Grippers ®

* For details, refer to page 1343 and onward.

LEH Series RoHS

Size: 10, 16, 20, 25, 32, 40

Battery-less Absolute (Step Motor 24 VDC)∗1 Incremental (Step Motor 24 VDC)
∗1 F type only

Z Type (2 fingers) p. 811 ZJ Type (2 fingers) p. 827

Compact and light, various gripping forces With dust cover (Equivalent to IP50)
3 types of cover material (Finger portion only)
LEHZ Series
Stroke/ Gripping force [N]
Size both sides
[mm] Basic Compact LEHZJ Series
10 4 2 to 6 Stroke/ Gripping force [N]
6 to 14 Size both sides
16 6 3 to 8 [mm] Basic Compact
20 10 10 4 3 to 6
16 to 40 11 to 28 6 to 14
25 14 16 6 4 to 8
32 22 52 to 130 — 20 10
16 to 40 11 to 28
40 30 84 to 210 — 25 14

F Type (2 fingers) p. 841, 845 S Type (3 fingers) p. 864

Can hold various types of workpieces Can hold round workpieces
with a long stroke
LEHF Series LEHS Series
Stroke/ Stroke/ Gripping force [N]
Size both sides Gripping force Size diameter
[mm] [N] [mm] Basic Compact
10 16 (32) 3 to 7 10 4 2.2 to 5.5 1.4 to 3.5
20 24 (48) 11 to 28 20 6 9 to 22 7 to 17
32 32 (64) 48 to 120 32 8 36 to 90 —
40 40 (80) 72 to 180 40 12 52 to 130 —
( ): Long stroke

Battery-less Absolute (Step Motor 24 VDC) Incremental (Step Motor 24 VDC) Controllers/Drivers p. 994

Step data EtherCAT/EtherNet/IP™/ Programless Pulse input

input type PROFINET/DeviceNet®/ type type
JXC51/61 Series IO-Link/CC-Link LECP1 Series LECPA Series
 64 positioning points direct input type  14 positioning points
 Input using controller JXCE/91/P1/D1/L/M1 Series  Control panel setting
setting kit or teaching
box

804
With drop prevention function (Self-lock mechanism is provided for all series.)
Gripping force of the workpieces is maintained when stopped or restarted.
The workpieces can be removed with manual override.
Compact body sizes and long stroke variations
Gripping force equivalent to the widely used air grippers is available.
Gripper 2-Finger Type
LEHZ Series /Size: 10, 16, 20, 25, 32, 40
LEHZJ Series /Size: 10, 16, 20, 25
LEHF Series /Size: 10, 20, 32, 40
 Compact and lightweight  Sealed-construction dust cover (Equivalent to IP50)
Various gripping forces ¡Prevents machining chips, dust, etc., from getting inside
¡Prevents spattering of grease, etc.

Weight: 165 g
(LEHZ10)  3 types of cover material (Finger portion only)
¡Chloroprene rubber (black): Standard
Compact
¡Fluororubber (black): Option
Weight: 135 g
(LEHZ10L)
¡Silicone rubber (white): Option

Encoder dust cover

m

Silicone rubber
m
4
10

30
mm Cover designed with
no protrusions
Inward-folding design creates
no protrusions when the
m
m
87

cover is opened and closed,

30 preventing interference with
mm
other devices’ operations.

Finger options

LEHZ Series LEHZJ Series

Manual override Manual override
screw screw
For opening and closing the fingers For opening and closing the fingers
(when power supply is turned off) (when power supply is turned off)
Encoder dust cover

Side tapped mounting

Slide screw Slide screw

Through-hole in open/
close direction Friction resistance Friction resistance
reduced by special reduced by special
treatment treatment

Dust cover

Flat fingers
Linear guide
Linear guide
805
Can set position, speed and With gripping check
force (64 points) function
Identify workpieces with different dimensions/
Energy-saving product detect mounting and removal of the workpieces.
Power consumption reduced by self-lock mechanism
Gripper 3-Finger Type
LEHS Series /Size: 10, 20, 32, 40
 Can hold various types of  Can hold round workpieces
workpieces with a long stroke
 With internal battery-less
Weight: 185 g
(LEHS10)

absolute encoder (Size: 32, 40)

Restart from the last stop
position is possible after
recovery of the power supply. Compact
Reduced maintenance 150 g

m
Weight:

m
.1
(No need for control or replacement) 29.

92
(LEHS10L)
5m
m
Stroke:
40 mm
Long stroke
Max. Stroke:
Max. 80 mm

m
m
.6
29.

75
5m
m

Manual override LEHF Series LEHS Series

screw/Both sides
For opening and Slide screw Manual override
Friction resistance
screw
closing the fingers
(when power supply is reduced by special For opening and closing the fingers
turned off) treatment (when power supply is turned off)

Slide screw
Friction
resistance
reduced by
special
treatment
Linear guide

Linear guide
misalignment prevention With wedge cam structure
Misalignment of the linear guide is Compact and large gripping force can be
prevented with 2 positioning pins. obtained through the wedge cam structure.
806
Grippers LEH Series

<Mounting Variations>
LEHZ/LEHZJ Series
A When using the thread B When using the thread C When using the thread
on the side of the body on the mounting plate on the back of the body

Positioning pin Positioning pin

Positioning pin

Mounting Mounting direction

Mounting direction
direction

LEHF Series
A When using the thread on the body B When using the thread C When using the thread
on the mounting plate on the back of the body
Mounting direction
Positioning pin

Mounting
direction Mounting direction

Positioning pin Positioning pin

LEHS Series
A When using the thread B When using the thread
on the mounting plate on the back of the body

Positioning pin
Mounting Positioning pin
direction Mounting direction

Motor cable mounting direction can be selected.

LEHZ/LEHZJ Series LEHS Series LEHF Series
Entry on Entry on the
Entry on the left side the left side right side Entry on the left side Entry on the right side

Motor cable
Entry on the
Motor cable front side
Connector cover
Entry on
the front side

807
 Grippers LEH Series

Application Examples

Gripping of components that are easily deformed or damaged

Test tube
Egg
O-ring

For speed and gripping force control and positioning

Alignment and selection Soft touch/

Gripping in a narrow space High frequency
of randomly lined parts

Deep
holes

For identification of For speed

workpieces with For positioning control and positioning
different dimensions (Minimum stroke)

Gripping of cylindrical and spherical parts

For speed and gripping force control

808
CONTENTS
Incremental (Step Motor 24 VDC) Battery-less Absolute (Step Motor 24 VDC)

Gripper 2-Finger Type LEHZ Series Gripper LEHF Series

Model Selection………………………………………………………… p. 811 Model Selection………………………………………………………… p. 841
How to Order……………………………………………………………… p. 817 How to Order……………………………………………………………… p. 849
Specifications……………………………………………………………… p. 820 Specifications……………………………………………………………… p. 851
Construction……………………………………………………………… p. 821 Construction……………………………………………………………… p. 852
Dimensions………………………………………………………………… p. 822 Dimensions………………………………………………………………… p. 853
Finger Options…………………………………………………………… p. 825

Incremental (Step Motor 24 VDC)

Gripper 2-Finger Type LEHF Series

Incremental (Step Motor 24 VDC)
Model Selection………………………………………………………… p. 845
Gripper 2-Finger Type/With Dust Cover How to Order……………………………………………………………… p. 855
LEHZJ Series Specifications……………………………………………………………… p. 858
Construction……………………………………………………………… p. 859
Model Selection………………………………………………………… p. 827 Dimensions………………………………………………………………… p. 860
How to Order……………………………………………………………… p. 833
Specifications……………………………………………………………… p. 836
Construction……………………………………………………………… p. 837
Dimensions………………………………………………………………… p. 838

Incremental (Step Motor 24 VDC)

Gripper 3-Finger Type LEHS Series

Model Selection………………………………………………………… p. 864
How to Order……………………………………………………………… p. 867
Specifications……………………………………………………………… p. 870
Construction……………………………………………………………… p. 871
Dimensions………………………………………………………………… p. 872

Specific Product Precautions ……………………………………………………………………………………………………………………………………………… p. 874

Incremental (Step Motor 24 VDC) 3-Axis Step Motor Controller

Controllers EtherNet/IP™ Type/JXC92 Series……………………………… p. 1079
Step Data Input Type/JXC51/61 Series……………………… p. 1017
EtherCAT/EtherNet/IP™/PROFINET/DeviceNet®/IO-Link/CC-Link
Direct Input Type/JXCEm/91/P1/D1/Lm/M1 Series…… p. 1063
Gateway Unit/LEC-G Series……………………………………… p. 1038
Programless Controller/LECP1 Series………………………… p. 1042
Step Motor Driver/LECPA Series……………………………… p. 1057 4-Axis Step Motor (Servo/24 VDC)
Actuator Cable………………………………………………………… p. 1091 Controller
Communication Cable for Controller Setting/LEC-W2A- m …… p. 1094
Teaching Box/LEC-T1……………………………………………… p. 1095 Parallel I/O Type/JXC73/83 Series……………………………… p. 1081
EtherNet/IP™ Type/JXC93 Series……………………………… p. 1081

809
 Grippers

2-Finger Type LEHZ Series 2-Finger Type/With Dust Cover LEHZJ Series

Incremental (Step Motor 24 VDC) p. 817 Incremental (Step Motor 24 VDC) p. 833

2-Finger Type LEHF Series 3-Finger Type LEHS Series

Battery-less Absolute (Step Motor 24 VDC) p. 849 Incremental (Step Motor 24 VDC) p. 867

Incremental (Step Motor 24 VDC) p. 855

Controllers/Drivers p. 994

810
 Incremental (Step Motor 24 VDC)
Gripper 2-Finger Type
LEHZ Series
Model Selection
LEHZ Seriessp. 817

Selection Procedure

Check the gripping Check the gripping Check the external

Step 1 Step 2 Step 3
force. point and overhang. force on fingers.

Step 1 Check the gripping force.

Check the Calculate the Select the model from Select the
conditions. required gripping force. gripping force graph. pushing speed.

Example Guidelines for the selection of the gripper LEHZ20

with respect to workpiece mass
Workpiece mass: 0.1 kg P Although conditions differ according to the workpiece
50
shape and the coefficient of friction between the Pushing force 100%

Gripping force F [N]

attachments and the workpiece, select a model that 40
can provide a gripping force of 10 to 20 times*1 the
workpiece weight, or more. 30 70%
*1 F
 or details, refer to the calculation of required gripping 27
force. 20
40%
P If high acceleration or impact forces are encountered
during motion, a further margin of safety should be 10
considered.
Example) When it is desired to set the gripping force at 0
20 times or more above the workpiece weight. 0 20 30 40 60 80 100 120 140
Required gripping force Gripping point L [mm]
= 0.1 kg x 20 x 9.8 m/s2 ≈ 19.6 N or more
Pushing force: 70% When the LEHZ20 is selected.
P Gripping force can be found to be 27 N from the
Pushing force is one of the values of step data that is input into the controller. intersection point of gripping point distance L = 30
Gripping point distance: 30 mm mm and pushing force of 70%.
P Gripping force is 27.6 times greater than the
workpiece weight, and therefore satisfies a gripping
force setting value of 20 times or more.

Pushing speed: 30 mm/s LEHZ20

110
Pushing force/Trigger level [%]

Pushing force and trigger level range

100
Calculation of required gripping force 90
When gripping a workpiece as in the figure 80
to the left, and with the following definitions, 70
F : Gripping force [N]
60
µ : Coefficient of friction between the
attachments and the workpiece 50
m : Workpiece mass [kg] 40
g : Gravitational acceleration (= 9.8 m/s2)
mg : Workpiece weight [N] 30
0 10 20 30 40 50 60
the conditions under which the workpiece
Finger will not drop are Pushing speed [mm/s]
2 x µF > mg
P Pushing speed is satisfied at the point where 70%
Attachment of the pushing force and 30 mm/s of the pushing
Number of fingers
mg speed cross.
and therefore, F >
2xµ * C
 onfirm the pushing speed range from the
F F
With “a” representing the margin, determined pushing force [%].
Workpiece “F” is determined by the following formula:
µF µF mg
F= xa
mg 2xµ
<Reference> Coefficient of friction µ (depends on the operating
“Gripping force at least 10 to 20 times the workpiece weight” environment, contact pressure, etc.)
• The “10 to 20 times or more of the workpiece weight” recommended by SMC is calculated with Coefficient of friction µ Attachment – Material of workpieces (guideline)
a margin of “a” = 4, which allows for impacts that occur during normal transportation, etc. 0.1 Metal (surface roughness Rz3.2 or less)
0.2 Metal
When µ = 0.2 When µ = 0.1
0.2 or more Rubber, Resin, etc.
mg mg
F= x 4 = 10 x mg F= x 4 = 20 x mg
2 x 0.2 2 x 0.1 * •E  ven in cases where the coefficient of friction is greater than m = 0.2, for
reasons of safety, select a gripping force which is at least 10 to 20 times
greater than the workpiece weight, as recommended by SMC.
10 x Workpiece weight 20 x Workpiece weight • If high acceleration or impact forces are encountered during motion,
a further margin should be considered.

811
 Model Selection LEHZ Series
Incremental (Step Motor 24 VDC)

Selection Procedure
Step 1 Check the gripping force: LEHZ Series
P Indication of gripping force
The gripping force shown in the graphs below is expressed as P Set the workpiece gripping point “L” so that it is within the range
“F”, which is the gripping force of one finger, when both fingers shown in the figure below.
and attachments are in full contact with the workpiece as
shown in the figure below.

External Gripping State Internal Gripping State

Finger Finger

Attachment
Attachment
L

L
L: Gripping L: Gripping
F F point F F point
Workpiece F: Gripping Workpiece F: Gripping
force force

* P
 ushing force is one of the values of * P
 ushing force is one of the values of
Basic step data that is input into the controller. Compact step data that is input into the controller.

LEHZ10 LEHZ10L
Gripping force accuracy: ±30% (F.S.) Gripping force accuracy: ±30% (F.S.)
20 8
Gripping force F [N]

Gripping force F [N]

16
Pushing force 100% 6
Pushing force 100%
12
70% 4 70%
8
40% 40%
2
4

0 0
0 20 40 60 80 0 20 40 60 80 100
Gripping point L [mm] Gripping point L [mm]

LEHZ16 LEHZ16L
Gripping force accuracy: ±30% (F.S.) Gripping force accuracy: ±30% (F.S.)
20 10
Gripping force F [N]

Gripping force F [N]

16 8
Pushing force 100%
12 6 Pushing force 100%

70% 70%
8 4
40% 40%
4 2

0 0
0 20 40 60 80 100 120 140 0 20 40 60 80 100 120 140
Gripping point L [mm] Gripping point L [mm]
812
LEHZ Series
Incremental (Step Motor 24 VDC)

Selection Procedure
Step 1 Check the gripping force: LEHZ Series

* P
 ushing force is one of the values of * P
 ushing force is one of the values of
Basic step data that is input into the controller. Compact step data that is input into the controller.

LEHZ20 LEHZ20L
Gripping force accuracy: ±25% (F.S.) Gripping force accuracy: ±25% (F.S.)
50 35

Pushing force 100% 30 Pushing force 100%

Gripping force F [N]

Gripping force F [N]

40
25
30 70% 20 70%
20 15
40% 40%
10
10
5
0 0
0 20 40 60 80 100 120 140 0 20 40 60 80 100 120 140
Gripping point L [mm] Gripping point L [mm]

LEHZ25 LEHZ25L
Gripping force accuracy: ±25% (F.S.) Gripping force accuracy: ±25% (F.S.)
50 35
30
Pushing force 100%
Gripping force F [N]

Gripping force F [N]

40 Pushing force 100%

25
30 20
70%
70%
20 15
40% 40%
10
10
5
0 0
0 50 100 150 200 250 0 50 100 150 200 250
Gripping point L [mm] Gripping point L [mm]

LEHZ32
Gripping force accuracy: ±20% (F.S.) Selection of Pushing Speed
160
P Set the [Pushing force] and the [Trigger LV] within the
Pushing force 100%
Gripping force F [N]

120 range shown in the figure below.

Basic
70% 110
Pushing force/Trigger level [%]

80 Pushing force and trigger level range

100
40% 90
40 80
70
0 60
0 50 100 150 200 250 50
Gripping point L [mm] 40
30
LEHZ40 0 10 20 30 40 50 60
Gripping force accuracy: ±20% (F.S.) Pushing speed [mm/s]
250
Compact
Pushing force 100%
Gripping force F [N]

200 110
Pushing force/Trigger level [%]

Pushing force and trigger level range

100
150 90
70%
80
100 70
40% 60
50 50
40
0 30
0 50 100 150 200 250 0 10 20 30 40 50 60
Gripping point L [mm] Pushing speed [mm/s]
813
 Model Selection LEHZ Series
Incremental (Step Motor 24 VDC)

Selection Procedure
Step 2 Check the gripping point and overhang: LEHZ Series

P Decide the gripping position of the workpiece so that the amount of overhang “H” stays within the range shown in the figure below.
P If the gripping position is out of the limit, it may shorten the life of the electric gripper.

External Gripping State Internal Gripping State

H
H

Gripping Gripping
position position
H: Overhang L H: Overhang
L
L : Gripping point L : Gripping point

* P
 ushing force is one of the values of * P
 ushing force is one of the values of
Basic step data that is input into the controller. Compact step data that is input into the controller.

LEHZ10 LEHZ10L
100 100

80 80
Overhang H [mm]

Overhang H [mm]

60 60 70
40 %,
% 40
Pu %
40 40 sh
70 ing
% for
20 Push 20 ce
10
i100 ng for 0%
% ce
0 0
0 20 40 60 80 100 0 20 40 60 80 100
Gripping point L [mm] Gripping point L [mm]

LEHZ16 LEHZ16L
140 140
120 120
Overhang H [mm]

Overhang H [mm]

100 100
Pu
70 sh
80 %, 80 ing
40 for
Pu % ce
60 sh 60 10
ing 0%
40 for 40 ,7
ce 0%
10 ,4
20 0% 20 0%

0 0
0 20 40 60 80 100 120 140 0 20 40 60 80 100 120 140
Gripping point L [mm] Gripping point L [mm]

LEHZ20 LEHZ20L
140 140
120 120
Overhang H [mm]

Overhang H [mm]

100 100
40 40
80 % 80 %
70
60 60 Pu %
Pu sh
sh 70 ing
40 ing % 40 for
for ce
ce 10
20 10 20 0%
0%
0 0
0 20 40 60 80 100 120 140 0 20 40 60 80 100 120 140
Gripping point L [mm] Gripping point L [mm]
814
LEHZ Series
Incremental (Step Motor 24 VDC)

Selection Procedure
Step 2 Check the gripping point and overhang: LEHZ Series

* P
 ushing force is one of the values of * P
 ushing force is one of the values of
Basic step data that is input into the controller. Compact step data that is input into the controller.

LEHZ25 LEHZ25L
250 250

200 200
Overhang H [mm]

Overhang H [mm]
70
150 150 %,
40% 40
Pu %
100 Pu 100 sh
sh 70% ing
ing for
for ce
50 ce 50 10
10 0%
0%
0 0
0 50 100 150 200 250 0 50 100 150 200 250
Gripping point L [mm] Gripping point L [mm]

LEHZ32
250

200
Overhang H [mm]

150 40
%
100 Pu
sh 70
ing %
for
50 ce
10
0%
0
0 50 100 150 200 250
Gripping point L [mm]

LEHZ40
250

200
Overhang H [mm]

150 40
%
Pu 70
100 sh %
ing
for
50
ce
10
0%
0
0 50 100 150 200 250
Gripping point L [mm]

815
 Model Selection LEHZ Series
Incremental (Step Motor 24 VDC)

Selection Procedure
Step 3 Check the external force on fingers: LEHZ Series

L
Mp My: Yaw moment Mr
Fv
My
Fv: Allowable vertical load Mp: Pitch moment Mr: Roll moment

H, L: Distance to the point at which the load is applied [mm]

Allowable vertical load Static allowable moment

Model
Fv [N] Pitch moment: Mp [N·m] Yaw moment: My [N·m] Roll moment: Mr [N·m]
LEHZ10(L)K2-4 58 0.26 0.26 0.53
LEHZ16(L)K2-6 98 0.68 0.68 1.36
LEHZ20(L)K2-10 147 1.32 1.32 2.65
LEHZ25(L)K2-14 255 1.94 1.94 3.88
LEHZ32(L)K2-22 343 3 3 6
LEHZ40(L)K2-30 490 4.5 4.5 9
* Values for load in the table indicate static values.

