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Electric Gripper, 2-Finger Type, LEHF Series (LEHF10K2-16-R3AN1)

Electric Gripper, 2-Finger Type, LEHF Series LEHF10K2-16-R3AN1

SMC

SMC

Electric gripper for a variety of workpieces with a long stroke.
[Features]
· Step motor (servo 24 V DC).
· Easy to complete setup with 2 items, namely, position and thrust.
· Controllers are shipped with the setup for actuator specifications (the actuator and controller are sold as a package).
· With drop prevention function.
· Self-lock mechanism reduces power consumption.
· With gripping check function.
· Possible to set position, speed and force (64 points).
*Values inside parentheses () are for long stroke.

(i)Caution

  • Product images are representative images. CAD data is not supported for some model numbers.

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Part Number

Configured Part Number is shown.

LEHF10K2-16-R3AN1

LEHF Series 2-Finger Type Electric Gripper Specifications

LEHF Series 2-Finger Type Electric Gripper external appearance

LEHF Series 2-Finger Type Electric Gripper external appearance

Features of LEHF Series 2-Finger Type Electric Gripper

Features of LEHF Series 2-Finger Type Electric Gripper

Specifications

ModelLEHF10LEHF20LEHF32LEHF40
Actuator specificationsOpen and close stroke / both sides (mm)Basic16243240
Long stroke32486480
Lead (mm)40/15 (2.667)50/15 (3.333)70/16 (4.375)70/16 (4.375)
Gripping force (N)*1 *33 to 711 to 2848 to 12072 to 180
Open and close speed / pushing speed (mm/s)*2 *35 to 80 / 5 to 205 to 100 / 5 to 30
Actuation typeSlide screw + belt
Finger guide typeLinear guide (no circulation)
Repeated length measurement accuracy (mm)*4±0.05
Finger backlash / one side (mm)*50.5 or less
Repeatability (mm)*6±0.05
Positioning repeatability / one side (mm)±0.1
Lost motion / one side (mm)*70.3 or less
Impact/vibration resistance (m/s2)*8150/30
Max. operating frequency (C.P.M)60
Operating temp. range (°C)5 to 40
Operating humidity range (%RH)90 or less (no condensation)
Weight (g)Basic3406101,6251,980
Long stroke3707501,9702,500
Electric specificationsMotor size□20□28□42
Motor typeStep motor (servo 24 V DC)
EncoderIncremental A/B phase (800 pulse/rotation)
Rated voltage (V)24 V DC ±10%
Power consumption / standby power consumption when operating (W)*911/728/1534/1336/13
Max. instantaneous power consumption (W)*1019515761

*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: LEHF10: ±30% (F.S.), LEHF20: ±25% (F.S.), LEHF32/LEHF40: ±20% (F.S.). Gripping the workpiece with a heavy attachment and fast pushing speed may not satisfy the product specifications. In this case, decrease the weight and lower the pushing speed.
*2 Pushing speed should be set within the range during pushing (gripping) operation. Otherwise, it may cause malfunction. The open/close speed and pushing speed are for both fingers. The speed for one finger is 1/2 this value.
*3 The speed and force may change depending on the cable length, load, mounting conditions, etc. Furthermore, if the cable length exceeds 5 m, then the speed and force will decrease by up to 10% for each 5 m. (At 15 m: reduced by up to 20%)
*4 Repeated length measurement accuracy means dispersion (value on the controller monitor) when the workpiece is repeatedly held in the same position.
*5 There is no effect on the backlash during pushing (gripping). Make the stroke longer by the amount of backlash when opening.
*6 Repeatability means the variation of the gripping position (workpiece position) when the gripping operation is repeatedly performed in the same sequence for the same workpiece.
*7 A reference value for correcting an error in reciprocal operation which occurs during the positioning operation.
*8 Impact resistance: No malfunction occurred when the slide table 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 from 45 to 2,000 Hz. Test was performed in both an axial direction and a perpendicular direction to the lead screw. (Test was performed with the actuator in the initial state.)
*9 The power consumption (including the controller) is for when the actuator is operating. The standby power consumption when operating is for when the gripper is stopped in the set position during operation (including energy-saving mode when gripping).
*10 The maximum instantaneous power consumption (including the controller) is for when the actuator is operating. This value can be used for the selection of the power supply.

External dimensional drawing

 

(Unit: mm)

 

LEHF10K2-16 / basic dimensional drawing

LEHF10K2-16 / basic dimensional drawing

LEHF10K2-32 / long stroke dimensional drawing

LEHF10K2-32 / long stroke dimensional drawing

LEHF20K2-24 / basic dimensional drawing

LEHF20K2-24 / basic dimensional drawing

LEHF20K2-48 / long stroke dimensional drawing

LEHF20K2-48 / long stroke dimensional drawing

Common Cautions

*1 Range within which the finger can move when it returns to origin. Make sure the workpiece mounted on the finger does not interfere with the workpieces and equipment around the finger.
*2 Secure the motor cable so that it will not be bent repeatedly.

