Handling Series LEH Electric Grippers/ Specific Product Precautions 4 Be sure to read before handling. Refer to page 469 for Safety Instructions and the Operation Manual for Electric Actuator Precautions. Please download it via our website, http://www.smcworld.com Caution 3. Keep the following driving speed range for pushing operation. . LEHZ/LEHZJ: 5 to 50 mm/s . LEHF10: 5 to 20 mm/s . LEHF20/32/40: 5 to 30 mm/s . LEHS: 5 to 50 mm/s Operation at the speed outside of the range can get the lead screw caught and cause operation failure. 4. There is no backlash effect in pushing operation. The return to origin is done by pushing operation. The finger position can be displaced by the effect of the backlash during the positioning operation. Take the backlash into consideration when setting the position. 5. Do not change the setting of energy saving mode. When pushing (gripping) operation is continued, the heat generated by the motor can cause operation failure. This is due to the self-lock mechanism in the lead screw, which makes the product keep the gripping force. To save the energy in this situation where the product is to be standby or continue to grip for extended periods of time, the product will be controlled to reduce current consumption (to 40% automatically after it has gripped a workpiece once). If there is the reduction of gripping force seen in the product after a workpiece has been gripped and deformed over certain amount of time, contact SMC separately. 6. INP output signal 1) Positioning operation When the product comes within the set range by step data [In position], the INP output signal will turn on. Initial value: Set to [0.50] or higher. 2) Pushing operation When the effective force exceeds step data [Trigger LV], the INP output signal will turn on. Use the product within the specified range of [Pushing force] and [Trigger LV]. a) To ensure that the gripper holds the workpiece with the set [Pushing force], it is recommended that the [Trigger LV] be set to the same value as the [Pushing force]. b) When the [Pushing force] and [Trigger LV] are set less than the specified range, the INP output signal will turn on from the pushing start position. �� SV0.8 or more Although the product automatically switches to the energy saving mode (reduced current) after pushing operation is completed, the INP output signal remains ON. �� SV0.7 or less a. When [Trigger LV] is set to 40% (when the value is the same as the energy saving mode) Although the product automatically switches to the energy saving mode (reduced current) after pushing operation is completed, the INP output signal remains ON. b. When [Trigger LV] is set higher than 40% The product is turned on after pushing operation is completed, but INP output signal will turn off when current consumption is reduced automatically in energy saving mode. 7. When releasing a workpiece, set the moving force to 150%. If the torque is too small when a workpiece is gripped in pushing operation, the product can have galling and become unable to release the workpiece. 8. If the finger has galling due to operational setting error, etc., open and close the finger manually. When it is necessary to operate the product by the manual override screws, check the position of the manual override screws of the product, and leave necessary space. Do not apply excessive torque to the manual override screws. This may lead to damage and malfunction. 9. Self-lock mechanism The product keeps a gripping force due to the self-lock mechanism in the lead screw. Also, it will not operate in opposite direction even when external force is applied during gripping a workpiece. 1) All the power supplies to the controller are shut off. When the power supply is turned on to restart operation, the controller will be initialized, and the product can drop a workpiece due to a motor magnetic pole detective operation. (It means that there is finger motions of partial strokes by the phase detection of motor after power supply is turned on.) Remove the workpiece before restarting operation. 2) “EMG (stop)” of the CN1 of the controller is shut off. When using the stop switch on the teaching box; It is not necessary to remove a workpiece beforehand because a motor magnetic pole detective operation will not occur when the power supply is turned on to restart operation. An alarm can take place when operation is restarted from stop. 3) “M24V (motor driving power supply)” of the CN1 of the controller is shut off. It is not necessary to remove a workpiece beforehand because a motor magnetic pole detective operation will not occur when the power supply is turned on to restart operation. An alarm can take place when stop is activated during operation or operation is restarted from stop. 10. Return to origin 1) It is recommended to set the directions of return to origin and workpiece gripping to the same direction. If they are set opposite, there can be backlash, which worsens the measurement accuracy significantly. 2) If the direction of return to origin is set to CW (Internal gripping); If the return to origin is performed with the product only, there can be significant deviation between different actuators. Use a workpiece to set return to origin. 3) If the return to origin is performed by using a workpiece; The stroke (operation range) will be shortened. Recheck the value of step data. 4) If basic parameters (Origin offset) are used; When the return to origin is set with [Origin offset], it is necessary to change the current position of the product. Recheck the value of step data. 11. In pushing (gripping) operation, set the product to a position of at least 0.5 mm away from a workpiece. (This position is referred to as a pushing start position.) If the product is set to the same position as a workpiece, the following alarms may be generated and operation may become unstable. a. “Posn failed” alarm is generated. The product cannot reach a pushing start position due to variation in the width of workpieces. b. “Pushing ALM” alarm is generated. The product is pushed back from a pushing start position after starting to push. 12. When mounting the product, keep a 40 mm or longer diameter for bends in the motor cable. 13. Finite orbit type guide is used in the actuator finger part. By using this, when there are inertial force which cause by movements or rotation to the actuator, steel ball will move to one side and this will cause a large resistance and degrade the accuracy. When there are inertial force which cause by movements or rotation to the actuator, operate the finger to full stroke. Especially in long stroke type, the accuracy of finger may degrade. 375