Calculation of allowable external force (when moment load is applied) Calculation example
When a static load of f = 10 N is operating, which applies pitch
moment to point L = 30 mm from the LEHZ16K2-6 guide.
Therefore, it can be used.
M (Static allowable moment) [N·m] 0.68
Allowable load F [N] = Allowable load F =
L x 10–3 *1 30 x 10–3
(*1 Constant for unit conversion)
= 22.7 [N]
Load f = 10 [N] < 22.7 [N]

816
 Incremental (Step Motor 24 VDC)

Gripper
2-Finger Type
* For details, refer to page 1343 and onward.

LEHZ Series LEHZ10, 16, 20, 25, 32, 40

How to Order

JXC m Series
CD17T
LEHZ 10 K2 4 S1
LEC m Series
AN 1
q w er t y u i o !0 !1
For details on controllers, refer to page 818.

q Size w Motor size e Lead r 2-finger type Finger options

10 Nil Basic K Basic Nil: Basic
16 L∗1 Compact (Tapped in open/
20 close direction)
25
32
t Stroke [mm] y Finger options
Stroke/both sides Size Nil Basic (Tapped in open/close direction)
40
4 10 A Side tapped mounting
6 16 B Through-hole in open/close direction
10 20 C Flat fingers
14 25
22 32
30 40
A: Side tapped mounting

u Motor cable entry i Actuator cable type/length∗3

Basic (Entry on the left side) Standard cable[m] Robotic cable  [m]
Mounting reference plane Nil None R1 1.5 RA 10∗2
S1 1.5 R3 3 RB 15∗2
S3 3 R5 5 RC 20∗2
Mounting
Nil S5 5 R8 8∗2
reference plane
B: Through-hole in open/
close direction
Motor cable
Connector cover

Entry on the front side

Mounting reference plane

Mounting
reference plane

F C: Flat fingers

Motor cable
Connector cover

817
 Gripper
2-Finger Type LEHZ Series
IncrementalMotorless Type
(Step Motor 24 VDC)

JXCm Series (For details, refer to page 819.)

o Controller
Nil Without controller
Cm1mm With controller

CD 1 7 T Communication plug connector, I/O cable*9

Symbol Type Applicable interface
Interface (Communication protocol/Input/Output) Nil Without accessory —
Number of axes, Special specification Mounting S Straight type communication plug connector DeviceNet®
Symbol Type
Standard
With STO 7 Screw mounting T T-branch type communication plug connector CC-Link Ver. 1.10
sub-function 8∗8 DIN rail
5 Parallel input (NPN) V 1 I/O cable (1.5 m)
Parallel input (NPN)
6 Parallel input (PNP) V 3 I/O cable (3 m)
Parallel input (PNP)
Number of axes, Special specification
E EtherCAT V V 5 I/O cable (5 m)
Symbol Number of axes Specification
9 EtherNet/IP™ V V
1 Single axis Standard
P PROFINET V V
With STO
D DeviceNet® V F Single axis sub-function
L IO-Link V V
M CC-Link V

LECm Series (For details, refer to page 819.)

AN 1
o !0 !1
o Controller/Driver type∗4 !0 I/O cable length∗6 !1 Controller/Driver mounting
Nil Without controller/driver Without cable Nil Screw mounting
Nil
1N LECP1 NPN (Without communication plug connector) D DIN rail∗8
1P (Programless type) PNP 1 1.5 m
AN LECPA∗5 NPN 3 3 m∗7
AP (Pulse input type) PNP 5 5 m∗7

∗1 S ize: 10, 16, 20, 25 only ∗7 W hen “Pulse input type” is selected for controller/driver types, pulse
∗2 Produced upon receipt of order (Robotic cable only) input usable only with differential. Only 1.5 m cables usable with open
∗3 The standard cable should only be used on fixed parts. collector
For use on moving parts, select the robotic cable. ∗8 The DIN rail is not included. It must be ordered separately.
Refer to the Web Catalog if only the actuator cable is required. ∗9 Select “Nil” for anything other than DeviceNet®, CC-Link, or parallel
∗4 For details on controllers/drivers and compatible motors, refer to the input.
compatible controllers/drivers on the next page. Select “Nil,” “S,” or “T” for DeviceNet® or CC-Link.
∗5 W hen pulse signals are open collector, order the current limiting Select “Nil,” “1,” “3,” or “5” for parallel input.
resistor (LEC-PA-R-m) on page 1062 separately.
∗6 When “Without controller/driver” is selected for controller/driver types,
I/O cable cannot be selected. If an I/O cable is required, refer to the
cable for the LECP1 (Web Catalog) or LECPA (Web Catalog).

Caution The actuator and controller/driver are sold as

[CE/UKCA-compliant products] a package.
q EMC compliance was tested by combining the electric actuator LEH Confirm that the combination of the controller/driver and
series and the controller LEC/JXC series.
the actuator is correct.
The EMC depends on the configuration of the customer’s control panel
and the relationship with other electrical equipment and wiring. <Check the following before use.>
Therefore, compliance with the EMC directive cannot be certified for q Check the actuator label for the model number. This
SMC components incorporated into the customer’s equipment under number should match that of the controller/driver.
actual operating conditions. As a result, it is necessary for the w Check that the Parallel I/O configuration matches
customer to verify compliance with the EMC directive for the machinery (NPN or PNP).
and equipment as a whole.
[UL-compliant products (For the LEC series)]
When compliance with UL is required, the electric actuator and controller/
driver should be used with a UL1310 Class 2 power supply.
q w

∗ R
 efer to the Operation Manual for using the products. Please download
it via our website: https://www.smcworld.com
818 B
LEHZ Series
Incremental (Step Motor 24 VDC)

Compatible Controllers/Drivers

Step data Programless type Pulse input type

input type

Type

JXC51
Series LECP1 LECPA
JXC61
Capable of setting up
Operation by
Features Parallel I/O operation (step data) without
pulse signals
using a PC or teaching box

Compatible Step motor

motor (Servo/24 VDC)
Max. number
64 points 14 points —
of step data
Power supply 24 VDC
voltage

Reference 1017 1042 1057

page

EtherCAT EtherCAT direct EtherNet/IP™ EtherNet/IP™ direct PROFINET PROFINET direct DeviceNet® IO-Link IO-Link direct CC-Link
direct input input type with direct input input type with STO direct input input type with direct input direct input input type with direct input
type STO sub-function type sub-function type STO sub-function type type STO sub-function type

Type

Series JXCE1 JXCEF JXC91 JXC9F JXCP1 JXCPF JXCD1 JXCL1 JXCLF JXCM1
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Features input with STO input with STO input with STO input with STO
direct input direct input direct input direct input direct input direct input
sub-function sub-function sub-function sub-function
Compatible Step motor
motor (Servo/24 VDC)
Max. number 64 points
of step data

Power supply 24 VDC

voltage

Reference 1063
page

819
 Gripper
2-Finger Type LEHZ Series
IncrementalMotorless Type
(Step Motor 24 VDC)

Specifications
Model LEHZ10 LEHZ16 LEHZ20 LEHZ25 LEHZ32 LEHZ40
Open and close stroke/both sides [mm] 4 6 10 14 22 30
251/73 249/77 246/53 243/48 242/39 254/43
Lead [mm]
(3.438) (3.234) (4.642) (5.063) (6.205) (5.907)
Gripping force Basic 6 to 14 16 to 40 52 to 130 84 to 210
[N]*1 *3 Compact 2 to 6 3 to 8 11 to 28 — —
Open and close speed/
5 to 80/5 to 50 5 to 100/5 to 50 5 to 120/5 to 50
Pushing speed [mm/s]*2 *3

Actuator specifications
Drive method Slide screw + Slide cam
Finger guide type Linear guide (No circulation)
Repeated length measurement accuracy [mm]*4 ±0.05
Finger backlash/
0.25 or less 0.5 or less
one side [mm]*5
Repeatability [mm]*6 ±0.02
Positioning repeatability/one side [mm] ±0.05
Lost motion/one side [mm]*7 0.25 or less 0.3 or less
Impact/Vibration resistance [m/s2]*8 150/30
Max. operating frequency [C.P.M] 60
Operating temperature range [°C] 5 to 40
Operating humidity range [%RH] 90 or less (No condensation)
Enclosure IP20
Basic 165 220 430 585 1120 1760
Weight [g]
Compact 135 190 365 520 — —
Motor size l20 l28 l42
Electric specifications

Motor type Step motor (Servo/24 VDC)

Encoder Incremental
Power supply voltage [V] 24 VDC ±10%
Max. Max.
Basic Max. power 19 Max. power 51
Power [W]*9 power 57 power 61
Compact Max. power 14 Max. power 42 — —
*1 G ripping 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 LEHZ10/16, ±25% (F.S.) for LEHZ20/25 and ±20% (F.S.) for
LEHZ32/40. Gripping with heavy attachment and fast pushing speed, may not reach the product specification. In this case,
decrease the weight and lower the pushing speed.
*2 Pushing speed should be set within the range during pushing (gripping) operations. Otherwise, it may cause a malfunction.
The open/close speed and pushing speed are for both fingers. The speed for one finger is half this value.
*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%)
*4 Repeated length measurement accuracy means dispersion (value on the controller monitor) when the workpiece is
repeatedly held in the same position.
*5 There will be no influence of backlash during pushing (gripping) operations. Make the stroke longer for the amount of
backlash when opening.
*6 Repeatability means the variation of the gripping position (workpiece position) when gripping operations are repeatedly
performed by the same sequence for the same workpiece.
*7 A reference value for correcting errors in reciprocal operation which occur during positioning operations
*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. (The test was performed with the gripper in the initial state.)
Vibration resistance: No malfunction occurred in a test ranging between 45 to 2000 Hz. The 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.)
*9 Indicates the max. power during operation (including the controller)
This value can be used for the selection of the power supply.

How to Mount
a) When using the thread on the b) When using the thread on the c) When using the thread on the
side of the body mounting plate back of the body

Positioning pin
Mounting Mounting
direction direction
Mounting direction

Positioning pin Positioning pin

820 A
LEHZ Series
Incremental
Step Motor (Servo/24 VDC)24 VDC)
(Step Motor

Construction
LEHZ Series

e !0

w
t
q
r
u
y

o
i

Component Parts
No. Description Material Note
1 Body Aluminum alloy Anodized
2 Motor plate Aluminum alloy Anodized
3 Guide ring Aluminum alloy
4 Slide nut Stainless steel Heat treatment + Special treatment
5 Slide bolt Stainless steel Heat treatment + Special treatment
6 Needle roller High carbon chromium bearing steel
7 Needle roller High carbon chromium bearing steel
8 Finger assembly —
9 Lever Special stainless steel
10 Step motor (Servo/24 VDC) —

Replacement Parts i Finger Assembly

Through-hole in open/
Basic (Nil) Side tapped mounting (A) Flat fingers (C)
close direction (B)

Size

10 MHZ-AA1002 MHZ-AA1002-1 MHZ-AA1002-2 MHZ-AA1002-3

16 MHZ-AA1602 MHZ-AA1602-1 MHZ-AA1602-2 MHZ-AA1602-3
20 MHZ-AA2002 MHZ-AA2002-1 MHZ-AA2002-2 MHZ-AA2002-3
25 MHZ-AA2502 MHZ-AA2502-1 MHZ-AA2502-2 MHZ-AA2502-3
32 MHZ-A3202 MHZ-A3202-1 MHZ-A3202-2 MHZ-A3202-3
40 MHZ-A4002 MHZ-A4002-1 MHZ-A4002-2 MHZ-A4002-3

821
 Gripper
2-Finger Type LEHZ Series
IncrementalMotorless Type
(Step Motor 24 VDC)

Dimensions
LEHZ10(L)K2-4 29.5
15
Motor cable entry: Entry on the front side
[mm]
Model L (L1)
LEHZ10K2-4l 103.8 (59.7)

20 2 x ø5
LEHZ10LK2-4l 87.2 (43.1) Manual override screw

20.5
10.5

20
Mounting reference plane 20 20

ø2.5H9 ( +0.025
0 )
depth 2.5 Motor cable length ≈ 300∗2
Mounting reference plane (Motor cable entry: Basic)
2.5H9 ( +0.025 )

)
(L1)

2.5H9 ( +0.025
depth 2.5
0

0
depth 2.5
ø2.5H9 ( +0.025
0 )
L

depth 2.5

3.5

65
13.2 6 17
13

12
44.1
8

3.5
2 x M3 x 0.5 x 6
12

Reference position
5.7

0
3

5 −0.05 of the gripping point 2 x M4 x 0.7 x 6

12 4 x M2.5 x 0.45 2 x ø3.3 through
When closed: 11 +0.2
−0.5
0
4 −0.1 When opened: 15 +0.2
−0.5 (Finger operating range: 11 to 16)∗1
19
*1 This is the range within which the fingers can move when it returns
29
to origin. Make sure that workpieces mounted on the fingers do not
interfere with other workpieces or the facilities around the fingers.
LEHZ16(L)K2-6 *2 Secure the motor cable so that the cable is not repeatedly bent.

Motor cable entry: Entry on the front side

[mm]
Model L (L1)
LEHZ16K2-6l 112.8 (59.7)
2 x ø5

LEHZ16LK2-6l 96.2 (43.1) Manual override screw

20
23.7

20
12.1

20 20
Mounting reference plane 35
ø2.5H9 ( +0.025
0 )
depth 2.5
Motor cable length ≈ 300∗2
Mounting reference plane
(Motor cable entry: Basic)
2.5H9 ( +0.025 )

)
(L1)

2.5H9 ( +0.025
0
depth 2.5

0
depth 2.5

ø2.5H9 ( +0.025
0 )
depth 2.5
L

17.3 7.5 20.5

65

3.5
14.5
16
10

53.1

3.5
2 x M4 x 0.7 x 6
15
7

2 x M4 x 0.7 x 6
0
8 −0.05 Reference position
4

2 x ø3.3 through
4 x M3 x 0.5 of the gripping point
14 When closed: 14.6 +0.3
−0.4
0
5 −0.1 When opened: 20.6 +0.3
−0.4 (Finger operating range: 14.6 to 21.6)∗1
24 *1  This is the range within which the fingers can move when it returns
38 to origin. Make sure that workpieces mounted on the fingers do not
interfere with other workpieces or the facilities around the fingers.
*2 Secure the motor cable so that the cable is not repeatedly bent.

822
LEHZ Series
Incremental
Step Motor (Servo/24 VDC)24 VDC)
(Step Motor

Dimensions
Motor cable entry: Entry on the front side
LEHZ20(L)K2-10
[mm]
Model L (L1)
Manual override
LEHZ20K2-10l 129.6 (61.8) screw
LEHZ20LK2-10l 115.6 (47.8)

2 x ø5
28
28.5

20
14.5
Mounting reference plane 28 20
42
Motor cable length ≈ 300∗2
ø3H9 ( +0.025
0 ) (Motor cable entry: Basic)
depth 3

Mounting
(L1)

reference
3H9 ( +0.025 )

plane 4
ø3H9 ( +0.025
depth 3
0

0 )
depth 3
L

)
28.5

3H9 ( +0.025

65
22.5

19.5
13.5

depth 3
0

4
67.8

*1 T
 his is the range within which the
9.5

2 x M5 x 0.8 x 8 fingers can move when it returns to

When closed:
22.5

origin. Make sure that workpieces

20

+0.3
5 9

16 −0.4 2 x M5 x 0.8 x 8
When opened: mounted on the fingers do not interfere
0 Reference position 2 x ø4.2 through with other workpieces or the facilities
10 −0.05 0 +0.3
26 −0.4
4 x M4 x 0.7 of the gripping point 8 −0.1 (Finger operating range: 16 to 28)∗1 around the fingers.
18 30 *2 S
 ecure the motor cable so that the
50 cable is not repeatedly bent.

LEHZ25(L)K2-14
[mm] Motor cable entry: Entry on the front side

Model L (L1)
Manual override
LEHZ25K2-14l 139.8 (61.8) screw
LEHZ25LK2-14l 125.8 (47.8)
2 x ø5
28
33.7

20
17.1

28 20
Mounting reference plane
52

Motor cable length ≈ 300∗2

ø4H9 ( +0.030
0 ) (Motor cable entry: Basic)
depth 3

Mounting
reference
(L1)
4H9 ( +0.030 )

plane
5
0
depth 3

ø4H9 ( +0.030
0 )
depth 3
L

4H9 ( +0.030 )
32.5

65
25.5

22.5

5
0
depth 3
15.5

78
11

*1 T
 his is the range within which the
2 x M6 x 1.0 x 10
fingers can move when it returns to
28.1

When closed:
25
12
6

+0.3
19 −0.5 2 x M6 x 1.0 x 10 origin. Make sure that workpieces
0 When opened: 2 x ø5.2 through mounted on the fingers do not interfere
12 −0.05 +0.3 with other workpieces or the facilities
0 33 −0.5
4 x M5 x 0.8
10 −0.1 (Finger operating range: 19 to 34.5)∗1
20 Reference position around the fingers.
38
of the gripping point *2 S
 ecure the motor cable so that the
63
cable is not repeatedly bent.
823
 Gripper
2-Finger Type LEHZ Series
IncrementalMotorless Type
(Step Motor 24 VDC)

Dimensions
LEHZ32K2-22 Motor cable entry: Entry on the front side

Manual override screw

2 x ø5
42
42.5

20
21.5
42 20
Mounting reference plane 63

ø4H9 ( +0.030
0 ) Motor cable length ≈ 300∗2
depth 3 (Motor cable entry: Basic)

Mounting
(63.4)

reference

4H9 ( +0.030 )
plane
4H9 ( +0.030 )

0
depth 3
0
depth 3

ø4H9 ( +0.030
0 )

65
depth 3
161.4

5 *1 T
 his is the range within
36
29

which the fingers can move

24

5
17

98

when it returns to origin.

