both an axial direction and a perpendicular direction to the lead screw. (Test was performed with the gripper in the initial state.) Vibration resistance: No malfunction occurred in a test ranging between 45 to 2000 Hz. Test was performed in both an axial direction and a perpendicular direction to the lead screw. (Test was performed with the gripper in the initial state.) Note 9) The power consumption (including the controller) is for when the gripper is operating. The standby power consumption when operating is for when the gripper is stopped in the set position during operation, including the energy saving mode when gripping. Note 10) The maximum instantaneous power consumption (including the controller) is for when the gripper is operating. This value can be used for the selection of the power supply. a) When using the thread on the body b) When using the thread on the mounting plate c) When using the thread on the back of the body Series LEHF 16 32 3 to 7 5 to 80/5 to 20 24 48 11 to 28 32 64 48 to 120 5 to 100/5 to 30 �ｭ42 Slide screw + Belt Linear guide (No circulation) ±0.05 0.5 or less ±0.05 ±0.1 0.3 or less 150/30 60 5 to 40 90 or less (No condensation) Step motor (Servo/24 VDC) Incremental A/B phase (800 pulse/rotation) 24 VDC ±10% 40 80 72 to 180 40/15 (2.667) 50/15 (3.333) 70/16 (4.375) 70/16 (4.375) Gripping force [N] Note 1) Note 3) Opening and closing speed/Pushing speed [mm/s] Note 2) Note 3) Drive method Finger guide type Repeated length measurement accuracy [mm] Note 4) Finger backlash/one side [mm] Note 5) Repeatability [mm] Note 6) Positioning repeatability/one side [mm] Lost motion/one side [mm] Note 7) Impact/Vibration resistance [m/s2] Note 8) Max. operating frequency [C.P.M] Operating temperature range [°C] Operating humidity range [%RH] Weight [g] Motor size Motor type Encoder Rated voltage [V] Power consumption/Standby power consumption when operating [W] Note 9) Max. instantaneous power consumption [W] Note 10) 340 370 �ｭ20 610 750 �ｭ28 1625 1970 1980 2500 Basic Long stroke Lead [mm] LEHF10 LEHF20 LEHF32 LEHF40 11/7 19 28/15 51 34/13 57 36/13 61 Model Electric specifications Actuator specifications Basic Long stroke Opening/closing stroke/both sides [mm] A 356