| SPECIFICATIONS | ||||||
| Actuator specification | Model | LEHF10 | LEHF20 | LEHF32 | LEHF40 | |
| Stroke/both sides (mm) |
Standard | 16 | 24 | 32 | 40 | |
| Long | 32 | 48 | 64 | 80 | ||
| Gripping force 40 to 100% (N)Note 1 |
3 to 7 | 11 to 28 | 48 to 120 | 72 to 180 | ||
| Opening and closing speed /Gripping speed (mm/s)Note2 |
5 to 80 / 5 to 20 |
5 to 100 / 5 to 30 |
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| Drive method | Slidingscrew and belt | |||||
| Finger guide type | Linear guide (No circulation) | |||||
| Repeatability (mm)Note 3 | +/-0.05 | |||||
| Repeated length determination accuracy (mm)Note 4 |
+/-0.05 | |||||
| Finger backlash /both sides (mm)Note 5 |
≤1.0 | |||||
| Impact resistance/vibration resistance (m/sec2)Note 6 |
150/30 | |||||
| Operating temperature range (°C) | 5 to 40 (No condensation and freezing) | |||||
| Operating humidity range (%) | 35 to 85 (No condensation and freezing) | |||||
| Weight (g) | Standard | 340 | 610 | 1625 | 1980 | |
| Long | 370 | 750 | 1970 | 2500 | ||
| Electric specification | Motor Size | 20 | 28 | 42 | ||
| Motor | HB type 2-phase step motor (Unipolar connection) | |||||
| Encoder (Angular displacement sensor) |
Incremental A/B phase (800 pulse/rotation) | |||||
| Power supply | 24VDC +/-10% | |||||
| Ratings power consumption /during energy saving (W)Note 7 |
10/5 | 24/12 | 33/8 | 43/9 | ||
| Moment max. power consumption (W)Note 8 |
17 | 40 | 56 | 73 | ||
| Controller weight (g) | 150/Screw mounting type | |||||
| Note 1 | Gripping force should be from 10 to 20 times the weight of the object to be conveyed. The force should be 150% when releasing the workpiece.
Gripping force accuracy should be +/-30% (F.S.) for LEHF10, +/-25% (F.S.) for LEHF20, +/-20% (F.S.) for LEHF32/40 |
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| Note 2 | Gripping speed should be set in the range shown in the table as gripping speed during gripping operation. | |||||
| Note 3 | Repeatability means the variation of the gripping position (workpiece position) when the gripping operation is performed by the same sequence for the same workpiece. | |||||
| Note 4 | Repeated length determination 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 when gripping. Make the stroke longer for the amount of backlash when opening. | |||||
| Note 6 | Impact resistance: No malfunction occured when the gripper was tested with a drop tester in both an axial direction and a perpendicular direction to the lead screw.
(The test was performed with the gripper in the initial state) Vibration resistance: No malfunction occured 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. (The test was performed with the gripper in the initial state) |
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| Note 7 | With 100% (max.) gripping force and including the controller. | |||||
| Note 8 | During motor phase detection step on power up and including the controller. | |||||