12

2 x M6 x 1.0 x 10 Make sure that workpieces

mounted on the fingers do
not interfere with other
34
29
14

When closed:
7

0 2 x M6 x 1.0 x 10 workpieces or the facilities

0
15 −0.05 26 −0.5
Reference position of the gripping point When opened: 2 x ø5.2 through around the fingers.
28 4 x M6 x 1.0 0 *2 Secure the motor cable so
(Finger operating range: 26 to 49.5)∗1
0 48 −0.5
12 −0.1
that the cable is not
48 repeatedly bent.
97

Motor cable entry: Entry on the front side

LEHZ40K2-30
2 x ø5

Manual override screw

42
48.1

20
24.3

20
Mounting reference plane 42
80
Motor cable length ≈ 300∗2
(Motor cable entry: Basic)

ø5H9 ( +0.030
0 )
depth 4
(75.4)

Mounting
reference
)

plane
5H9 ( +0.030

6
65
depth 4
0

ø5H9 ( +0.030
0 )
195.9

depth 4
47.5
37.5

*1 T his is the range within

31.5
22.5

120.5

6 which the fingers can move

( +0.030

when it returns to origin.

depth 4
0
15

Make sure that workpieces

5H9

2 x M8 x 1.25 x 14 mounted on the fingers do

When closed: not interfere with other
41
36
17
9

Reference position 0
30 −0.5 2 x M8 x 1.25 x 14 workpieces or the facilities
of the gripping point When opened: 2 x ø6.8 through around the fingers.
0
18 −0.05 0
14 −0.1
0
60 −0.5 (Finger operating range: 30 to 62.5)∗1 *2 Secure the motor cable so
4 x M8 x 1.25 that the cable is not
28 60
repeatedly bent.
119

824
 LEHZ Series
Finger Options
Side Tapped Mounting (A) Through-hole in Open/Close Direction (B)

4 x MM through
∗ Mounting
thread for
attachment
B

B
C C 4 x øH through

A
A

∗ Mounting hole for

attachment
[mm] [mm]
Model A B C MM Model A B H
LEHZ10(L)K2-4Al 3 5.7 2 M2.5 x 0.45 LEHZ10(L)K2-4Bl 3 5.7 2.9
LEHZ16(L)K2-6Al 4 7 2.5 M3 x 0.5 LEHZ16(L)K2-6Bl 4 7 3.4
LEHZ20(L)K2-10Al 5 9 4 M4 x 0.7 LEHZ20(L)K2-10Bl 5 9 4.5
LEHZ25(L)K2-14Al 6 12 5 M5 x 0.8 LEHZ25(L)K2-14Bl 6 12 5.5
LEHZ32K2-22Al 7 14 6 M6 x 1 LEHZ32K2-22Bl 7 14 6.6
LEHZ40K2-30Al 9 17 7 M8 x 1.25 LEHZ40K2-30Bl 9 17 9

Flat Fingers (C)

C

W K J
F

D G

4 x MM, thread length L

∗ Mounting thread for
attachment

B A
[mm]
G Weight
Model A B C D F J K MM L W [g]
When opened When closed
LEHZ10K2-4Cl 0 0 165
2.45 6 5.2 10.9 2 5.4−0.2 1.4−0.2 4.45 2H9+0.025
0 M2.5 x 0.45 5 0
5−0.05
LEHZ10LK2-4Cl 135
LEHZ16K2-6Cl 0 0 220
3.05 8 8.3 14.1 2.5 7.4−0.2 1.4−0.2 5.8 2.5H9+0.025
0 M3 x 0.5 6 0
8−0.05
LEHZ16LK2-6Cl 190
LEHZ20K2-10Cl 0 0 430
3.95 10 10.5 17.9 3 11.6−0.2 1.6−0.2 7.45 3H9+0.025
0 M4 x 0.7 8 0
10−0.05
LEHZ20LK2-10Cl 365
LEHZ25K2-14Cl 0 0 575
4.9 12 13.1 21.8 4 16−0.2 2−0.2 8.9 4H9+0.030
0 M5 x 0.8 10 0
12−0.05
LEHZ25LK2-14Cl 510
LEHZ32K2-22Cl 7.3 20 18 34.6 5 0
25−0.2 0
3−0.2 14.8 5H9+0.030
0 M6 x 1 12 0
15−0.05 1145
LEHZ40K2-30Cl 8.7 24 22 41.4 6 0
33−0.2 0
3−0.2 17.7 6H9+0.030
0 M8 x 1.25 16 0
18−0.05 1820
825
826
 Incremental (Step Motor 24 VDC)
Gripper 2-Finger Type/With Dust Cover
LEHZJ Series
Model Selection
LEHZJ Seriessp. 883

Selection Procedure

Check the gripping Check the gripping Check the external

Step 1 Step 2 Step 3
force. point and overhang. force on fingers.

Step 1 Check the gripping force.

Check the Calculate the Select the model from Select the
conditions. required gripping force. gripping force graph. pushing speed.

Example Guidelines for the selection of the gripper

with respect to workpiece mass LEHZJ20
Workpiece mass: 0.1 kg
P Although conditions differ according to the workpiece 50
shape and the coefficient of friction between the Pushing force 100%
attachments and the workpiece, select a model that

Gripping force F [N]

40
can provide a gripping force of 10 to 20 times*1 the
workpiece weight, or more. 30 70%
*1  For details, refer to the calculation of required gripping 27
force. 20 40%
P If high acceleration or impact forces are encountered
during motion, a further margin of safety should be 10
considered.
Example) When it is desired to set the gripping force at 0
20 times or more above the workpiece weight. 0 20 30 40 60 80 100 120 140
Required gripping force Gripping point L [mm]
= 0.1 kg x 20 x 9.8 m/s2 ≈ 19.6 N or more
When the LEHZJ20 is selected.
Pushing force: 70% P Gripping force can be found to be 27 N from the
intersection point of gripping point distance L = 30
Pushing force is one of the values of step data that is input into the controller. mm and pushing force of 70%.
P Gripping force is 27.6 times greater than the
Gripping point distance: 30 mm
workpiece weight, and therefore satisfies a gripping
force setting value of 20 times or more.

LEHZJ20
Pushing speed: 30 mm/s
110
Pushing force/Trigger level [%]

Pushing force and trigger level range

100
90
Calculation of required gripping force 80
When gripping a workpiece as in the figure 70
to the left, and with the following definitions, 60
F : Gripping force [N]
50
µ : Coefficient of friction between the
attachments and the workpiece 40
m : Workpiece mass [kg] 30
g : Gravitational acceleration (= 9.8 m/s2) 0 10 20 30 40 50 60
mg : Workpiece weight [N] Pushing speed [mm/s]
the conditions under which the workpiece
will not drop are P Pushing speed is satisfied at the point where 70%
Finger
2 x µF > mg of the pushing force and 30 mm/s of the pushing
speed cross.
Attachment Number of fingers
mg * C
 onfirm the pushing speed range from the
and therefore, F >
2xµ determined pushing force [%].
F F With “a” representing the margin,
Workpiece “F” is determined by the following formula:
µF µF mg
F= xa
mg 2xµ
<Reference> Coefficient of friction µ (depends on the
“Gripping force at least 10 to 20 times the workpiece weight” operating environment, contact pressure, etc.)
• The “10 to 20 times or more of the workpiece weight” recommended by SMC is calculated Coefficient of friction µ Attachment – Material of workpieces (guideline)
with a margin of “a” = 4, which allows for impacts that occur during normal transportation, etc. 0.1 Metal (surface roughness Rz3.2 or less)
0.2 Metal
When µ = 0.2 When µ = 0.1
0.2 or more Rubber, Resin, etc.
mg mg
F= x 4 = 10 x mg F= x 4 = 20 x mg
2 x 0.2 2 x 0.1 * • Even in cases where the coefficient of friction is greater than m = 0.2, for
reasons of safety, select a gripping force which is at least 10 to 20 times
greater than the workpiece weight, as recommended by SMC.
10 x Workpiece weight 20 x Workpiece weight • If high acceleration or impact forces are encountered during motion,
a further margin should be considered.

827
 Model Selection LEHZJ Series
Step Motor
Incremental (Step (Servo/24
Motor 24 VDC)
VDC)

Selection Procedure
Step 1 Check the gripping force: LEHZJ Series
P Indication of gripping force
The gripping force shown in the graphs below is expressed as P Set the workpiece gripping point “L” so that it is within the range
“F”, which is the gripping force of one finger, when both fingers shown in the figure below.
and attachments are in full contact with the workpiece as
shown in the figure below.

External Gripping State Internal Gripping State

Finger Finger

Attachment
Attachment
L

L
L: Gripping L: Gripping
F F point F F point
F: Gripping F: Gripping
Workpiece Workpiece
force force

* P
 ushing force is one of the values of * P
 ushing force is one of the values of
Basic step data that is input into the controller. Compact step data that is input into the controller.

LEHZJ10 LEHZJ10L
Gripping force accuracy: ±30% (F.S.) Gripping force accuracy: ±30% (F.S.)
20 8
Gripping force F [N]

Gripping force F [N]

16
Pushing force 100% 6
Pushing force 100%
12
70% 4 70%
8
40% 50%
2
4

0 0
0 20 40 60 80 0 20 40 60 80 100
Gripping point L [mm] Gripping point L [mm]

LEHZJ16 LEHZJ16L
Gripping force accuracy: ±30% (F.S.) Gripping force accuracy: ±30% (F.S.)
20 10
Gripping force F [N]

Gripping force F [N]

16 8
Pushing force 100%
12 6 Pushing force 100%

70% 70%
8 4
40% 50%
4 2

0 0
0 20 40 60 80 100 120 140 0 20 40 60 80 100 120 140
Gripping point L [mm] Gripping point L [mm]
828
LEHZJ Series
Incremental
Step Motor (Servo/24 VDC)24 VDC)
(Step Motor

Selection Procedure
Step 1 Check the gripping force: LEHZJ Series

* P
 ushing force is one of the values of * P
 ushing force is one of the values of
Basic step data that is input into the controller. Compact step data that is input into the controller.

LEHZJ20 LEHZJ20L
Gripping force accuracy: ±25% (F.S.) Gripping force accuracy: ±25% (F.S.)
50 35
Pushing force 100% 30
40 Pushing force 100%
Gripping force F [N]

Gripping force F [N]

25
30 70% 20 70%
20 15
40% 40%
10
10
5
0 0
0 20 40 60 80 100 120 140 0 20 40 60 80 100 120 140
Gripping point L [mm] Gripping point L [mm]

LEHZJ25 LEHZJ25L
Gripping force accuracy: ±25% (F.S.) Gripping force accuracy: ±25% (F.S.)
50 35
30
Pushing force 100%
Gripping force F [N]

Gripping force F [N]

40 Pushing force 100%

25
30 20
70% 70%
20 15
40% 10 40%
10
5
0 0
0 50 100 150 200 250 0 50 100 150 200 250
Gripping point L [mm] Gripping point L [mm]

Selection of Pushing Speed

P Set the [Pushing force] and [Trigger level] within the range shown in the figure below.

Basic Compact
LEHZJ10L, LEHZJ16L
110 110
Pushing force/Trigger level [%]
Pushing force/Trigger level [%]

Pushing force and trigger level range Pushing force and trigger level range
100 100
90 90
80 80
70 70
60 60
50 50
40 40
30 30
0 10 20 30 40 50 60 0 10 20 30 40 50 60
Pushing speed [mm/s] Pushing speed [mm/s]

LEHZJ20L, LEHZJ25L
110
Pushing force/Trigger level [%]

Pushing force and trigger level range

100
90
80
70
60
50
40
30
0 10 20 30 40 50 60
Pushing speed [mm/s]
829
 Model Selection LEHZJ Series
Step Motor
Incremental (Step (Servo/24
Motor 24 VDC)
VDC)

Selection Procedure
Step 2 Check the gripping point and overhang: LEHZJ Series

P Decide the gripping position of the workpiece so that the amount of overhang “H” stays within the range shown in the figure below.
P If the gripping position is out of the limit, it may shorten the life of the electric gripper.

External Gripping State Internal Gripping State

H

H
Gripping Gripping
position position
H: Overhang L H: Overhang
L
L : Gripping point L : Gripping point

* P
 ushing force is one of the values of * P
 ushing force is one of the values of
Basic step data that is input into the controller. Compact step data that is input into the controller.

LEHZJ10 LEHZJ10L
100 100

80 80
Overhang H [mm]

Overhang H [mm]

60 60 70
40 %,
% 50
Pu %
40 40 sh
70 ing
% for
20 Push 20 ce
10
i100 ng for 0%
% ce
0 0
0 20 40 60 80 100 0 20 40 60 80 100
Gripping point L [mm] Gripping point L [mm]

LEHZJ16 LEHZJ16L
140 140
120 120
Overhang H [mm]

Overhang H [mm]

100 100 Pu
sh
70 ing
80 %, 80 for
Pu 40 ce
60 sh % 60 10
ing 0%
for ,7
40 ce 40 0%
10 ,5
0% 0%
20 20
0 0
0 20 40 60 80 100 120 140 0 20 40 60 80 100 120 140
Gripping point L [mm] Gripping point L [mm]

LEHZJ20 LEHZJ20L
140 140
120 120
Overhang H [mm]

Overhang H [mm]

100 100
40 40
80 % 80 %
70
60 P 60 Pu %
us sh
hin 70 ing
40 g % 40 for
for ce
ce 10
20 10 20 0%
0%
0 0
0 20 40 60 80 100 120 140 0 20 40 60 80 100 120 140
Gripping point L [mm] Gripping point L [mm]
830
LEHZJ Series
Incremental
Step Motor (Servo/24 VDC)24 VDC)
(Step Motor

Selection Procedure
Step 2 Check the gripping point and overhang: LEHZJ Series

* P
 ushing force is one of the values of * P
 ushing force is one of the values of
Basic step data that is input into the controller. Compact step data that is input into the controller.

LEHZJ25 LEHZJ25L
250 250

200 200

Overhang H [mm]
Overhang H [mm]

70
150 150 %,
40% 40
Pu %
100 Pu 100 sh
sh 70% ing
ing for
for ce
50 ce 50 10
10 0%
0%
0 0
0 50 100 150 200 250 0 50 100 150 200 250
Gripping point L [mm] Gripping point L [mm]

831
 Model Selection LEHZJ Series
Step Motor
Incremental (Step (Servo/24
Motor 24 VDC)
VDC)

Selection Procedure
Step 3 Check the external force on fingers: LEHZJ Series

L
Mp My: Yaw moment Mr
Fv
My
Fv: Allowable vertical load Mp: Pitch moment Mr: Roll moment

H, L: Distance to the point at which the load is applied [mm]

Allowable vertical load Static allowable moment

Model
Fv [N] Pitch moment: Mp [N·m] Yaw moment: My [N·m] Roll moment: Mr [N·m]
LEHZJ10(L)K2-4 58 0.26 0.26 0.53
LEHZJ16(L)K2-6 98 0.68 0.68 1.36
LEHZJ20(L)K2-10 147 1.32 1.32 2.65
LEHZJ25(L)K2-14 255 1.94 1.94 3.88
* Values for load in the table indicate static values.

Calculation of allowable external force (when moment load is applied) Calculation example
When a static load of f = 10 N is operating, which applies pitch
moment to point L = 30 mm from the LEHZJ16K2-6 guide.
Therefore, it can be used.
M (Static allowable moment) [N·m] 0.68
Allowable load F [N] = Allowable load F =
L x 10–3 *1 30 x 10–3
(*1 Constant for unit conversion)
= 22.7 [N]
Load f = 10 [N] < 22.7 [N]

832
 Incremental (Step Motor 24 VDC)

Gripper 2-Finger Type

With Dust Cover
* For details, refer to page 1343 and onward.

LEHZJ Series LEHZJ10, 16, 20, 25

How to Order

JXC m Series
CD17T
LEHZ J 10 K2 4 S1
LEC m Series
AN 1
q w e rt y u i o !0 !1 !2
For details on controllers, refer to page 834.

q Dust cover w Size e Motor size r Lead

J With dust cover 10 Nil Basic K Basic
16 L Compact
20
25

t 2-finger type y Stroke [mm] u Dust cover type

Stroke/both sides Size Nil Chloroprene rubber (CR)
4 10 K Fluororubber (FKM)
6 16 S Silicone rubber (Si)
10 20
14 25

i Motor cable entry o Actuator cable type/length∗2

Basic (Entry on the left side) Standard cable[m] Robotic cable  [m]
Mounting reference plane 10∗1
Nil None R1 1.5 RA
S1 1.5 R3 3 RB 15∗1
S3 3 R5 5 RC 20∗1
Mounting
Nil reference plane S5 5 R8 8∗1

Motor cable
Connector cover

Entry on the front side

Mounting reference plane

Mounting
reference plane

F
Motor cable
Connector cover

833
 Gripper
2-Finger Type/With Dust Cover LEHZJ Series
IncrementalMotorless Type
(Step Motor 24 VDC)

JXCm Series (For details, refer to page 835.)

!0 Controller
Nil Without controller
Cm1mm With controller

CD 1 7 T Communication plug connector, I/O cable*8

Symbol Type Applicable interface
Interface (Communication protocol/Input/Output) Nil Without accessory —
Number of axes, Special specification Mounting S Straight type communication plug connector DeviceNet®
Symbol Type
Standard
With STO 7 Screw mounting T T-branch type communication plug connector CC-Link Ver. 1.10
sub-function 8∗7 DIN rail
5 Parallel input (NPN) V 1 I/O cable (1.5 m)
Parallel input (NPN)
6 Parallel input (PNP) V 3 I/O cable (3 m)
Parallel input (PNP)
Number of axes, Special specification
E EtherCAT V V 5 I/O cable (5 m)
Symbol Number of axes Specification
9 EtherNet/IP™ V V
1 Single axis Standard
P PROFINET V V
With STO
D DeviceNet® V F Single axis sub-function
L IO-Link V V
M CC-Link V

LECm Series (For details, refer to page 835.)

AN 1
!0 !1 !2
!0 Controller/Driver type∗3 !1 I/O cable length∗5 !2 Controller/Driver mounting
Nil Without controller/driver Without cable Nil Screw mounting
Nil
1N LECP1 NPN (Without communication plug connector) D DIN rail∗7
1P (Programless type) PNP 1 1.5 m
AN LECPA∗4 NPN 3 3 m∗6
AP (Pulse input type) PNP 5 5 m∗6

∗1 P roduced upon receipt of order (Robotic cable only) ∗6 W hen “Pulse input type” is selected for controller/driver types, pulse
∗2 The standard cable should only be used on fixed parts. input usable only with differential. Only 1.5 m cables usable with open
For use on moving parts, select the robotic cable. collector
Refer to the Web Catalog if only the actuator cable is required. ∗7 The DIN rail is not included. It must be ordered separately.
∗3 For details on controllers/drivers and compatible motors, refer to the ∗8 Select “Nil” for anything other than DeviceNet®, CC-Link, or parallel
compatible controllers/drivers on the next page. input.
∗4 W hen pulse signals are open collector, order the current limiting Select “Nil,” “S,” or “T” for DeviceNet® or CC-Link.
resistor (LEC-PA-R-m) on page 1062 separately. Select “Nil,” “1,” “3,” or “5” for parallel input.
∗5 When “Without controller/driver” is selected for controller/driver types,
I/O cable cannot be selected. If an I/O cable is required, refer to the
cable for the LECP1 (Web Catalog) or LECPA (Web Catalog).

Caution The actuator and controller/driver are sold as

[CE/UKCA-compliant products] a package.
q EMC compliance was tested by combining the electric actuator LEH Confirm that the combination of the controller/driver and
series and the controller LEC/JXC series.
the actuator is correct.
The EMC depends on the configuration of the customer’s control panel
and the relationship with other electrical equipment and wiring. <Check the following before use.>
Therefore, compliance with the EMC directive cannot be certified for q Check the actuator label for the model number. This
SMC components incorporated into the customer’s equipment under number should match that of the controller/driver.
actual operating conditions. As a result, it is necessary for the w Check that the Parallel I/O configuration matches
customer to verify compliance with the EMC directive for the machinery (NPN or PNP).
and equipment as a whole.
[UL-compliant products (For the LEC series)]
When compliance with UL is required, the electric actuator and controller/
driver should be used with a UL1310 Class 2 power supply.
q w

∗ R
 efer to the Operation Manual for using the products. Please download
it via our website: https://www.smcworld.com
834 B
LEHZJ Series
Incremental (Step Motor 24 VDC)

Compatible Controllers/Drivers

Step data Programless type Pulse input type

input type

Type

JXC51
Series LECP1 LECPA
JXC61
Capable of setting up
Operation by
Features Parallel I/O operation (step data) without
pulse signals
using a PC or teaching box

Compatible Step motor

motor (Servo/24 VDC)
Max. number
64 points 14 points —
of step data
Power supply 24 VDC
voltage

Reference 1017 1042 1057

page

EtherCAT EtherCAT direct EtherNet/IP™ EtherNet/IP™ direct PROFINET PROFINET direct DeviceNet® IO-Link IO-Link direct CC-Link
direct input input type with direct input input type with STO direct input input type with direct input direct input input type with direct input
type STO sub-function type sub-function type STO sub-function type type STO sub-function type

Type

Series JXCE1 JXCEF JXC91 JXC9F JXCP1 JXCPF JXCD1 JXCL1 JXCLF JXCM1
EtherCAT direct EtherNet/IP™ direct PROFINET direct IO-Link direct
EtherCAT EtherNet/IP™ PROFINET DeviceNet® IO-Link CC-Link
Features input with STO input with STO input with STO input with STO
direct input direct input direct input direct input direct input direct input
sub-function sub-function sub-function sub-function
Compatible Step motor
motor (Servo/24 VDC)
Max. number 64 points
of step data

Power supply 24 VDC

voltage

Reference 1063
page

835
 Gripper
2-Finger Type/With Dust Cover LEHZJ Series
IncrementalMotorless Type
(Step Motor 24 VDC)

Specifications

Model LEHZJ10 LEHZJ16 LEHZJ20 LEHZJ25

Open and close stroke/both sides [mm] 4 6 10 14
251/73 249/77 246/53 243/48
Lead [mm]
(3.438) (3.234) (4.642) (5.063)
Gripping force Basic 6 to 14 16 to 40
[N]*1 *3 Compact 3 to 6 4 to 8 11 to 28
Open and close speed/Pushing speed [mm/s]*2 *3 5 to 80/5 to 50 5 to 100/5 to 50
Drive method Slide screw + Slide cam

Actuator specifications
Finger guide type Linear guide (No circulation)
Repeated length measurement accuracy [mm]*4 ±0.05
Finger backlash/
0.25 or less
one side [mm]*5
Repeatability [mm]*6 ±0.02
Positioning repeatability/one side [mm] ±0.05
Lost motion/one side [mm]*7 0.25 or less
Impact/Vibration resistance [m/s2]*8 150/30
Max. operating frequency [C.P.M] 60
Operating temperature range [°C] 5 to 40
Operating humidity range [%RH] 90 or less (No condensation)
Enclosure Equivalent to IP50
Basic 170 230 440 610
Weight [g]
Compact 140 200 375 545
Motor size l20 l28
Electric specifications

Motor type Step motor (Servo/24 VDC)

Encoder Incremental
Power supply voltage [V] 24 VDC ±10%
Basic Max. power 19 Max. power 51
Power [W]*9
Compact Max. power 14 Max. power 42
*1 G ripping 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 LEHZJ10/16 and ±25% (F.S.) for LEHZJ20/25. Gripping
with heavy attachment and fast pushing speed, may not reach the product specification. In this case, decrease the
weight and lower the pushing speed.
*2 Pushing speed should be set within the range during pushing (gripping) operations. Otherwise, it may cause a
malfunction. The open/close speed and pushing speed are for both fingers. The speed for one finger is half this value.
*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%)
*4 Repeated length measurement accuracy means dispersion (value on the controller monitor) when the workpiece is
repeatedly held in the same position.
*5 There will be no influence of backlash during pushing (gripping) operations. Make the stroke longer for the amount
of backlash when opening.
*6 Repeatability means the variation of the gripping position (workpiece position) when gripping operations are
repeatedly performed by the same sequence for the same workpiece.
*7 A reference value for correcting errors in reciprocal operation which occur during positioning operations
*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. (The test was performed with the gripper in the initial state.)
Vibration resistance: No malfunction occurred in a test ranging between 45 to 2000 Hz. The 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.)
*9 Indicates the max. power during operation (including the controller)
This value can be used for the selection of the power supply.