Structure drawing

LEHF Series structure drawing

LEHF Series structure drawing

No.DescriptionMaterialNote
1BodyAluminum alloyAnodized
2Side plate AAluminum alloyAnodized
3Side plate BAluminum alloyAnodized
4Slide shaftStainless steelHeat treated + Specially treated
5Slide bushingStainless steel-
6Slide nutStainless steelHeat treated + Specially treated
7Slide nutStainless steelHeat treated + Specially treated
8Fixed plateStainless steel-
9Motor plateCarbon steel-
10Pulley AAluminum alloy-
11Pulley BAluminum alloy-
12Bearing stopperAluminum alloy-
13Rubber bushingNBR-
14Bearing--
15Belt--
16Flange--
17Finger assembly--
18Step motor (servo 24 V DC)--

Mounting Method

When using the thread on the body

When using the thread on the body

When using the thread on the mounting plate

When using the thread on the mounting plate

When using the thread on the back of the body

When using the thread on the back of the body

Precautions

  • *The parameters of the stroke and the open/close speed are for both fingers.
  • *The stroke and the open/close speed for one finger is 1/2 the set parameter.
  • *When gripping a workpiece by the product, be sure to set to "Pushing."
  • *Also, do not hit the workpiece with the finger and attachment during positioning or in the range of positioning. Otherwise, the lead screw can get caught and this may result in a malfunction. However, if the workpiece cannot be gripped when pushing (such as if the workpiece is a plastically deformed workpiece or rubber component, etc.), grip it when positioning giving consideration to the elastic force of the workpiece.
  • *There is no effect on the backlash during pushing.
  • *The return to origin is done by pushing. The finger position can be displaced by the effect of the backlash during positioning. This backlash displacement should be considered when setting the position.
  • *See the manufacturer's catalog for product information other than the above.
  • *Product images are representative images.
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  1. 1
Part Number
LEHF10K2-16-R3AN1
Part NumberStandard Unit PriceMinimum order quantityVolume DiscountDays to ShipDimensions when open
(mm) 		Maximum Gripping Force (Opening Side, Electric Type)
(N) 		Maximum Gripping Force (Closing Side, Electric Type)
(N) 		Size Stroke
(mm) 		Motor cable entry direction Actuator cable type Actuator cable length Controller / driver type I/O cable length Controller/driver mounting method Communications plug

-

1 Piece(s) Quote 16771016Entry on the right sideRobot cable3 mNPN pulse input type1.5 mScrew mountingNone

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  1. 1
 

Basic Information

Type Main Body(Electric Type) Gripping Methods Pinch, Parallel Type / Open, Parallel Type Number of Fingers 2 pcs.
Main Body Shape Lateral Shape Dimensions when closed(mm) 0 Environment, Applications Standard
Additional Functions With Linear Guide Stroke Adjustment Mechanism Open/Close Dual Adjustment

Please check the type/dimensions/specifications of the part LEHF10K2-16-R3AN1 in the Electric Gripper, 2-Finger Type, LEHF Series series.

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Specification/Dimensions

  • type

    • LEHF10
    • LEHF20
    • LEHF32
    • LEHF40

    Clear

  • Dimensions when open(mm)

    • 16
    • 24
    • 32
    • 40
    • 48
    • 64
    • 80

    Clear

  • Maximum Gripping Force (Opening Side, Electric Type)(N)

    • 7
    • 28
    • 120
    • 180

    Clear

  • Maximum Gripping Force (Closing Side, Electric Type)(N)

    • 7
    • 28
    • 120
    • 180

    Clear

  • Size

    • 10
    • 20
    • 32
    • 40

    Clear

  • Stroke(mm)

    • 16
    • 24
    • 32
    • 40
    • 48
    • 64
    • 80

    Clear

  • Motor cable entry direction

    • Entry on the left side
    • Entry on the right side

    Clear

  • Actuator cable type

    • None
    • Robot cable
    • Standard cable

    Clear

  • Actuator cable length

    • 1.5 m
    • 3 m
    • 5 m
    • 8 m
    • 10 m
    • 15 m
    • 20 m
    • None

    Clear

  • Controller / driver type

    • CC-Link direct input type
    • NPN programless type
    • NPN pulse input type
    • NPN step data input type
    • None
    • PNP programless type
    • PNP pulse input type
    • PNP step data input type

    Clear

  • I/O cable length

    • 1.5 m
    • 3 m
    • 5 m
    • None

    Clear

  • Controller/driver mounting method

    • DIN rail mounting
    • Screw mounting

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  • Communications plug

    • None
    • Straight-type communication plug connector
    • T-branch-type communication plug connector

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  • CAD

    • 2D
    • 3D

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Days to Ship

    • All
    • 21 Day(s) or Less
    • 32 Day(s) or Less

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Specify Alterations

Similar Part Numbers

Part Number
LEHF10K2-16-6PD
LEHF10K2-16-AN1
LEHF10K2-16-R1
LEHF10K2-16-R3AN3
LEHF10K2-16-R3MJD
LEHF10K2-16-R3MJS
Part NumberStandard Unit PriceMinimum order quantityVolume DiscountDays to ShipDimensions when open
(mm) 		Maximum Gripping Force (Opening Side, Electric Type)
(N) 		Maximum Gripping Force (Closing Side, Electric Type)
(N) 		Size Stroke
(mm) 		Motor cable entry direction Actuator cable type Actuator cable length Controller / driver type I/O cable length Controller/driver mounting method Communications plug

-

1 Piece(s) Quote 16771016Entry on the right sideNoneNonePNP step data input typeNoneDIN rail mountingNone

-

1 Piece(s) Quote 16771016Entry on the right sideNoneNoneNPN pulse input type1.5 mScrew mountingNone

-

1 Piece(s) Quote 16771016Entry on the right sideRobot cableNoneNone1.5 mScrew mountingNone

-

1 Piece(s) Quote 16771016Entry on the right sideRobot cable3 mNPN pulse input type3 mScrew mountingNone

-

1 Piece(s) Quote 16771016Entry on the right sideRobot cable3 mCC-Link direct input typeNoneDIN rail mountingNone

-

1 Piece(s) Quote 16771016Entry on the right sideRobot cable3 mCC-Link direct input typeNoneScrew mountingStraight-type communication plug connector

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