Mounting direction Mounting direction Positioning pin Positioning pin How to Mount b) Mounting B type (when using the thread on the back of the body) Note 1) Gripping force should be from 7 to 13 times the workpiece weight. Moving force should be 150% when releasing the workpiece. Gripping force accuracy should be ±30% (F.S.) for LEHS10, ±25% (F.S.) for LEHS20 and ±20% (F.S.) for LEHS32/40. 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) Mounting A type (when using the thread on the mounting plate) Series LEHS Specifications Motor size Motor type Encoder Rated voltage [V] Weight [g] Opening/closing stroke/diameter [mm] Lead [mm] Drive method Repeated length measurement accuracy [mm] Note 4) Finger backlash/radius [mm] Note 5) Repeatability [mm] Note 6) Positioning repeatability/radius [mm] Lost motion/radius [mm] Note 7) Impact/Vibration resistance [m/s2] Note 8) Max. operating frequency [C.P.M] Operating temperature range [°C] Operating humidity range [%RH] Basic Compact Basic Compact Basic Compact Basic Compact 4 2.2 to 5.5 1.4 to 3.5 6 9 to 22 7 to 17 8 36 to 90 . 5 to 70/ 5 to 50 5 to 80/ 5 to 50 5 to 100/ 5 to 50 5 to 120/ 5 to 50 �ｭ42 Slide screw + Wedge cam ±0.05 0.25 or less ±0.02 ±0.05 0.25 or less 150/30 60 5 to 40 90 or less (No condensation) 12 52 to 130 . 255/76 (3.355) 235/56 (4.196) 235/40 (5.875) 235/40 (5.875) 185 150 �ｭ20 410 345 �ｭ28 975 . 1265 . 11/7 8/7 19 14 28/15 22/12 51 42 34/13 . 57 . 36/13 . 61 . Step motor (Servo/24 VDC) Incremental A/B phase (800 pulse/rotation) 24 VDC ±10% Model LEHS10 LEHS20 LEHS32 LEHS40 Gripping force [N] Note 1) Note 3) Opening and closing speed/ Pushing speed [mm/s] Note 2) Note 3) Electric specifications Actuator specifications Power consumption/ Standby power consumption when operating [W] Note 9) Max. instantaneous power consumption [W] Note 10) A 368