How to Mount
a) When using the thread on the b) When using the thread on the c) When using the thread on the
side of the body mounting plate back of the body

Foreign matter protection

seal (included)
∗ Refer to the operation
manual for details.

Positioning pin Positioning pin Positioning pin

836 A
LEHZJ Series
Incremental (Step Motor 24 VDC)

Construction
LEHZJ Series
!1

!3
e

w
t

q r

u y

o i

!2
!0

Component Parts
No. Description Material Note
1 Body Aluminum alloy Anodized
2 Motor plate Aluminum alloy Anodized
3 Guide ring Aluminum alloy
4 Slide nut Stainless steel Heat treatment + Special treatment
5 Slide bolt Stainless steel Heat treatment + Special treatment
6 Needle roller High carbon chromium bearing steel
7 Needle roller High carbon chromium bearing steel
8 Body plate Aluminum alloy Anodized
CR Chloroprene rubber
9 Dust cover FKM Fluororubber
Si Silicone rubber
10 Finger assembly —
11 Encoder dust cover Si Silicone rubber
12 Lever Special stainless steel
13 Step motor (Servo/24 VDC) —

Replacement Parts
No. Description LEHZJ10 LEHZJ16 LEHZJ20 LEHZJ25
CR MHZJ2-J10 MHZJ2-J16 MHZJ2-J20 MHZJ2-J25
9 Dust cover Material FKM MHZJ2-J10F MHZJ2-J16F MHZJ2-J20F MHZJ2-J25F
Si MHZJ2-J10S MHZJ2-J16S MHZJ2-J20S MHZJ2-J25S
10 Finger assembly MHZJ-AA1002 MHZJ-AA1602 MHZJ-AA2002 MHZJ-AA2502
* The dust cover is a consumable part. Please replace as necessary.

837
 Gripper
2-Finger Type/With Dust Cover LEHZJ Series
IncrementalMotorless Type
(Step Motor 24 VDC)

Dimensions
LEHZJ10(L)K2-4 29.3
15 Motor cable entry: Entry on the front side
[mm]
Model L (L1)
Encoder dust cover
LEHZJ10K2-4l 109.8 (62.7)
LEHZJ10LK2-4l 93.2 (46.1)

10.5

2 x ø5
20.5

20
Mounting reference plane 20
21 21.6
ø2.5H9 ( +0.025 ) depth 2.5
0 Motor cable length ≈ 300∗2
) depth 2.5

(Motor cable entry: Basic)

(L1)

2.5H9 (+0.025 )
2.5H9 ( +0.025

Mounting
*1 T

depth 2.5
 his is the range within

0
reference
0

plane which the fingers can move

ø2.5H9 ( +0.025 ) depth 2.5 when it returns to origin.
L

0
6.3

Make sure that workpieces

mounted on the fingers do
15.3
11.3

11.8 (12.1) 10.3

65
3.5 not interfere with other
2 x M3 x 0.5 x 6
47.1

3.5 workpieces or the facilities

5.7

around the fingers.

23.9

*2 Secure the motor cable so

that the cable is not
0
5 −0.05 repeatedly bent.
3

Reference position 2 x M4 x 0.7 x 6

12 4 x M2.5 x 0.45 of the gripping point 2 x ø3.3 through
(21)
When closed: 11+0.2
−0.5 (Finger operating
0
4 −0.1 When opened: 15 +0.2
−0.5 range: 11 to 16)∗1
19
(34)

LEHZJ16(L)K2-6 35
Motor cable entry: Entry on the front side
[mm]
Model L (L1) Encoder dust cover
LEHZJ16K2-6l 118.6 (62.7)
LEHZJ16LK2-6l 102 (46.1)
2 x ø5
12.1
23.7

20

Mounting reference plane 39 20

21
ø2.5H9 ( +0.025
0 ) depth 2.5 21.6
Motor cable length ≈ 300∗2
(Motor cable entry: Basic)
) depth 2.5

(L1)

2.5H9 ( +0.025 )
2.5H9 ( +0.025

Mounting
depth 2.5
0

*1 T
 his is the range within
0

ø2.5H9 (+0.025
0 ) depth 2.5 reference
plane which the fingers can move
when it returns to origin.
Make sure that workpieces
L

mounted on the fingers do

12.6

17.1

65
14.9 (16.1) 11.1

3.5 not interfere with other

2 x M4 x 0.7 x 6 workpieces or the facilities
55.9

3.5
1
6.6

around the fingers.

*2 Secure the motor cable so
31

that the cable is not

7

repeatedly bent.
0
8 −0.05 2 x M4 x 0.7 x 6
4

Reference position 2 x ø3.3 through

14 4 x M3 x 0.5 of the gripping point
When closed: 14.6 +0.3
−0.4 (Finger operating
(29.6) 0
5 −0.1 When opened: 20.6 +0.3
−0.4 range: 14.6 to 21.6)∗1
24
(45)

838
LEHZJ Series
Incremental (Step Motor 24 VDC)

Dimensions
LEHZJ20(L)K2-10 42 Motor cable entry: Entry on the front side

[mm]
Model L (L1)
LEHZJ20K2-10l 135.7 (64.8)
LEHZJ20LK2-10l 121.7 (50.8)
Encoder dust cover

2 x ø5
28.5

20
20

14.5
51
Mounting reference plane
29 ø3H9 ( +0.025
0 ) depth 3 29.6 Motor cable length ≈ 300∗2
(Motor cable entry: Basic)
) depth 3

(L1)

Mounting *1 T
 his is the range within
4
3H9 (+0.025

reference
plane 4 which the fingers can move
0

ø3H9 ( +0.025
0 ) depth 3 when it returns to origin.
Make sure that workpieces
mounted on the fingers do
L

24.1

)
not interfere with other
18.1

19.8 (19.7) 15.1

65
3H9 ( +0.025
workpieces or the facilities

depth 3
2 x M5 x 0.8 x 8

0
70.9

around the fingers.

1
9.1

*2 Secure the motor cable so

39.5

that the cable is not

9

2 x M5 x 0.8 x 8 repeatedly bent.

Reference position 2 x ø4.2 through
5

0
10 −0.05 of the gripping point When closed: 16 +0.3
−0.4 (Finger operating
18 4 x M4 x 0.7 0
When opened: 26 +0.3
8 −0.1 −0.4 range: 16 to 28)∗1
(34.6) 30
(58)

LEHZJ25(L)K2-14 52 Motor cable entry: Entry on the front side

[mm]
Model L (L1)
LEHZJ25K2-14l 146.7 (64.8)
Encoder dust cover
LEHZJ25LK2-14l 132.7 (50.8)
2 x ø5
33.7

20

20
17.1

64
Mounting reference plane
29 ø4H9 ( +0.030
0 ) depth 3 29.6 Motor cable length ≈ 300∗2
(Motor cable entry: Basic)
) depth 3

Mounting
(L1)

reference *1 T
 his is the range within
4H9 ( +0.030

plane
5 ø4H9 (+0.030 ) depth 3 which the fingers can move
0

0 5
when it returns to origin.
Make sure that workpieces
mounted on the fingers do
L

27.6

65
20.6

4H9 (+0.030
(22.8) 17.6

not interfere with other

depth 3
0

2 x M6 x 1.0 x 10 workpieces or the facilities

81.9

around the fingers.

1
10.6

*2 Secure the motor cable so

47.9

that the cable is not

25.1

2 x M6 x 1.0 x 10 repeatedly bent.

12

2 x ø5.2 through
0
12 −0.05 Reference position
When closed: 19 +0.3
6

of the gripping point −0.5 (Finger operating

20 4 x M5 x 0.8 10 0
When opened: 33 +0.3 range: 19 to 34.5)∗1
−0.1 −0.5
(42) 38
(73)

839
840
 Battery-less Absolute (Step Motor 24 VDC)
Gripper
LEHF Series
Model Selection
LEHFmE Seriessp. 849

Selection Procedure

Check the gripping Check the gripping Check the external

Step 1 Step 2 Step 3
force. point and overhang. force on fingers.

Step 1 Check the gripping force.

Check the Calculate the Select the model from Select the
conditions. required gripping force. gripping force graph. pushing speed.

Example Guidelines for the selection of the gripper

LEHF32
with respect to workpiece mass
Workpiece mass: 0.5 kg P Although conditions differ according to the workpiece Gripping force accuracy: ±20% (F.S.)
150
shape and the coefficient of friction between the
attachments and the workpiece, select a model that

Gripping force F [N]

can provide a gripping force of 10 to 20 times*1 the 120 Pushing force 100%
108
workpiece weight, or more.
*1 For details, refer to the model selection illustration.
90
70%
P If high acceleration or impact forces are encountered 60
during motion, a further margin of safety should be 40%
considered.
30
Example) When it is desired to set the gripping force at
20 times or more above the workpiece weight.
0
Required gripping force 0 20 30 40 60 80 100
= 0.5 kg x 20 x 9.8 m/s2 ≈ 98 N or more Gripping point L [mm]

When the LEHF32 is selected.

P Gripping force can be found to be 108 N from the
Pushing force: 100% intersection point of gripping point distance L = 30
mm and pushing force of 100%.
P Gripping force is 22 times greater than the workpiece
Gripping point distance: 30 mm weight, and therefore satisfies a gripping force
setting value of 20 times or more.

LEHF32
Pushing speed: 20 mm/s
110
Pushing force/Trigger level [%]

Pushing force and trigger level range

100
90
Calculation of required gripping force 80
When gripping a workpiece as in the figure 70
to the left, and with the following definitions,
60
F : Gripping force [N]
µ : Coefficient of friction between the 50
attachments and the workpiece 40
m : Workpiece mass [kg]
30
g : Gravitational acceleration (= 9.8 m/s2) 0 10 20 30 40
mg : Workpiece weight [N]
Finger Pushing speed [mm/s]
the conditions under which the workpiece
will not drop are P Pushing speed is satisfied at the point where 100%
2 x µF > mg of the pushing force and 20 mm/s of the pushing
F F speed cross.
Number of fingers
Workpiece mg
and therefore, F > * C
 onfirm the pushing speed range from the
µF µF 2xµ
With “a” representing the margin,
determined pushing force [%].
mg “F” is determined by the following formula:
Attachment mg
F= xa
2xµ
<Reference> Coefficient of friction µ (depends on the
“Gripping force at least 10 to 20 times the workpiece weight” operating environment, contact pressure, etc.)
• The “10 to 20 times or more of the workpiece weight” recommended by SMC is calculated with Coefficient of friction µ Attachment – Material of workpieces (guideline)
a margin of “a” = 4, which allows for impacts that occur during normal transportation, etc. 0.1 Metal (surface roughness Rz3.2 or less)
0.2 Metal
When µ = 0.2 When µ = 0.1
0.2 or more Rubber, Resin, etc.
mg mg
F= x 4 = 10 x mg F= x 4 = 20 x mg
2 x 0.2 2 x 0.1 * • Even in cases where the coefficient of friction is greater than m = 0.2, for
reasons of safety, select a gripping force which is at least 10 to 20 times
greater than the workpiece weight, as recommended by SMC.
10 x Workpiece weight 20 x Workpiece weight • If high acceleration or impact forces are encountered during motion,
a further margin should be considered.

841
 Model Selection LEHF Series
Battery-less Absolute (Step Motor 24 VDC)

Selection Procedure
Step 1 Check the gripping force: LEHF Series
P Indication of gripping force External Gripping State Internal Gripping State
Gripping force shown in the graphs
below is expressed as “F”, which is the
gripping force of one finger, when both
fingers and attachments are in full
contact with the workpiece as shown in
the figure below.
P Set the workpiece gripping point “L” so
that it is within the range shown in the
figure below. Finger Finger

L
F F L: Gripping L: Gripping
point F F point
Attachment Workpiece F: Gripping F: Gripping
force Attachment Workpiece force

LEHF32 LEHF40
Gripping force accuracy: ±20% (F.S.) Gripping force accuracy: ±20% (F.S.)
150 200
Pushing force 100%
Gripping force F [N]

Gripping force F [N]

120 Pushing force 100% 160

70%
90 120
70%
60 80 40%
40%
30 40

0 0
0 20 40 60 80 100 0 30 60 90 120
Gripping point L [mm] Gripping point L [mm]
* Pushing force is one of the values of step data that is input into the controller.

Selection of Pushing Speed

P Set the [Pushing force] and the [Trigger LV] within the
range shown in the figure below.
Pushing force/Trigger level [%]

110
Pushing force and trigger level range
100
90
80
70
60
50
40
30
0 10 20 30 40
Pushing speed [mm/s]

842
LEHF Series
Battery-less Absolute (Step Motor 24 VDC)

Selection Procedure
Step 2 Check the gripping point and overhang: LEHF Series

P Decide the gripping position of the workpiece so that the amount of overhang “H” stays within the range shown in the figure below.
P If the gripping position is out of the limit, it may shorten the life of the electric gripper.

External Gripping State Internal Gripping State

H: Overhang H: Overhang
L : Gripping point L : Gripping point

L
L

H Gripping position
Gripping position

LEHF32 LEHF40
100 120

80 100
Overhang H [mm]

Overhang H [mm]

80 40
60 40 %
% 60
40 Pu Pu 70
sh 70 40 sh %
ing % ing
20 for for
ce 20 ce
10 10
0% 0%
0 0
0 20 40 60 80 100 0 20 40 60 80 100 120
Gripping point L [mm] Gripping point L [mm]

* Pushing force is one of the values of step data that is input into the controller.

843
 Model Selection LEHF Series
Battery-less Absolute (Step Motor 24 VDC)

Selection Procedure
Step 3 Check the external force on fingers: LEHF Series

L
Mp My: Yaw moment
Fv
My
Fv: Allowable vertical load Mp: Pitch moment Mr
Mr: Roll moment

H
H, L: Distance to the point at which the load is applied [mm]

Allowable vertical load Static allowable moment

Model
Fv [N] Pitch moment: Mp [N·m] Yaw moment: My [N·m] Roll moment: Mr [N·m]
LEHF32EK2-l 176 1.4 1.4 2.8
LEHF40EK2-l 294 2 2 4
* Values for load in the table indicate static values.

Calculation of allowable external force (when moment load is applied) Calculation example
When a static load of f = 10 N is operating, which applies pitch
moment to point L = 30 mm from the LEHF20K2-l guide.
Therefore, it can be used.
M (Static allowable moment) [N·m] 0.68
Allowable load F [N] = Allowable load F =
L x 10–3 *1 30 x 10–3
(*1 Constant for unit conversion)
= 22.7 [N]
Load f = 10 [N] < 22.7 [N]

844
 Incremental (Step Motor 24 VDC)
Gripper 2-Finger Type
LEHF Series
Model Selection
LEHF Seriessp. 855

Selection Procedure

Check the gripping Check the gripping Check the external

Step 1 Step 2 Step 3
force. point and overhang. force on fingers.

Step 1 Check the gripping force.

Check the Calculate the Select the model from Select the
conditions. required gripping force. gripping force graph. pushing speed.

Example Guidelines for the selection of the gripper

LEHF20
with respect to workpiece mass
Workpiece mass: 0.1 kg P Although conditions differ according to the workpiece 35
shape and the coefficient of friction between the 30

Gripping force F [N]

attachments and the workpiece, select a model that 26 Pushing force 100%
can provide a gripping force of 10 to 20 times*1 the 25
workpiece weight, or more. 20
*1 For details, refer to the model selection illustration. 70%
15
P If high acceleration or impact forces are encountered
during motion, a further margin of safety should be 10 40%
considered.
5
Example) When it is desired to set the gripping force at
20 times or more above the workpiece weight. 0
0 20 30 40 60 80 100
Required gripping force
= 0.1 kg x 20 x 9.8 m/s2 ≈ 19.6 N or more Gripping point L [mm]
When the LEHF20 is selected.
P Gripping force can be found to be 26 N from the
Pushing force: 100% intersection point of gripping point distance L = 30
mm and pushing force of 100%.
P Gripping force is 26.5 times greater than the
Gripping point distance: 30 mm workpiece weight, and therefore satisfies a gripping
force setting value of 20 times or more.

LEHF20
Pushing speed: 20 mm/s
110
Pushing force/Trigger level [%]

Pushing force and trigger level range

100
90

Calculation of required gripping force 80

70
When gripping a workpiece as in the figure
60
to the left, and with the following definitions,
F : Gripping force [N] 50
µ : Coefficient of friction between the 40
attachments and the workpiece
30
m : Workpiece mass [kg] 0 10 20 30 40
g : Gravitational acceleration (= 9.8 m/s2)
Pushing speed [mm/s]
mg : Workpiece weight [N]
Finger
the conditions under which the workpiece P Pushing speed is satisfied at the point where 100%
will not drop are of the pushing force and 20 mm/s of the pushing
2 x µF > mg speed cross.
F F
Number of fingers
Workpiece mg * C
 onfirm the pushing speed range from the
and therefore, F > determined pushing force [%].
µF µF 2xµ
With “a” representing the margin,
mg “F” is determined by the following formula:
Attachment mg
F= xa
2xµ
<Reference> Coefficient of friction µ (depends on the
“Gripping force at least 10 to 20 times the workpiece weight” operating environment, contact pressure, etc.)
• The “10 to 20 times or more of the workpiece weight” recommended by SMC is calculated with Coefficient of friction µ Attachment – Material of workpieces (guideline)
a margin of “a” = 4, which allows for impacts that occur during normal transportation, etc. 0.1 Metal (surface roughness Rz3.2 or less)
0.2 Metal
When µ = 0.2 When µ = 0.1
0.2 or more Rubber, Resin, etc.
mg mg
F= x 4 = 10 x mg F= x 4 = 20 x mg
2 x 0.2 2 x 0.1 * • Even in cases where the coefficient of friction is greater than m = 0.2, for
reasons of safety, select a gripping force which is at least 10 to 20 times
greater than the workpiece weight, as recommended by SMC.
10 x Workpiece weight 20 x Workpiece weight • If high acceleration or impact forces are encountered during motion,
a further margin should be considered.

845
 Model Selection LEHF Series
Incremental (Step Motor 24 VDC)

Selection Procedure
Step 1 Check the gripping force: LEHF Series
P Indication of gripping force External Gripping State Internal Gripping State
Gripping force shown in the graphs
below is expressed as “F”, which is the
gripping force of one finger, when both
fingers and attachments are in full
contact with the workpiece as shown in
the figure below.
P Set the workpiece gripping point “L” so
that it is within the range shown in the
figure below. Finger Finger

L
F F L: Gripping L: Gripping
point F F point
Attachment Workpiece F: Gripping F: Gripping
force Attachment Workpiece force

LEHF10 LEHF40
Gripping force accuracy: ±30% (F.S.) Gripping force accuracy: ±20% (F.S.)
10 200
Pushing force 100%
Gripping force F [N]

Gripping force F [N]

8 160

Pushing force 100% 70%

6 120

70%
4 80 40%
40%
2 40

0 0
0 20 40 60 80 100 0 30 60 90 120
Gripping point L [mm] Gripping point L [mm]

LEHF20
Gripping force accuracy: ±25% (F.S.) Selection of Pushing Speed
35
30 P Set the [Pushing force] and the [Trigger LV] within the
Gripping force F [N]

Pushing force 100% range shown in the figure below.

25
20 70%
Pushing force/Trigger level [%]

110
15 Pushing force and trigger level range
40% 100
10
90
5 80
0 70
0 20 40 60 80 100
Gripping point L [mm] 60
50
LEHF32 40
Gripping force accuracy: ±20% (F.S.)
150 30
0 10 20 30 40
Pushing speed [mm/s]
Gripping force F [N]

120 Pushing force 100%

90
70%
60
40%
30

0
0 20 40 60 80 100
Gripping point L [mm]

* Pushing force is one of the values of step data that is input into the controller.
846
LEHF Series
Incremental (Step Motor 24 VDC)

Selection Procedure
Step 2 Check the gripping point and overhang: LEHF Series

P Decide the gripping position of the workpiece so that the amount of overhang “H” stays within the range shown in the figure below.
P If the gripping position is out of the limit, it may shorten the life of the electric gripper.

External Gripping State Internal Gripping State

H: Overhang H: Overhang
L : Gripping point L : Gripping point

L
L

H Gripping position
Gripping position

LEHF10 LEHF20
100 100

80 80
Overhang H [mm]

Overhang H [mm]

60 40 60 70
% %,
40
Pu %
40 Pu 70 40 sh
sh % ing
ing for
20 for 20
ce
ce 10
10 0%
0%
0 0
0 20 40 60 80 100 0 20 40 60 80 100
Gripping point L [mm] Gripping point L [mm]

LEHF32 LEHF40
100 120

80 100
Overhang H [mm]

Overhang H [mm]

80 40
60 40 %
% 60
40 Pu Pu 70
sh 70 40 sh %
ing % ing
20 for for
ce 20 ce
10 10
0% 0%
0 0
0 20 40 60 80 100 0 20 40 60 80 100 120
Gripping point L [mm] Gripping point L [mm]

* Pushing force is one of the values of step data that is input into the controller.
847
 Model Selection LEHF Series
Incremental (Step Motor 24 VDC)

Selection Procedure
Step 3 Check the external force on fingers: LEHF Series

L
Mp My: Yaw moment
Fv
My
Fv: Allowable vertical load Mp: Pitch moment Mr
Mr: Roll moment

H
H, L: Distance to the point at which the load is applied [mm]

Allowable vertical load Static allowable moment

Model
Fv [N] Pitch moment: Mp [N·m] Yaw moment: My [N·m] Roll moment: Mr [N·m]
LEHF10K2-l 58 0.26 0.26 0.53
LEHF20K2-l 98 0.68 0.68 1.4
LEHF32K2-l 176 1.4 1.4 2.8
LEHF40K2-l 294 2 2 4
* Values for load in the table indicate static values.

Calculation of allowable external force (when moment load is applied) Calculation example
When a static load of f = 10 N is operating, which applies pitch
moment to point L = 30 mm from the LEHF20K2-l guide.
Therefore, it can be used.
M (Static allowable moment) [N·m] 0.68
Allowable load F [N] = Allowable load F =
L x 10–3 *1 30 x 10–3
(*1 Constant for unit conversion)
= 22.7 [N]
Load f = 10 [N] < 22.7 [N]

848
 Battery-less Absolute (Step Motor 24 VDC)

Gripper
LEHF Series LEHF32, 40 ∗ F or details, refer to page
1343 and onward.

How to Order

LEHF 32 E K 2 64 R1 CD17T
q w er t y u i
For details on controllers,
refer to the next page.

q Size w Motor type e Lead r 2-finger type

32 Symbol Type Compatible controllers/drivers K Basic
40 JXC51 JXCP1 JXCEF
Battery-less absolute JXC61 JXCD1 JXC9F
E (Step motor 24 VDC) JXCE1 JXCL1 JXCPF
JXC91 JXCM1 JXCLF

t Stroke [mm] y Motor cable entry u Actuator cable type/length

Stroke/both sides Basic (Entry on the right side) Robotic cable [m]
Size
Basic Long stroke Motor cable Nil None R8 8∗1
32 64 32 R1 1.5 RA 10∗1
40 80 40 R3 3 RB 15∗1
Nil R5 5 RC 20∗1

Entry on the left side

Motor cable

849
 Gripper LEHF Series
Battery-less Absolute (Step Motor 24 VDC)

i Controller
Nil Without controller
Cm1mm With controller

CD 1 7 T
Interface (Communication protocol/Input/Output) Communication plug connector, I/O cable∗3
Number of axes, Special specification Mounting Symbol Type Applicable interface
Symbol Type With STO 7 Screw mounting Nil Without accessory —
Standard 8*2 DIN rail S Straight type communication plug connector DeviceNet®
sub-function
5 Parallel input (NPN) V T T-branch type communication plug connector CC-Link Ver. 1.10
6 Parallel input (PNP) V Number of axes, Special specification 1 I/O cable (1.5 m)
Parallel input (NPN)
E EtherCAT V V 3 I/O cable (3 m)
Parallel input (PNP)
Symbol Number of axes Specification
9 EtherNet/IP™ V V 5 I/O cable (5 m)
1 Single axis Standard
P PROFINET V V With STO
D DeviceNet® V F Single axis sub-function
L IO-Link V V
M CC-Link V

∗1 P roduced upon receipt of order ∗3 S

 elect “Nil” for anything other than DeviceNet®, CC-Link, or parallel
∗2 The DIN rail is not included. It must be ordered separately. input.
Select “Nil,” “S,” or “T” for DeviceNett® or CC-Link.
Select “Nil,” “1,” “3,” or “5” for parallel input.

Caution The actuator and controller are sold as a package.

[CE/UKCA-compliant products] Confirm that the combination of the controller and actuator
EMC compliance was tested by combining the electric actuator LEH is correct.
series and the controller JXC series.
<Check the following before use.>
The EMC depends on the configuration of the customer’s control panel
q C
 heck the actuator label for the model number.
and the relationship with other electrical equipment and wiring. Therefore,
This number should match that of the
compliance with the EMC directive cannot be certified for SMC components
controller.
incorporated into the customer’s equipment under actual operating
w C
 heck that the Parallel I/O configuration
conditions. As a result, it is necessary for the customer to verify compliance
matches (NPN or PNP).
with the EMC directive for the machinery and equipment as a whole.
[Precautions relating to differences in controller versions]
When the JXC series is to be used in combination with the battery-less
absolute encoder, use a controller that is version V3.4 or S3.4 or higher.
For details, refer to pages 1077 and 1078. q w
[UL certification]
The JXC series controllers used in combination with electric actuators * R
 efer to the Operation Manual for using the products.
Please download it via our website: https://www.smcworld.com
are UL certified.

Step data EtherCAT EtherCAT direct EtherNet/IP™ EtherNet/IP™ direct PROFINET PROFINET direct DeviceNet® IO-Link IO-Link direct CC-Link
input type direct input input type with direct input input type with direct input input type with direct input direct input input type with direct input
type STO sub-function type STO sub-function type STO sub-function type type STO sub-function type

Type

JXC51
Series JXCE1 JXCEF JXC91 JXC9F JXCP1 JXCPF JXCD1 JXCL1 JXCLF JXCM1
JXC61
EtherCAT direct EtherNet/IP™ direct PROFINET direct IO-Link direct
EtherCAT EtherNet/IP™ PROFINET DeviceNet® IO-Link CC-Link
Features Parallel I/O input with STO input with STO input with STO input with STO
direct input direct input direct input direct input direct input direct input
sub-function sub-function sub-function sub-function
Compatible motor Battery-less absolute (Step motor 24 VDC)
Max. number of
64 points
step data
Power supply voltage 24 VDC
Reference page 1017 1063

850
 LEHF Series
Battery-less Absolute (Step Motor 24 VDC)

Specifications
Battery-less Absolute (Step Motor 24 VDC)
Model LEHF32E LEHF40E
Open and close Basic 32 40
stroke/both sides [mm] Long stroke 64 80
70/16 70/16
Lead [mm]
(4.375) (4.375)
Gripping force [N]*1 *3 48 to 120 72 to 180
Open and close speed/Pushing speed [mm/s]*2 *3 5 to 100/5 to 30
Drive method Slide screw + Belt

Actuator specifications
Finger guide type Linear guide (No circulation)
Repeated length measurement accuracy [mm]*4 ±0.05
Finger backlash/one side [mm]*5 0.5 or less
Repeatability [mm]*6 ±0.05
Positioning repeatability/one side [mm] ±0.1
Lost motion/one side [mm]*7 0.3 or less
Impact/Vibration resistance [m/s2]*8 150/30
Max. operating frequency [C.P.M] 60
Operating temperature range [°C] 5 to 40
Operating humidity range [%RH] 90 or less (No condensation)
Enclosure IP20
Basic 1625 1980
Weight [g]
Long stroke 1970 2500
Motor size l42
Electric specifications

Motor type Battery-less absolute (Step motor 24 VDC)

Encoder Battery-less absolute
Power supply voltage [V] 24 VDC ±10%
Power [W]*9 Max. power 57 Max. power 61
*1 G ripping 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 ±20% (F.S.) for LEHF32/40. Gripping with heavy
attachment and fast pushing speed, may not reach the product specification. In this case, decrease the
weight and lower the pushing speed.
*2 Pushing speed should be set within the range during pushing (gripping) operations. Otherwise, it may cause a
malfunction. The open/close speed and pushing speed are for both fingers. The speed for one finger is half this value.
*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%)
*4 Repeated length measurement accuracy means dispersion (value on the controller monitor) when the
workpiece is repeatedly held in the same position.
*5 There will be no influence of backlash during pushing (gripping) operations. Make the stroke longer for the
amount of backlash when opening.
*6 Repeatability means the variation of the gripping position (workpiece position) when gripping operations are
repeatedly performed by the same sequence for the same workpiece.
*7 A reference value for correcting errors in reciprocal operation which occur during positioning operations
*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. (The test was performed with the gripper in the
initial state.)
Vibration resistance: No malfunction occurred in a test ranging between 45 to 2000 Hz. The 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.)
*9 Indicates the max. power during operation (including the controller)
This value can be used for the selection of the power supply.

How to Mount
a) When using the thread on the b) When using the thread on the c) When using the thread on the
body mounting plate back of the body

Mounting direction
Positioning pin

Positioning pin Positioning pin

Mounting Mounting
direction direction

A 851
 Gripper LEHF Series
Battery-less Absolute (Step Motor 24 VDC)

Construction
LEHF Series

!6 !8 !3
!0

o
!4

!5
i

!1
!2

u r q !7 y

Component Parts
No. Description Material Note
1 Body Aluminum alloy Anodized
2 Side plate A Aluminum alloy Anodized
3 Side plate B Aluminum alloy Anodized
4 Slide shaft Stainless steel Heat treatment + Special treatment
5 Slide bushing Stainless steel
6 Slide nut Stainless steel Heat treatment + Special treatment
7 Slide nut Stainless steel Heat treatment + Special treatment
8 Fixed plate Stainless steel
9 Motor plate Carbon steel
10 Pulley A Aluminum alloy
11 Pulley B Aluminum alloy
12 Bearing stopper Aluminum alloy
13 Rubber bushing NBR
14 Bearing —
15 Belt —
16 Flange —
17 Finger assembly —
Battery-less absolute
18 —
(Step motor 24 VDC)

852
LEHF Series
Battery-less Absolute (Step Motor 24 VDC)

Dimensions
LEHF32EK2-32: Basic 60
5H9 ( +0.030
0 )
4 x M6 x 1 x 10 depth 4

6
32
ø5H9 ( +0.030
0 )
depth 4
Motor cable length ≈ 240∗2 Motor cable length ≈ 220∗2
(Motor cable entry: (Motor cable entry:
Basic) 75 Entry on the left side)
Mounting
65 6 51
2 x ø5
reference plane
50
24

2 x M8 x 1.25 x 16

(69)

86.5
2 x ø6.4 through

108
112
121
5H9 ( +0.030 )

52
depth 4
0

ø5H9 ( +0.030 ) Manual override screw

0
depth 4 (both sides) 27
+0.1
(Finger operating When closed: 0 0
range: 0 to 33)∗1 When opened: 32 ±1
(49.5) 65.5
2.6 115 2.6

8 x M4 x 0.7 x 4 1.2 29 1.2

1.2 29 1.2

*1 T his is the range within which the fingers can move

24

20

when it returns to origin. Make sure that workpieces

mounted on the fingers do not interfere with other
13.5 ±0.05

workpieces or the facilities around the fingers.

2 x ø3H9 ( +0.025
0 ) 18 5.5
*2 Secure the motor cable so that the cable is not
depth 3 5.5 18
repeatedly bent.

LEHF32EK2-64: Long Stroke 60

5H9 ( +0.030
0 )
4 x M6 x 1 x 10
depth 4
6
32

ø5H9 ( +0.030
0 )
depth 4
Motor cable length ≈ 190∗2 Motor cable length ≈ 220∗2
(Motor cable entry: (Motor cable entry: Mounting reference plane
Basic) 75 Entry on the left side)
65 6 51
2 x ø5

50
24

2 x M8 x 1.25 x 16
(69)

86.5

2 x ø6.4 through
108
112
121
52
5H9 ( +0.030 )

Manual override screw

depth 4
0

+0.030
When closed: ø5H9 ( 0 ) (both sides)
0 +0.1
0 depth 4 27
When opened:
64 ±1 (Finger operating range: 0 to 65)∗1
(72.5) 84
2.6 156.5 2.6 *1 This is the range within which the fingers can move
when it returns to origin. Make sure that workpieces
1.2 37 1.2 1.2 37 1.2 mounted on the fingers do not interfere with other
8 x M4 x 0.7 x 4 workpieces or the facilities around the fingers.
*2 Secure the motor cable so that the cable is not
repeatedly bent.
24

20

2 x ø3H9 ( +0.025 )
13.5 ±0.05

0
depth 3 26 5.5 5.5 26

853
 Gripper LEHF Series
Battery-less Absolute (Step Motor 24 VDC)

Dimensions
LEHF40EK2-40: Basic 4 x M6 x 1 x 10
70
5H9 ( +0.030
0 )
depth 4

32
ø5H9 ( +0.030
0 )
depth 4
Motor cable length ≈ 240∗2 Motor cable length ≈ 210∗2
(Motor cable entry: (Motor cable entry: Mounting reference plane
Basic) 85 Entry on the left side)
65 6 51
2 x ø5

60
24

2 x M8 x 1.25 x 16

(69)

86.5
108
2 x ø6.4 through

112
124
5H9 ( +0.030 )

55
depth 4
0

ø5H9 ( +0.030 ) Manual override screw

When closed: 0
32
0 +0.1 (both sides)
0 depth 4
When opened:
40 ±1 (Finger operating range: 0 to 41)∗1
(60) 69.5
2.6 129.5 2.6

1.2 36 1.2
8 x M4 x 0.7 x 4
1.2 36 1.2
*1 This is the range within which the fingers can move
when it returns to origin. Make sure that workpieces
24

24

mounted on the fingers do not interfere with other

2 x ø3H9 ( +0.025 ) workpieces or the facilities around the fingers.
16 ±0.05

0
depth 3 20 8 8 20 *2 Secure the motor cable so that the cable is not
repeatedly bent.

LEHF40EK2-80: Long Stroke

70
4 x M6 x 1 x 10 5H9 ( +0.030
0 )
depth 4
6
32

ø5H9 ( +0.030
0 )
depth 4
Motor cable length ≈ 180∗2 Motor cable length ≈ 210∗2
(Motor cable entry: (Motor cable entry: Mounting reference plane
Basic) 85 Entry on the left side)
6 51
65
2 x ø5

60
24

2 x M8 x 1.25 x 16
(69)

86.5

2 x ø6.4 through
108

112

124
5H9 ( +0.030 )

55
depth 4
0

Manual override screw

When closed: ø5H9 ( +0.030
0 ) (both sides) 32
0 +0.1
0
When opened: depth 4
80 ±1 (Finger operating range: 0 to 81)∗1
(90) 99.5
2.6 189.5 2.6

1.2 46 1.2 1.2 46 1.2

8 x M4 x 0.7 x 4

*1 This
 is the range within which the fingers can move
when it returns to origin. Make sure that workpieces
24

24

mounted on the fingers do not interfere with other

workpieces or the facilities around the fingers.
16 ±0.05

2 x ø3H9 ( +0.025
0 ) 30 8 8 30 *2 Secure the motor cable so that the cable is not
depth 3 repeatedly bent.

854
 Incremental (Step Motor 24 VDC)

Gripper
2-Finger Type
∗ For details, refer to page 1343 and onward.

LEHF Series LEHF10, 20, 32, 40

How to Order

JXC m Series
CD17T
LEHF 10 K 2 16 S1
LEC m Series
AN 1
q we r t y u i o
For details on controllers, refer to page 856.

q Size w Lead e 2-finger type r Stroke [mm]

10 K Basic Stroke/both sides
Size
20 Basic Long stroke
32 16 32 10
40 24 48 20
32 64 32
40 80 40

t Motor cable entry y Actuator cable type/length∗2

Basic (Entry on the right side) Standard cable[m] Robotic cable  [m]
Motor cable Nil None R1 1.5 RA 10∗1
S1 1.5 R3 3 RB 15∗1
S3 3 R5 5 RC 20∗1
Nil S5 5 R8 8∗1

Entry on the left side

Motor cable

855
 Gripper
2-Finger Type LEHF Series
IncrementalMotorless Type
(Step Motor 24 VDC)

JXCm Series (For details, refer to page 857.)

u Controller
Nil Without controller
Cm1mm With controller

CD 1 7 T Communication plug connector, I/O cable*8

Symbol Type Applicable interface
Interface (Communication protocol/Input/Output) Nil Without accessory —
Number of axes, Special specification Mounting S Straight type communication plug connector DeviceNet®
Symbol Type
Standard
With STO 7 Screw mounting T T-branch type communication plug connector CC-Link Ver. 1.10
sub-function 8∗7 DIN rail
5 Parallel input (NPN) V 1 I/O cable (1.5 m)
Parallel input (NPN)
6 Parallel input (PNP) V 3 I/O cable (3 m)
Parallel input (PNP)
Number of axes, Special specification
E EtherCAT V V 5 I/O cable (5 m)
Symbol Number of axes Specification
9 EtherNet/IP™ V V
1 Single axis Standard
P PROFINET V V
With STO
D DeviceNet® V F Single axis sub-function
L IO-Link V V
M CC-Link V

LECm Series (For details, refer to page 857.)

AN 1
u i o
u Controller/Driver type∗3 i I/O cable length∗5 o Controller/Driver mounting
Nil Without controller/driver Without cable Nil Screw mounting
Nil
1N LECP1 NPN (Without communication plug connector) D DIN rail∗7
1P (Programless type) PNP 1 1.5 m
AN LECPA∗4 NPN 3 3 m∗6
AP (Pulse input type) PNP 5 5 m∗6

∗1 P roduced upon receipt of order (Robotic cable only) ∗6 W hen “Pulse input type” is selected for controller/driver types, pulse
∗2 The standard cable should only be used on fixed parts. input usable only with differential. Only 1.5 m cables usable with open
For use on moving parts, select the robotic cable. collector
Refer to the Web Catalog if only the actuator cable is required. ∗7 The DIN rail is not included. It must be ordered separately.
∗3 For details on controllers/drivers and compatible motors, refer to the ∗8 Select “Nil” for anything other than DeviceNet®, CC-Link, or parallel
compatible controllers/drivers on the next page. input.
∗4 W hen pulse signals are open collector, order the current limiting Select “Nil,” “S,” or “T” for DeviceNet® or CC-Link.
resistor (LEC-PA-R-m) on page 1062 separately. Select “Nil,” “1,” “3,” or “5” for parallel input.
∗5 When “Without controller/driver” is selected for controller/driver types,
I/O cable cannot be selected. If an I/O cable is required, refer to the
cable for the LECP1 (Web Catalog) or LECPA (Web Catalog).

Caution The actuator and controller/driver are sold as

[CE/UKCA-compliant products] a package.
q EMC compliance was tested by combining the electric actuator LEH Confirm that the combination of the controller/driver and
series and the controller LEC/JXC series.
the actuator is correct.
The EMC depends on the configuration of the customer’s control panel
and the relationship with other electrical equipment and wiring. <Check the following before use.>
Therefore, compliance with the EMC directive cannot be certified for q Check the actuator label for the model number. This
SMC components incorporated into the customer’s equipment under number should match that of the controller/driver.
actual operating conditions. As a result, it is necessary for the w Check that the Parallel I/O configuration matches
customer to verify compliance with the EMC directive for the machinery (NPN or PNP).
and equipment as a whole.
[UL-compliant products (For the LEC series)]
When compliance with UL is required, the electric actuator and controller/
driver should be used with a UL1310 Class 2 power supply.
q w

∗ R
 efer to the Operation Manual for using the products. Please download
it via our website: https://www.smcworld.com
856 B
LEHF Series
Incremental (Step Motor 24 VDC)

Compatible Controllers/Drivers

Step data Programless type Pulse input type

input type

Type

JXC51
Series LECP1 LECPA
JXC61
Capable of setting up
Operation by
Features Parallel I/O operation (step data) without
pulse signals
using a PC or teaching box

Compatible Step motor

motor (Servo/24 VDC)
Max. number
64 points 14 points —
of step data
Power supply 24 VDC
voltage

Reference 1017 1042 1057

page

EtherCAT EtherCAT direct EtherNet/IP™ EtherNet/IP™ direct PROFINET PROFINET direct DeviceNet® IO-Link IO-Link direct CC-Link
direct input input type with direct input input type with STO direct input input type with direct input direct input input type with direct input
type STO sub-function type sub-function type STO sub-function type type STO sub-function type

Type

Series JXCE1 JXCEF JXC91 JXC9F JXCP1 JXCPF JXCD1 JXCL1 JXCLF JXCM1
EtherCAT direct EtherNet/IP™ direct PROFINET direct IO-Link direct
EtherCAT EtherNet/IP™ PROFINET DeviceNet® IO-Link CC-Link
Features input with STO input with STO input with STO input with STO
direct input direct input direct input direct input direct input direct input
sub-function sub-function sub-function sub-function
Compatible Step motor
motor (Servo/24 VDC)
Max. number 64 points
of step data

Power supply 24 VDC

voltage

Reference 1063
page

857
 Gripper
2-Finger Type LEHF Series
IncrementalMotorless Type
(Step Motor 24 VDC)

Specifications

Model LEHF10 LEHF20 LEHF32 LEHF40

Open and close Basic 16 24 32 40
stroke/both sides [mm] Long stroke 32 48 64 80
40/15 50/15 70/16 70/16
Lead [mm]
(2.667) (3.333) (4.375) (4.375)
Gripping force [N]*1 *3 3 to 7 11 to 28 48 to 120 72 to 180
Open and close speed/Pushing speed [mm/s]*2 *3 5 to 80/5 to 20 5 to 100/5 to 30

Actuator specifications
Drive method Slide screw + Belt
Finger guide type Linear guide (No circulation)
Repeated length measurement accuracy [mm]*4 ±0.05
Finger backlash/one side [mm]*5 0.5 or less
Repeatability [mm]*6 ±0.05
Positioning repeatability/one side [mm] ±0.1
Lost motion/one side [mm]*7 0.3 or less
Impact/Vibration resistance [m/s2]*8 150/30
Max. operating frequency [C.P.M] 60
Operating temperature range [°C] 5 to 40
Operating humidity range [%RH] 90 or less (No condensation)
Enclosure IP20
Basic 340 610 1625 1980
Weight [g]
Long stroke 370 750 1970 2500
Motor size l20 l28 l42
Electric specifications

Motor type Step motor (Servo/24 VDC)

Encoder Incremental
Power supply voltage [V] 24 VDC ±10%
Max. Max. Max. Max.
Power [W]*9
power 19 power 51 power 57 power 61
*1 G ripping 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. Gripping with heavy attachment and fast pushing speed, may not
reach the product specification. In this case, decrease the weight and lower the pushing speed.
*2 Pushing speed should be set within the range during pushing (gripping) operations. Otherwise, it may cause a
malfunction. The open/close speed and pushing speed are for both fingers. The speed for one finger is half this value.
*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%)
*4 Repeated length measurement accuracy means dispersion (value on the controller monitor) when the
workpiece is repeatedly held in the same position.
*5 There will be no influence of backlash during pushing (gripping) operations. Make the stroke longer for the
amount of backlash when opening.
*6 Repeatability means the variation of the gripping position (workpiece position) when gripping operations are
repeatedly performed by the same sequence for the same workpiece.
*7 A reference value for correcting errors in reciprocal operation which occur during positioning operations
*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. (The test was performed with the gripper in the
initial state.)
Vibration resistance: No malfunction occurred in a test ranging between 45 to 2000 Hz. The 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.)
*9 Indicates the max. power during operation (including the controller)
This value can be used for the selection of the power supply.

How to Mount
a) When using the thread on the b) When using the thread on the c) When using the thread on the
body mounting plate back of the body

Mounting direction
Positioning pin

Positioning pin Positioning pin

Mounting Mounting
direction direction

858 A
LEHF Series
Incremental (Step Motor 24 VDC)

Construction
LEHF Series

!3 o

!6 !8

!0
i

!5
y
!1

!4 !2

w u t r q !7 e

Component Parts
No. Description Material Note
1 Body Aluminum alloy Anodized
2 Side plate A Aluminum alloy Anodized
3 Side plate B Aluminum alloy Anodized
4 Slide shaft Stainless steel Heat treatment + Special treatment
5 Slide bushing Stainless steel
6 Slide nut Stainless steel Heat treatment + Special treatment
7 Slide nut Stainless steel Heat treatment + Special treatment
8 Fixed plate Stainless steel
9 Motor plate Carbon steel
10 Pulley A Aluminum alloy
11 Pulley B Aluminum alloy
12 Bearing stopper Aluminum alloy
13 Rubber bushing NBR
14 Bearing —
15 Belt —
16 Flange —
17 Finger assembly —
18 Step motor (Servo/24 VDC) —

859
 Gripper
2-Finger Type LEHF Series
IncrementalMotorless Type
(Step Motor 24 VDC)

Dimensions
LEHF10K2-16: Basic 30
3H9 ( +0.025
0 )
4 x M4 x 0.7 x 7 depth 3

4
17
ø3H9 ( +0.025
0 )
depth 3
Motor cable length ≈ 290∗2 Motor cable length ≈ 230∗2
(Motor cable entry: (Motor cable entry:
Basic) 40 Entry on the left side)
65 25
4 Mounting reference plane 27
2 x ø5
20

47.5
30.5 (37)

59.5
62.5
67.5
3H9 ( +0.025 )

ø3H9 ( +0.025 ) Manual override screw

depth 3
0

0
depth 3 (both sides) 17
+0.1
When closed: 0 0
When opened: 16 ±1 (Finger operating range: 0 to 17)∗1
2 x M5 x 0.8 x 10 (38.2) 36.4
2 x ø4.2 through 1.7 74.6 1.7 *1 T his is the range within which the fingers can move
when it returns to origin. Make sure that workpieces
0.8 0.8
mounted on the fingers do not interfere with other
0.8 14 14 0.8 workpieces or the facilities around the fingers.
4 x M2.5 x 0.45 x 3 *2 Secure the motor cable so that the cable is not
12

repeatedly bent.
20

7
8.5 ±0.05

+0.025
2 x ø2H9 ( 0 ) 11
depth 2
7
11

LEHF10K2-32: Long Stroke

30
3H9 ( +0.025
0 )
4 x M4 x 0.7 x 7 depth 3
4
17

ø3H9 ( +0.025
0 )
depth 3

Motor cable length ≈ 280∗2 Motor cable length ≈ 230∗2

(Motor cable entry: (Motor cable entry:
Basic) 40 Entry on the left side)
65 25
4 Mounting reference plane 27
2 x ø5
20

30.5 (37)

47.5
59.5
62.5
67.5
3H9 ( +0.025 )
depth 3
0

ø3H9 ( +0.025
0 ) Manual override screw 17
depth 3 (both sides)
When closed: 0 +0.1
0
2 x M5 x 0.8 x 10
When opened: 32 ±1 (Finger operating range: 0 to 33)∗1
2 x ø4.2 through
(37.5) 45.9
1.7 83.4 1.7
*1 This is the range within which the fingers can move
0.8 when it returns to origin. Make sure that workpieces
mounted on the fingers do not interfere with other
8 x M2.5 x 0.45 x 3 0.8 18 0.8 18 0.8 workpieces or the facilities around the fingers.
*2 Secure the motor cable so that the cable is not
12

repeatedly bent.
20

8.5 ±0.05

2 x ø2H9 ( +0.025
0 ) 8 5 5 8
depth 2

860
LEHF Series
Incremental (Step Motor 24 VDC)

Dimensions
LEHF20K2-24: Basic 40
4H9 (+0.030
0 )
4 x M5 x 0.8 x 8 depth 3

5
22
ø4H9 ( +0.030
0 )
depth 3
Motor cable length ≈ 270∗2 Motor cable length ≈ 230∗2
(Motor cable entry: (Motor cable entry:
Basic) 50 Entry on the left side)
65 5 Mounting reference plane 35

2 x ø5
30
20

2 x M6 x 1 x 12

57.8
(46)

72.8
75.8
2 x ø5.2 through

83
4H9 (+0.030 )

37
depth 3
0

Manual override screw

ø4H9 ( +0.030
0 ) (both sides) 20
+0.1
When closed: 0 0 depth 3
(Finger operating range: 0 to 25)∗1 When opened: 24 ±1
(35.8) 45.7
*1 T
 his is the range within which
2 81.5 2
the fingers can move when it
returns to origin. Make sure that 1 21 1
workpieces mounted on the
8 x M3 x 0.5 x 4 1 21 1
fingers do not interfere with
other workpieces or the facilities
15

around the fingers.

20

*2 Secure the motor cable so that

the cable is not repeatedly bent.
2 x ø2.5H9 ( +0.025 )
10 ±0.05

0
4.5 4.5
depth 2.5
12 12

LEHF20K2-48: Long Stroke

40
4H9 (+0.030
0 )
4 x M5 x 0.8 x 8 depth 3
5
22

ø4H9 ( +0.030
0 )
depth 3

Motor cable length ≈ 240∗2 Motor cable length ≈ 230∗2

(Motor cable entry: (Motor cable entry:
Basic) 50 Entry on the left side) Mounting
65 5 reference plane 35
2 x ø5

30
20

57.8
(46)

2 x M6 x 1 x 12
72.8
75.8

2 x ø5.2 through
83
4H9 ( +0.030 )

37
depth 3
0

ø4H9 ( +0.030) Manual override screw

0
(both sides) 20
When closed: 0 +0.1
0 depth 3
(Finger operating range: 0 to 49)∗1 When opened: 48 ±1
(53.8) 62.2
*1 T
 his is the range within which
2 116 2
the fingers can move when it
returns to origin. Make sure that
workpieces mounted on the 1 27 1 1 27 1
fingers do not interfere with 8 x M3 x 0.5 x 4
15

other workpieces or the facilities

around the fingers.
20

*2 Secure the motor cable so that

the cable is not repeatedly bent. 2 x ø2.5H9 ( +0.025 )
10 ±0.05

0
18 4.5 4.5 18
depth 2.5

861
 Gripper
2-Finger Type LEHF Series
IncrementalMotorless Type
(Step Motor 24 VDC)

Dimensions
LEHF32K2-32: Basic 60
5H9 ( +0.030
0 )
4 x M6 x 1 x 10 depth 4

6
32
ø5H9 ( +0.030
0 )
depth 4
Motor cable length ≈ 240∗2 Motor cable length ≈ 220∗2
(Motor cable entry: (Motor cable entry:
Basic) 75 Entry on the left side)
Mounting
65 6 51
2 x ø5
reference plane
50
20

2 x M8 x 1.25 x 16

(69)

86.5
2 x ø6.4 through

108
112
121
5H9 ( +0.030 )

52
depth 4
0

ø5H9 ( +0.030 ) Manual override screw

0
depth 4 (both sides) 27
+0.1
(Finger operating When closed: 0 0
range: 0 to 33)∗1 When opened: 32 ±1
(49.5) 65.5
2.6 115 2.6

8 x M4 x 0.7 x 4 1.2 29 1.2

1.2 29 1.2

*1 T his is the range within which the fingers can move

20

20

when it returns to origin. Make sure that workpieces

mounted on the fingers do not interfere with other
13.5 ±0.05

workpieces or the facilities around the fingers.

2 x ø3H9 ( +0.025
0 ) 18 5.5
*2 Secure the motor cable so that the cable is not
depth 3 5.5 18
repeatedly bent.

LEHF32K2-64: Long Stroke 60

5H9 ( +0.030
0 )
4 x M6 x 1 x 10
depth 4
6
32

ø5H9 ( +0.030
0 )
depth 4
Motor cable length ≈ 190∗2 Motor cable length ≈ 220∗2
(Motor cable entry: (Motor cable entry: Mounting reference plane
Basic) 75 Entry on the left side)
65 6 51
2 x ø5

50
20

2 x M8 x 1.25 x 16
(69)

86.5

2 x ø6.4 through
108
112
121
52
5H9 ( +0.030 )

Manual override screw

depth 4
0

+0.030
When closed: ø5H9 ( 0 ) (both sides)
0+0.1
0 depth 4 27
When opened:
64 ±1 (Finger operating range: 0 to 65)∗1
(72.5) 84
2.6 156.5 2.6 *1 This is the range within which the fingers can move
when it returns to origin. Make sure that workpieces
1.2 37 1.2 1.2 37 1.2 mounted on the fingers do not interfere with other
8 x M4 x 0.7 x 4 workpieces or the facilities around the fingers.
*2 Secure the motor cable so that the cable is not
repeatedly bent.
20

20

2 x ø3H9 ( +0.025 )
13.5 ±0.05

0
depth 3 26 5.5 5.5 26

862
LEHF Series
Incremental (Step Motor 24 VDC)

Dimensions
LEHF40K2-40: Basic 4 x M6 x 1 x 10
70
5H9 ( +0.030
0 )
depth 4

32
ø5H9 ( +0.030
0 )
depth 4
Motor cable length ≈ 240∗2 Motor cable length ≈ 210∗2
(Motor cable entry: (Motor cable entry: Mounting reference plane
Basic) 85 Entry on the left side)
65 6 51
2 x ø5

60
20

2 x M8 x 1.25 x 16

(69)

86.5
108
2 x ø6.4 through

112
124
5H9 ( +0.030 )

55
depth 4
0

ø5H9 ( +0.030 ) Manual override screw

When closed: 0
32
0 +0.1 (both sides)
0 depth 4
When opened:
40 ±1 (Finger operating range: 0 to 41)∗1
(60) 69.5
2.6 129.5 2.6 *1 This is the range within which the fingers can move
when it returns to origin. Make sure that workpieces
1.2 36 1.2 mounted on the fingers do not interfere with other
8 x M4 x 0.7 x 4
1.2 36 1.2 workpieces or the facilities around the fingers.
*2 Secure the motor cable so that the cable is not
repeatedly bent.
20

24

2 x ø3H9 ( +0.025 )
16 ±0.05

0
depth 3 20 8 8 20

LEHF40K2-80: Long Stroke

70
4 x M6 x 1 x 10 5H9 ( +0.030
0 )
depth 4
6
32

ø5H9 ( +0.030
0 )
depth 4
Motor cable length ≈ 180∗2 Motor cable length ≈ 210∗2
(Motor cable entry: (Motor cable entry: Mounting reference plane
Basic) 85 Entry on the left side)
6 51
65
2 x ø5

60
20

2 x M8 x 1.25 x 16
(69)

86.5

2 x ø6.4 through
108

112

124
5H9 ( +0.030 )

55
depth 4
0

Manual override screw

When closed: ø5H9 ( +0.030
0 ) (both sides) 32
0 +0.1
0
When opened: depth 4
80 ±1 (Finger operating range: 0 to 81)∗1
(90) 99.5
2.6 189.5 2.6 *1 This
 is the range within which the fingers can move
when it returns to origin. Make sure that workpieces
mounted on the fingers do not interfere with other
1.2 46 1.2 1.2 46 1.2
8 x M4 x 0.7 x 4 workpieces or the facilities around the fingers.
*2 Secure the motor cable so that the cable is not
repeatedly bent.
20

24
16 ±0.05

2 x ø3H9 ( +0.025
0 ) 30 8 8 30
depth 3

863
 Incremental (Step Motor 24 VDC)
Gripper 3-Finger Type
LEHS Series
Model Selection
LEHS Seriessp. 867

Selection Procedure

Step Check the gripping force.

Check the Calculate the Select the model from Select the
conditions. required gripping force. gripping force graph. pushing speed.

Example Guidelines for the selection of the gripper LEHS20

Workpiece mass: 0.1 kg with respect to workpiece mass 25
P Although conditions differ according to the workpiece Pushing force 100%
shape and the coefficient of friction between the

Gripping force F [N]

20
attachments and the workpiece, select a model that
can provide a gripping force of 7 to 13 times*1 15 70%
the workpiece weight, or more. 14
*1  For details, refer to the calculation of required gripping 10
force. 40%
P If high acceleration or impact forces are encountered 5
during motion, a further margin of safety should be
considered. 0
Example) When it is desired to set the gripping force at 0 20 30 40 60 80 100
13 times or more above the workpiece weight. Gripping point L [mm]
Required gripping force When the LEHS20 is selected.
= 0.1 kg x 13 x 9.8 m/s2 ≈ 12.7 N or more
P Gripping force can be found to be 14 N from the
intersection point of gripping point distance L = 30
Pushing force: 70% mm and pushing force of 70%.
P Gripping force is 14 times greater than the
Gripping point distance: 30 mm workpiece weight, and therefore satisfies a gripping
force setting value of 13 times or more.

LEHS20
Pushing speed: 30 mm/s 110
Pushing force/Trigger level [%]

Pushing force and trigger level range

100
90
Calculation of required gripping force 80
When gripping a workpiece as in the figure 70
to the left, and with the following definitions, 60
F : Gripping force [N]
µ : Coefficient of friction between the 50
attachments and the workpiece 40
m : Workpiece mass [kg] 30
g : Gravitational acceleration (= 9.8 m/s2) 0 10 20 30 40 50 60
mg : Workpiece weight [N]
Pushing speed [mm/s]
the conditions under which the workpiece
will not drop are P Pushing speed is satisfied at the point where 70%
Finger 3 x µF > mg of the pushing force and 30 mm/s of the pushing
Number of fingers speed cross.
mg
and therefore, F >
3xµ * C
 onfirm the pushing speed range from the
determined pushing force [%].
F F With “a” representing the margin,
“F” is determined by the following formula:
Attachment µF µF Workpiece
mg
mg F= xa
3xµ <Reference> Coefficient of friction µ (depends on the
operating environment, contact pressure, etc.)
“Gripping force at least 7 to 13 times the workpiece weight” Coefficient of friction µ Attachment – Material of workpieces (guideline)
• The “7 to 13 times or more of the workpiece weight” recommended by SMC is calculated with
0.1 Metal (surface roughness Rz3.2 or less)
a margin of “a” = 4, which allows for impacts that occur during normal transportation, etc.
0.2 Metal
0.2 or more Rubber, Resin, etc.
When µ = 0.2 When µ = 0.1
* • Even in cases where the coefficient of friction is greater
mg mg
F= x 4 = 6.7 x mg F= x 4 = 13.3 x mg than m = 0.2, for reasons of safety, select a gripping force
3 x 0.2 3 x 0.1 which is at least 7 to 13 times greater than the workpiece
weight, as recommended by SMC.
• If high acceleration or impact forces are encountered
7 x Workpiece weight 13 x Workpiece weight during motion, a further margin should be considered.

864
LEHS Series
Incremental (Step Motor 24 VDC)

Selection Procedure
Step Check the gripping force: LEHS Series
P Indication of gripping force
The gripping force shown in the graphs on page 866 is P Set the workpiece gripping point “L” so that it is within the range
expressed as “F”, which is the gripping force of one finger, shown in the figure below.
when three fingers and attachments are in full contact with the
workpiece as shown in the figure below.

External Gripping State Internal Gripping State

Finger Finger
Attachment Attachment
L

L
Workpiece
Workpiece L: Gripping L: Gripping
point point

F F
F F
F: Gripping F: Gripping
force force

865
 Model Selection LEHS Series
Incremental (Step Motor 24 VDC)

Selection Procedure
Step Check the gripping force: LEHS Series
* P
 ushing force is one of the values of * P
 ushing force is one of the values of
Basic step data that is input into the controller. Compact step data that is input into the controller.

LEHS10 LEHS10L
Gripping force accuracy: ±30% (F.S.) Gripping force accuracy: ±30% (F.S.)
8 5
Gripping force F [N]

Gripping force F [N]

4
6 Pushing force 100%
Pushing force 100%
3
4 70%
70% 2
40%
2 40%
1

0 0
0 10 20 30 40 50 60 70 0 20 40 60 80
Gripping point L [mm] Gripping point L [mm]

LEHS20 LEHS20L
Gripping force accuracy: ±25% (F.S.) Gripping force accuracy: ±25% (F.S.)
25 20
Pushing force 100% Pushing force 100%
Gripping force F [N]

Gripping force F [N]

20
15
15 70% 70%
10
10 40%
40%
5
5

0 0
0 20 40 60 80 100 0 20 40 60 80 100
Gripping point L [mm] Gripping point L [mm]

LEHS32
Gripping force accuracy: ±20% (F.S.)
100 Selection of Pushing Speed
Pushing force 100% P Set the [Pushing force] and the [Trigger LV] within the
Gripping force F [N]

80 range shown in the figure below.

60 70% Basic
110
Pushing force/Trigger level [%]

Pushing force and trigger level range

40 40% 100
90
20 80
70
0 60
0 20 40 60 80 100 120 50
Gripping point L [mm] 40
30
LEHS40 0 10 20 30 40 50 60
Gripping force accuracy: ±20% (F.S.) Pushing speed [mm/s]
160
Compact
Pushing force 100%
Gripping force F [N]

110
Pushing force/Trigger level [%]

120 Pushing force and trigger level range

100
70% 90
80 80
70
40%
60
40
50
40
0 30
0 20 40 60 80 100 120 140 0 10 20 30 40 50 60
Gripping point L [mm] Pushing speed [mm/s]
866
 Incremental (Step Motor 24 VDC)

Gripper
3-Finger Type
∗ For details, refer to page 1343 and onward.

LEHS Series LEHS10, 20, 32, 40

How to Order

JXC m Series
CD17T
LEHS 10 K3 4 S1
LEC m Series
AN 1
q w er t y u i o !0
For details on controllers, refer to page 868.

q Size w Motor size e Lead

10 Nil Basic K Basic
20 L∗1 Compact
32
40

r 3-finger type t Stroke [mm] y Motor cable entry

Stroke/diameter Size Basic (Entry on the left side) Mounting
4 10 reference plane

6 20
8 32
Nil
12 40

u Actuator cable type/length∗3 Motor cable

Connector cover
Standard cable [m] Robotic cable  [m]
Nil None R1 1.5 RA 10∗2 Entry on the front side Mounting reference plane
S1 1.5 R3 3 RB 15∗2
S3 3 R5 5 RC 20∗2
S5 5 R8 8∗2

F
Motor cable
Connector cover

Entry on the Mounting reference plane

right side Motor cable
Connector cover

867
 Gripper
3-Finger Type LEHS Series
IncrementalMotorless Type
(Step Motor 24 VDC)

JXCm Series (For details, refer to page 869.)

i Controller
Nil Without controller
Cm1mm With controller

CD 1 7 T Communication plug connector, I/O cable*9

Symbol Type Applicable interface
Interface (Communication protocol/Input/Output) Nil Without accessory —
Number of axes, Special specification Mounting S Straight type communication plug connector DeviceNet®
Symbol Type
Standard
With STO 7 Screw mounting T T-branch type communication plug connector CC-Link Ver. 1.10
sub-function 8∗8 DIN rail
5 Parallel input (NPN) V 1 I/O cable (1.5 m)
Parallel input (NPN)
6 Parallel input (PNP) V 3 I/O cable (3 m)
Parallel input (PNP)
Number of axes, Special specification
E EtherCAT V V 5 I/O cable (5 m)
Symbol Number of axes Specification
9 EtherNet/IP™ V V
1 Single axis Standard
P PROFINET V V
With STO
D DeviceNet® V F Single axis sub-function
L IO-Link V V
M CC-Link V

LECm Series (For details, refer to page 869.)

AN 1
i o !0
i Controller/Driver type∗4 o I/O cable length∗6 !0 Controller/Driver mounting
Nil Without controller/driver Without cable Nil Screw mounting
Nil
1N LECP1 NPN (Without communication plug connector) D DIN rail∗8
1P (Programless type) PNP 1 1.5 m
AN LECPA∗5 NPN 3 3 m∗7
AP (Pulse input type) PNP 5 5 m∗7

∗1 S ize: 10, 20 only ∗7 W hen “Pulse input type” is selected for controller/driver types, pulse
∗2 Produced upon receipt of order (Robotic cable only) input usable only with differential. Only 1.5 m cables usable with open
∗3 The standard cable should only be used on fixed parts. collector
For use on moving parts, select the robotic cable. ∗8 The DIN rail is not included. It must be ordered separately.
Refer to the Web Catalog if only the actuator cable is required. ∗9 Select “Nil” for anything other than DeviceNet®, CC-Link, or parallel
∗4 For details on controllers/drivers and compatible motors, refer to the input.
compatible controllers/drivers on the next page. Select “Nil,” “S,” or “T” for DeviceNet® or CC-Link.
∗5 W hen pulse signals are open collector, order the current limiting Select “Nil,” “1,” “3,” or “5” for parallel input.
resistor (LEC-PA-R-m) on page1062 separately.
∗6 When “Without controller/driver” is selected for controller/driver types,
I/O cable cannot be selected. If an I/O cable is required, refer to the
cable for the LECP1 (Web Catalog) or LECPA (Web Catalog).

Caution The actuator and controller/driver are sold as

[CE/UKCA-compliant products] a package.
q EMC compliance was tested by combining the electric actuator LEH Confirm that the combination of the controller/driver and
series and the controller LEC/JXC series.
the actuator is correct.
The EMC depends on the configuration of the customer’s control panel
and the relationship with other electrical equipment and wiring. <Check the following before use.>
Therefore, compliance with the EMC directive cannot be certified for q Check the actuator label for the model number. This
SMC components incorporated into the customer’s equipment under number should match that of the controller/driver.
actual operating conditions. As a result, it is necessary for the w Check that the Parallel I/O configuration matches
customer to verify compliance with the EMC directive for the machinery (NPN or PNP).
and equipment as a whole.
[UL-compliant products (For the LEC series)]
When compliance with UL is required, the electric actuator and controller/
driver should be used with a UL1310 Class 2 power supply.
q w

∗ R
 efer to the Operation Manual for using the products. Please download
it via our website: https://www.smcworld.com
868 B
LEHS Series
Incremental (Step Motor 24 VDC)

Compatible Controllers/Drivers

Step data Programless type Pulse input type

input type

Type

JXC51
Series LECP1 LECPA
JXC61
Capable of setting up
Operation by
Features Parallel I/O operation (step data) without
pulse signals
using a PC or teaching box

Compatible Step motor

motor (Servo/24 VDC)
Max. number
64 points 14 points —
of step data
Power supply 24 VDC
voltage

Reference 1017 1042 1057

page

EtherCAT EtherCAT direct EtherNet/IP™ EtherNet/IP™ direct PROFINET PROFINET direct DeviceNet® IO-Link IO-Link direct CC-Link
direct input input type with direct input input type with STO direct input input type with direct input direct input input type with direct input
type STO sub-function type sub-function type STO sub-function type type STO sub-function type

Type

Series JXCE1 JXCEF JXC91 JXC9F JXCP1 JXCPF JXCD1 JXCL1 JXCLF JXCM1
EtherCAT direct EtherNet/IP™ direct PROFINET direct IO-Link direct
EtherCAT EtherNet/IP™ PROFINET DeviceNet® IO-Link CC-Link
Features input with STO input with STO input with STO input with STO
direct input direct input direct input direct input direct input direct input
sub-function sub-function sub-function sub-function
Compatible Step motor
motor (Servo/24 VDC)
Max. number 64 points
of step data

Power supply 24 VDC

voltage

Reference 1063
page

869
 Gripper
3-Finger Type LEHS Series
IncrementalMotorless Type
(Step Motor 24 VDC)

Specifications

Model LEHS10 LEHS20 LEHS32 LEHS40

Open and close stroke/diameter [mm] 4 6 8 12
255/76 235/56 235/40 235/40
Lead [mm]
(3.355) (4.196) (5.875) (5.875)
Gripping force Basic 2.2 to 5.5 9 to 22 36 to 90 52 to 130
[N]*1 *3 Compact 1.4 to 3.5 7 to 17 — —
Open and close speed/ 5 to 70/ 5 to 80/ 5 to 100/ 5 to 120/
Pushing speed [mm/s]*2 *3 5 to 50 5 to 50 5 to 50 5 to 50

Actuator specifications
Drive method Slide screw + Wedge cam
Repeated length measurement accuracy [mm]*4 ±0.05
Finger backlash/radius [mm]*5 0.25 or less
Repeatability [mm]*6 ±0.02
Positioning repeatability/radius [mm] ±0.05
Lost motion/radius [mm]*7 0.25 or less
Impact/Vibration resistance [m/s2]*8 150/30
Max. operating frequency [C.P.M] 60
Operating temperature range [°C] 5 to 40
Operating humidity range [%RH] 90 or less (No condensation)
Enclosure IP40
Basic 185 410 975 1265
Weight [g]
Compact 150 345 — —
Motor size l20 l28 l42
Electric specifications

Motor type Step motor (Servo/24 VDC)

Encoder Incremental
Power supply voltage [V] 24 VDC ±10%
Basic Max. power 19 Max. power 51 Max. power 57 Max. power 61
Power [W]*9
Compact Max. power 14 Max. power 42 — —
*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. Gripping with heavy attachment and fast pushing speed, may not reach the product specifi-
cation. In this case, decrease the weight and lower the pushing speed.
*2 Pushing speed should be set within the range during pushing (gripping) operations. Otherwise, it may cause a
malfunction. The open/close speed and pushing speed are for both fingers. The speed for one finger is half this value.
*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%)
*4 Repeated length measurement accuracy means dispersion (value on the controller monitor) when the workpiece is
repeatedly held in the same position.
*5 There will be no influence of backlash during pushing (gripping) operations. Make the stroke longer for the amount
of backlash when opening.
*6 Repeatability means the variation of the gripping position (workpiece position) when gripping operations are
repeatedly performed by the same sequence for the same workpiece.
*7 A reference value for correcting errors in reciprocal operation which occur during positioning operations
*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. (The test was performed with the gripper in the initial state.)
Vibration resistance: No malfunction occurred in a test ranging between 45 to 2000 Hz. The 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.)
*9 Indicates the max. power during operation (including the controller)
This value can be used for the selection of the power supply.

How to Mount
a) Mounting A type b) Mounting B type
(when using the thread on the mounting plate) (when using the thread on the back of the body)

Positioning pin Positioning pin

Mounting Mounting
direction direction

870 A
LEHS Series
Incremental (Step Motor 24 VDC)

Construction

e i

w t

q r

y u

Component Parts
No. Description Material Note
1 Body Aluminum alloy Anodized
2 Motor plate Aluminum alloy Anodized
3 Guide ring Aluminum alloy
4 Slide cam Stainless steel Heat treatment + Special treatment
5 Slide bolt Stainless steel Heat treatment + Special treatment
6 Finger Carbon steel Heat treatment + Special treatment
7 End plate Stainless steel
8 Step motor (Servo/24 VDC)

871
 Gripper
3-Finger Type LEHS Series
IncrementalMotorless Type
(Step Motor 24 VDC)

Dimensions
Motor cable
Motor
entry:
cable entry: Motor cable
Motor
entry:
cable entry:
LEHS10(L)K3-4 Entry on the
Entry
right
onside
the right side Entry on the front
Entry onside
the front side

[mm] Manual override

Manual
screw
override screw
L (L1)

2 x ø4.7

2 x ø4.7
Model
20 20
LEHS10K3-4 89.1 (59.6)
LEHS10LK3-4 72.6 (43.1)

29.5

29.5
20

20

20

20
20 20
29.5 29.5
ø2.5H9 ( +0.025
ø2.5H9
0 ) ( +0.025
0 ) 2 x M4 x 0.7
2 x xM4
6 x 0.7 x 6
depth 2.5 depth 2.5 2 x ø3.3 through
2 x ø3.3 through

Motor cable
Motor
length ≈ 300
cable ∗2 ≈ 300∗2
length

(L1)

(L1)
(Motor cable
(Motor
entry:
cable
Basic)
entry: Basic)

L
29.5

29.5
10

10

22.5

22.5

65

65
16.5

16.5
2

3.5 3.5
3

3
2H9 ( +0.025
0 2H9 ) ( +0.025
0 4 ) 4 ReferenceReference
position position
14 14
When closed:
When5 closed: 5 of the gripping
of thepoint
gripping point

)
2.5H9 ( +0.025

2.5H9 ( +0.025
When opened:
When7 opened: 7

depth 2.5

depth 2.5
to 7.5)∗4.5 to 7.5)∗1
0

0
1
(Finger operating
(Finger range:
operating
4.5 range:
10 10
Mounting Mounting
reference reference
plane plane
(When opened: 17)

(When opened: 17)

*1 T
(When closed: 15)

(When closed: 15)

 his is the range within which the fingers can move when
.3

.3
it returns to origin. Make sure that workpieces mounted
29

29

on the fingers do not interfere with other workpieces or

the facilities around the fingers.
*2 S
 ecure the motor cable so that the cable is not
6

repeatedly bent. 0 0
5h9 ( −0.030
5h9
) ( −0.030 )
2

6 x M3 x 0.5
6 x xM3
5 x 0.5 x 58 8
LEHS20(L)K3-6 Motor cable
Entry on the
entry:
Motor cable entry:
front
Entry onside
the front side

[mm]
Model L (L1) Motor cable
Motor
entry:
cable entry:
LEHS20K3-6 98.8 (61.8) Entry on the
Entry
right
onside
the right side Manual override
Manualscrew
override screw
LEHS20LK3-6 84.8 (47.8)
2 x ø4.7

2 x ø4.7
20

20
44
28

44
28

28 28 20 20
ø4H9 ( +0.030
0 ø4H9) ( +0.030
0 )44 44
depth 3 depth 3
Motor cable
Motor
length ≈ 300
cable ∗2 ≈ 300∗2
length
(Motor cable
(Motor
entry:
cable
Basic)
entry: Basic)
(L1)

(L1)

2 x M6 x 12xx10
M6 x 1 x 10
2 x ø5.2 through
2 x ø5.2 through
L

L
37

37

65

65
29

29

4H9 ( +0.030

( +0.030
20

20

0
depth 3

depth 3
12

12

4H9

5 5
2

ReferenceReference
position position 20 20
2H9 ( +0.025
0 2H9 ) (6+0.025
0 ) When
6 closed:
When 7 closed: 7 of the gripping
of thepoint
gripping point
14 When
14 opened:
When10 opened: 10 Mounting Mounting
reference reference
plane plane
.8

.8

(Finger operating
(Finger operating
range: range:
43

43
(When opened: 24)

(When opened: 24)

(When closed: 21)

(When closed: 21)

6.5 to 10.5)
6.5∗1 to 10.5)∗1

*1 T
 his is the range within which the fingers can move when
it returns to origin. Make sure that workpieces mounted
on the fingers do not interfere with other workpieces or
8

the facilities around the fingers.

0 0
*2 S
 ecure the motor cable so that the cable is not 6h9 ( −0.030
6h9
) ( −0.030 )
3

repeatedly bent. 6 x M3 x 0.5

6 x xM3
6 x 0.5 12
x6 12

872
LEHS Series
Incremental (Step Motor 24 VDC)

Dimensions
LEHS32K3-8 Motor cable entry:
Entry on the front side
Motor cable entry:
Motor cable entry: Entry on the front side
Entry on the right side Manual override screw
Motor cable entry:
Entry on the right side Manual override screw

64
42

20
2 x ø4.7
64
42

20
42 20

2 x ø4.7
64
42 20
ø5H9 ( +0.030
0 ) 2 64
x M8 x 1.25 x 14
depth 4 2 x ø6.8 through
ø5H9 ( +0.030
0 ) 2 x M8 x 1.25 x 14 2
depth 4 Motor2cable length
x ø6.8 ≈ 300∗
through
(Motor cable entry: Basic)
Motor cable length ≈ 300∗2
(63.4)
(Motor cable entry: Basic)

(63.4)
112.5

65
112.5
49.1

65
36

5H9 ( +0.030 )
25

49.1
15

0
depth 4
36

5H9 ( +0.030 )
6 25
15

3
2

Reference position

0
depth 4
3H9 ( +0.025 ) 30
9 When closed: 10 of the gripping point 6
3

0
2

Reference position
21 When opened: 14 Mounting reference plane 30
3H9 ( +0.025 ) 9 When closed: 10 of the gripping point
(When opened: 35)

63.8
(When closed: 31)

0
(Finger operating range:
When opened: 14
9.5 to21
14.5)∗1 Mounting reference plane
(When opened: 35)

63.8
(When closed: 31)

(Finger operating range:

*1  This is the range within which the 9.5 to 14.5) ∗1
12

fingers can move when

it returns to origin. Make sure that workpieces mounted
12

on the fingers do not interfere with other workpieces or

the facilities around the fingers.
0
*2 Secure the motor cable so that the cable is not 8h9 ( −0.036 )
4.5

repeatedly bent. 6 x M4 x 0.7 x 8 16 0

8h9 ( −0.036 )
4.5

16
LEHS40K3-12 6 x M4 x 0.7 x 8

Motor cable entry:

MotorEntry
cable
onentry:
the front
Entry
side
on the front side

Manual override
Manual
screwoverride screw
Motor cable entry:
MotorEntry
cable
onentry:
the right
Entry
side
on the right side
64
42

64
42

20

20
2 x ø4.7

2 x ø4.7

42 42
20 20
64 64

ø5H9 ( +0.030 ) ø5H9 ( +0.030 ) 2 x M8 x 1.25 x214

x M8 x 1.25 x 14
0 0
2 x ø6.8 through
2 x ø6.8 through
depth 4 depth 4
Motor cable length
Motor≈ 300 ∗2 length ≈ 300∗2
cable
(Motor cable entry:
(Motor
Basic)
cable entry: Basic)
(75.4)

(75.4)
135.4

135.4

65

65
60

60
46

46
30

30
17.5

17.5

6 6
5H9 ( +0.030

( +0.030
3

3
2

Reference position
Reference position
4H9 ( +0.030 ) 4H910( +0.030 ) closed: 30 30
0

0
depth 4

depth 4

0 0 When 10 11When closed: 11 of the gripping of

point
the gripping point
When24 opened:When
17 opened: 17
5H9

24
Mounting reference plane Mounting reference plane
63.8

63.8

(Finger operating
(Finger
range:
operating range:
(When opened: 41)

(When opened: 41)

(When closed: 35)

(When closed: 35)

∗1
10.5 to 17.5) 10.5 to 17.5) ∗1

*1  This is the range within which the fingers can move when
it returns to origin. Make sure that workpieces mounted
14

14

on the fingers do not interfere with other workpieces or

the facilities around the fingers.
*2 Secure the motor cable so that the cable is not 0
10h9 ( −0.036 0
) 10h9 ( −0.036 )
5

repeatedly bent. 6 x M5 x 0.8 x 6

10x M5 x18
0.8 x 10 18

873
 LEH Series
Specific Product Precautions 1
Be sure to read this before handling the products. Refer to page 1351 for safety
instructions and pages 1352 to 1357 for electric actuator precautions.

Design / Selection

Warning
1. Keep the specified gripping point. 6. Select a model that allows for open and close width
If the specified gripping range is exceeded, excessive moment is relative to a workpiece.
applied to the sliding part of the finger, which may have an The selection of an inappropriate model may result in the gripping
adverse affect on the service life of the product. at unexpected positions due to variable open and close width of
L: Gripping point
the product and the diameter of a workpiece the product can
H: Overhang
handle. It is also necessary to make a larger stroke to overcome
backlash created when the product will open after gripping.

Mounting

Warning
1. Do not drop or hit the gripper to avoid scratching and
L

denting the mounting surfaces.

L

Gripping Even slight deformation may result in the deterioration of accuracy

H H Gripping and operation failure.
position
position
H Gripping position 2. When mounting the attachment, tighten the mounting
“L” and “H” are screws within the specified torque range.
appropriate. “L” is too long. “H” is too long.
Tightening the screws with a higher torque than recommended
2. Design the attachment to be lightweight and short. may result in a malfunction, while tightening with a lower torque
may result in the displacement of the mounting position or, in
A long and heavy attachment will increase inertial force when the
extreme conditions, the actuator could become detached from its
product is opened or closed, which causes play on the finger. Even
mounting position.
if the gripping point of the attachment is within a specified range,
design it to be short and lightweight as possible.
For a long or large workpiece, select a model of a larger size or
Mounting of Attachment to Finger
use two or more grippers together. The attachment should be mounted with the torque specified in the
following table by screwing the screw into the finger mounting female
3. Provide a runoff space for attachment when a work-
thread and hole.
piece is extremely thin or small.
Without a runoff space, the product cannot perform stable LEHZ Series
gripping, and the displacement of a workpiece or gripping failure
Screw Max. tightening
can result. Model
size torque [N·m]
LEHZ(J)10(L) M2.5 x 0.45 0.3
LEHZ(J)16(L) M3 x 0.5 0.9
Finger LEHZ(J)20(L) M4 x 0.7 1.4
LEHZ(J)25(L) M5 x 0.8 3.0
Attachment
LEHZ32 M6 x 1 5.0
Runoff space Runoff space
LEHZ40 M8 x 1.25 12.0
Needle shaped workpiece Thin plate workpiece
LEHF Series
4. Select a model that allows for gripping force in relation
Screw Max. tightening
to the workpiece weight, as appropriate. Model
size torque [N·m]
The selection of an inappropriate model may result in the dropping
of a workpiece. Gripping force should be from 10 to 20 times LEHF10 M2.5 x 0.45 0.3
(LEHZ, LEHF) or 7 to 13 times (LEHS) of the workpiece weight. LEHF20 M3 x 0.5 0.9

Gripping Force Accuracy LEHF32 M4 x 0.7 1.4

LEHF40 M4 x 0.7 1.4
LEHZ(J)10(L) LEHZ(J)16(L) LEHZ(J)20(L) LEHZ(J)25(L) LEHZ32 LEHZ40
±30% (F.S.) ±25% (F.S.) ±20% (F.S.) LEHS Series
LEHF10 LEHF20 LEHF32 LEHF40 Screw Max. tightening
Model
±30% (F.S.) ±25% (F.S.) ±20% (F.S.) size torque [N·m]
LEHS10(L) LEHS20(L) LEHS32 LEHS40 LEHS10(L) M3 x 0.5 0.9
±30% (F.S.) ±25% (F.S.) ±20% (F.S.) LEHS20(L) M3 x 0.5 0.9
LEHS32 M4 x 0.7 1.4
5. Do not use the product in applications where excessive
external force (including vibration) or impact force is LEHS40 M5 x 0.8 3.0
applied to it.
It may lead to breakage or galling, which may result in malfunction.
Do not apply impact and vibration outside of the specifications.

874
 LEH Series
Specific Product Precautions 2
Be sure to read this before handling the products. Refer to page 1351 for safety
instructions and pages 1352 to 1357 for electric actuator precautions.

Mounting
Mounting of Electric Gripper, LEHZ/LEHZJ Series Mounting of Electric Gripper, LEHF Series
When using the thread on the side of the body When using the thread on the body
Manual override screw
Manual override screw/Both sides

Max. Max.
Screw tightening screw-in
Model
size torque depth
[N·m] L [mm] Max. Max.
Screw tightening screw-in
LEHZ(J)10(L) M3 x 0.5 0.9 6 Model
size torque depth
LEHZ(J)16(L) M4 x 0.7 1.4 6 [N·m] L [mm]
LEHZ(J)20(L) M5 x 0.8 3.0 8 LEHF10 M4 x 0.7 1.4 7
LEHZ(J)25(L) M6 x 1 5.0 10 LEHF20 M5 x 0.8 3.0 8
LEHZ32 M6 x 1 5.0 10 LEHF32 M6 x 1 5.0 10
Attachment
LEHZ40 M8 x 1.25 12.0 14 LEHF40 M6 x 1 5.0 10
Finger
Attachment
Finger

When using the thread on the mounting plate When using the thread on the mounting plate

Max. Max.
Screw tightening Screw tightening
Model Model
size torque size torque
[N·m] [N·m]
LEHZ(J)10(L) M3 x 0.5 0.9 LEHF10 M4 x 0.7 1.4
LEHZ(J)16(L) M3 x 0.5 0.9 LEHF20 M5 x 0.8 3.0
LEHZ(J)20(L) M4 x 0.7 1.4 LEHF32 M6 x 1 5.0
LEHZ(J)25(L) M5 x 0.8 3.0 LEHF40 M6 x 1 5.0
LEHZ32 M5 x 0.8 3.0
LEHZ40 M6 x 1 5.0

When using the thread on the back of the body When using the thread on the back of the body

Max. Max. Max. Max.

Screw tightening screw-in Screw tightening screw-in
Model Model
size torque depth size torque depth
[N·m] L [mm] [N·m] L [mm]
LEHZ(J)10(L) M4 x 0.7 1.4 6 LEHF10 M5 x 0.8 3.0 10
LEHZ(J)16(L) M4 x 0.7 1.4 6 LEHF20 M6 x 1 5.0 12
LEHZ(J)20(L) M5 x 0.8 3.0 8 LEHF32 M8 x 1.25 12.0 16
LEHZ(J)25(L) M6 x 1 5.0 10 LEHF40 M8 x 1.25 12.0 16
LEHZ32 M6 x 1 5.0 10
LEHZ40 M8 x 1.25 12.0 14

Mounting of Electric Gripper, LEHS Series

When using the thread on the mounting plate When using the thread on the back of the body

Max. Max. Max.

Screw tightening Screw tightening screw-in
Model Model
size torque size torque depth
[N·m] [N·m] L [mm]
LEHS10(L) M3 x 0.5 0.9 LEHS10(L) M4 x 0.7 1.4 6
LEHS20(L) M5 x 0.8 3.0 LEHS20(L) M6 x 1 5.0 10
LEHS32 M6 x 1 5.0 LEHS32 M8 x 1.25 12.0 14
LEHS40 M6 x 1 5.0 LEHS40 M8 x 1.25 12.0 14

875
 LEH Series
Specific Product Precautions 3
Be sure to read this before handling the products. Refer to page 1351 for safety
instructions and pages 1352 to 1357 for electric actuator precautions.

Mounting

Warning
3. When mounting the electric gripper, tighten the 3) When turning over
mounting screws within the specified torque range.
Tightening the screws with a higher torque than recommended may
result in a malfunction, while tightening with a lower torque may result
in the displacement of the mounting position or, in extreme conditions,
the actuator could become detached from its mounting position.
4. When fixing the attachment to the finger, avoid
applying excessive torque to the finger.
Play or deteriorated accuracy can result.
5. The mounting face has holes and slots for positioning. Use
them for accurate positioning of the electric gripper if required.

Clearance
6. When a workpiece is to be removed when it is not
energized, open or close the finger manually or
remove the attachment beforehand. Impact load
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 9. Adjust the gripping point so that an excessive force will
the manual override screws. This may lead to damage and malfunction. not be applied to the fingers when inserting a workpiece.
7. When gripping a workpiece, keep a gap in the horizontal In particular, during a trial run, operate the product manually or at
direction to prevent the load from concentrating on one a low speed and check that the safety is assured without impact.
finger, to allow for workpiece misalignment. Aligned Not aligned
For the same purpose, when moving a workpiece for alignment by the
product, minimize the friction resistance created by the movement of
the workpiece. The finger can be displaced, play or breakage.
8. Perform adjustment and confirmation to ensure there
is no external force applied to the finger.
If the finger is subject to repetitive lateral load or impact load, it can
cause play or breakage and the lead screw can get stuck, which
results in operation failure. Allow a clearance to prevent the workpiece
or the attachment from hitting gripper product at the end of the stroke.

1) Stroke end when fingers are open

With clearance Without clearance
Impact load

Handling
Finger
Caution
Impact load 1. 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 half a set
parameter.
Clearance Clearance Attachment
2. When gripping a workpiece by the product, be sure to
2) Stroke end when gripper is moving set to the pushing operation.
With clearance Without clearance Also, do not allow a workpiece to collide with the
finger or attachment during the positioning operation
or within the positioning range.
Otherwise, the lead screw can get caught and result in a malfunction.
However, if the workpiece cannot be gripped in pushing operation
(such as a plastically deformed workpiece, rubber component,
etc.), you can grip it in positioning operation with consideration to
Clearance
Clearance

the elastic force of the workpiece. In this case, keep the driving
speed for impact specified in item 3 on page 603.
When the operation is interrupted by a stop or temporary stop, and
a pushing operation instruction is output just after operation is
restarted, the operating direction will vary depending on the start
Impact load position.
876
 LEH Series
Specific Product Precautions 4
Be sure to read this before handling the products. Refer to page 1351 for safety
instructions and pages 1352 to 1357 for electric actuator precautions.

Handling

Caution
3. Keep the following driving speed range for pushing operations. <Pushing force and trigger level range>
• LEHZ/LEHZJ: 5 to 50 mm/s • LEHF10: 5 to 20 mm/s LEHZ Series
• LEHF20/32/40: 5 to 30 mm/s • LEHS: 5 to 50 mm/s Motor size Pushing speed [mm/s] Pushing force (Setting input value)
Operation at the speed outside of the range may get the lead
41 to 50 50% to 100%
screw caught and result in a malfunction. Basic
5 to 40 40% to 100%
4. There is no backlash effect in pushing operations.
31 to 50 70% to 100%
The return to origin is done by pushing operations.
The finger position can be displaced by the effect of the backlash Compact 21 to 30 50% to 100%
during the positioning operations. 5 to 20 40% to 100%
Take the backlash into consideration when setting the position. LEHZJ Series
5. Do not change the setting of energy saving mode. Motor size Body size Pushing speed [mm/s] Pushing force (Setting input value)
When pushing (gripping) operations are continued, the heat
10, 16 41 to 50 50% to 100%
generated by the motor may result in a malfunction. Basic
This is due to the self-lock mechanism in the lead screw, which makes 20, 25 5 to 40 40% to 100%
the product keep the gripping force. To save the energy in this situation 21 to 50 80% to 100%
where the product is to be standby or continue to grip for extended 10L, 16L 11 to 20 60% to 100%
periods of time, the product will be controlled to reduce current 5 to 10 50% to 100%
consumption (to 40% automatically after it has gripped a workpiece once). Compact
31 to 50 70% to 100%
If there is the reduction of gripping force seen in the product after
a workpiece has been gripped and deformed over certain amount 20L, 25L 21 to 30 50% to 100%
of time, contact SMC separately. 5 to 20 40% to 100%
6. INP output signal LEHF Series
1) Positioning operation Pushing speed [mm/s] Pushing force (Setting input value)
When the product comes within the set range by step data [In
21 to 30 50% to 100%
position], the INP output signal will turn ON.
Initial value: Set to [0.50] or higher. 5 to 20 40% to 100%
2) Pushing operation LEHS Series
When the effective force exceeds the step data [Trigger LV], the
Motor size Pushing speed [mm/s] Pushing force (Setting input value)
INP output signal will turn ON.
Use the product within the specified range of [Pushing force] 41 to 50 50% to 100%
Basic
and [Trigger LV]. 5 to 40 40% to 100%
a) To ensure that the gripper holds the workpiece with the set 31 to 50 80% to 100%
[Pushing force], it is recommended that the [Trigger LV] be Compact 11 to 30 60% to 100%
set to the same value as the [Pushing force].
5 to 10 40% to 100%
b) When the [Pushing force] and [Trigger LV] are set below the
specified range, the INP output signal will turn ON from the 7. When releasing a workpiece, set the moving force to
pushing start position. 150%.
c) The INP output signal is turned ON when pushing in the
If the torque is too small when a workpiece is gripped in pushing
stroke end of an electric gripper even if workpiece is not held.
operation, the product can have galling and become unable to
<INP output signal in the controller version> release the workpiece.
P SV1.0* or more
Although the product automatically switches to the energy 8. If the finger has galling due to operational setting
saving mode (reduced current) after pushing operations are error, etc., open and close the finger manually.
completed, the INP output signal remains ON. When it is necessary to operate the product by the manual override
P SV0.6* or less screws, check the position of the manual override screws of the
a. When [Trigger LV] is set to 40% (when the value is the product, and leave necessary space. Do not apply excessive torque to
same as the energy saving mode) the manual override screws. This may lead to damage and malfunction.
Although the product automatically switches to the energy <LEHZJ series>
saving mode (reduced current) after pushing operations are
In the case of a gripper with dust covers, remove the encoder
completed, the INP output signal remains ON.
dust cover before operating the manual override.
b. When [Trigger LV] is set higher than 40%
The product is turned ON after pushing operations are Refit the encoder dust cover after using the manual override.
completed, but INP output signal will turn OFF when current
Encoder dust
consumption is reduced automatically in energy saving mode.
cover
Label position for
controller version

Position: Bottom
SV1.0*

877
 LEH Series
Specific Product Precautions 5
Be sure to read this before handling the products. Refer to page 1351 for safety
instructions and pages 1352 to 1357 for electric actuator precautions.

Handling Handling

Caution Caution
9. Self-lock mechanism 11. For pushing (gripping) operations, set the product to
The product keeps a gripping force due to the self-lock mecha- a position at least 0.5 mm away from a workpiece.
nism in the lead screw. Also, it will not operate in the opposite (This position is referred to as the pushing start
direction even when external force is applied during gripping a position.)
workpiece. If the product is set to the same position as a workpiece, the
<Type of Stops, Cautions> following alarms may be generated and operation may become
1) All the power supplies to the controller are shut off. unstable.
When the power supply is turned on to restart operation, the a. “Posn failed”
controller will be initialized, and the product can drop a The product cannot reach the pushing start position due to
workpiece due to a motor magnetic pole detective operation. variations in the width of workpieces.
(It means that there are finger motions of partial strokes by the b. “Pushing ALM”
phase detection of motor after power supply is turned on.) The product is pushed back from the pushing start position
Remove the workpiece before restarting operation. after starting to push.
2) “EMG (stop)” of the CN1 of the controller is shut off. c. “Err overflow”
When using the stop switch on the teaching box; The displacement at the pushing start position exceeds the
a) In case both of [SVRE] and [SETON] are ON before stop, specified range.
[SVRE]: OFF / [SETON]: ON 12. When mounting the product, secure a bending diame-
b) How to restart operation ter of 40 mm or longer for the motor cable.
In this situation, since [SVRE] is on before stop, [SVRE] 13. Finite orbit type guide is used in the actuator finger
will be turned on automatically when stop is released, part. By using this, when there are inertial force which
and operation can be restarted after that. It is not cause by movements or rotation to the actuator, steel
necessary to remove a workpiece beforehand because a ball will move to one side and this will cause a large
motor magnetic pole detective operation will not occur. resistance and degrade the accuracy. When there are
c) Cautions inertial force which cause by movements or rotation
An alarm can take place when operation is restarted from to the actuator, operate the finger to full stroke.
stop. Check that [SVRE] is turned on after the release of
Especially in long stroke type, the accuracy of the finger may
stop and restart operation.
degrade.
3) “M24V (motor driving power supply)” of the CN1 of the
controller is shut off.
a) There will be no change in output conditions due to stop. Maintenance
b) How to restart operation
In this situation, operation can be restarted after stop is
released. It is not necessary to remove a workpiece
Danger
beforehand because a motor magnetic pole detective 1. When the product is to be removed, check it has not
operation will not occur. been gripping a workpiece.
c) Cautions There is a risk of dropping a workpiece.
An alarm can take place when stop is activated during
operation or operation is restarted from stop. Caution
10. Return to origin 1. The dust cover on the gripper finger (LEHZJ series
1) It is recommended to set the directions of return to origin and only) is a consumable item, replace the dust cover as
workpiece gripping in the same direction. and when it is necessary.
If they are set opposite, there can be backlash, which worsens Otherwise, machining chips and fine particles may get into the
the measurement accuracy significantly. product from the outside, resulting in a malfunction.
2) If the direction of return to origin is set to CW (Internal The dust cover on the gripper finger can be damaged if the finger
gripping); attachment or the workpiece comes into contact with the dust
If the return to origin is performed with the product only, there cover during operation.
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.

878
 LEH Series
Battery-less Absolute Encoder Type
Specific Product Precautions
Be sure to read this before handling the products. Refer to page 1351 for safety
instructions and pages 1352 to 1357 for electric actuator precautions.

Handling

Caution
1. A bsolute encoder ID mismatch error at the first
connection
In the following cases, an “ID mismatch error” alarm occurs
after the power is turned ON. Perform a return to origin
operation after resetting the alarm before use.
· When an electric actuator is connected and the power is
turned ON for the first time after purchase∗1
· When the actuator or motor is replaced
· When the controller is replaced
∗1 If you have purchased an electric actuator and controller with the
set part number, the pairing may have already been completed
and the alarm may not be generated.
“ID mismatch error”
Operation is enabled by matching the encoder ID on the
electric actuator side with the ID registered in the controller.
This alarm occurs when the encoder ID is different from the
registered contents of the controller. By resetting this alarm,
the encoder ID is registered (paired) to the controller again.

When a controller is changed after pairing is completed

Encoder ID no. (∗ Numbers below are examples.)
Actuator 17623 17623 17623 17623
Controller 17623 17699 17699 17623
ID mismatch error occurred? No Yes Error reset ⇒ No

2. In environments where strong magnetic fields are

present, use may be limited.
A magnetic sensor is used in the encoder. Therefore, if the
actuator motor is used in an environment where strong
magnetic fields are present, malfunction or failure may occur.
Do not expose the actuator motor to magnetic fields with a
magnetic flux density of 1 mT or more.
When installing an electric actuator and an air cylinder with an
auto switch (ex. CDQ2 series) or multiple electric actuators
side by side, maintain a space of 40 mm or more around the
motor. Refer to the construction drawing of the actuator motor.
3. The connector size of the motor cable is different
from that of the electric actuator with an incremental
encoder.
The motor cable connector of an electric actuator with a
battery-less absolute encoder is different from that of an
electric actuator with an incremental encoder. As the connector
cover dimensions are different, take the dimensions below into
consideration during the design process.
65 24
24

Battery-less absolute encoder connector cover dimensions

879