SMC Networks LEHR Series User manual

No.DOC1061274
NN64311600
PRODUCT NAME
Electric Gripper for Collaborative Robots
MODEL / Series / Product Number
LEHR Series

1
Contents
Safety Instructions ..................................................2
1．Precautions for product......................................4
1.1 Design.......................................................................................4
1.2 Mounting ..................................................................................7
1.3 Handling .................................................................................10
1.4 Operating environment.........................................................14
1.5 Precautions for wiring and cable ........................................15
1.6 Maintenance...........................................................................16
2. Outlines of Product............................................17
2.1 How to Order..........................................................................17
2.2 Specification Table................................................................18
2.3 Dimensions ............................................................................19
2.4 Construction ..........................................................................21
2.5 LED lamp indicator................................................................22
2.6 Connector pin layout ............................................................23
2.7 Replacement Parts................................................................23
2.8 Position of the center of gravity ..........................................24
3.Installation...........................................................25
4.Alarm detection...................................................27
5. Definition of Terms ............................................29

2
Safety Instructions
These safety instructions are intended to prevent hazardous situations and/or equipment damage. These
instructions indicate the level of potential hazard with the labels of “Caution,” “Warning” or “Danger.” They
are all important notes for safety and must be followed in addition to International Standards (ISO/IEC)*1), and
other safety regulations.
*1) ISO 4414: Pneumatic fluid power - General rules and safety requirements for systems and their components
ISO 4413: Hydraulic fluid power - General rules and safety requirements for systems and their components
IEC 60204-1: Safety of machinery - Electrical equipment of machines - Part 1: General requirements
ISO 10218-1: Robots and robotic devices - Safety requirements for industrial robots - Part 1:Robots
etc.
Danger
Danger indicates a hazard with a high level of risk which, if not avoided, will result
in death or serious injury.
Warning
Warning indicates a hazard with a medium level of risk which, if not avoided, could
result in death or serious injury.
Caution
Caution indicates a hazard with a low level of risk which, if not avoided, could result
in minor or moderate injury.
Warning
1. The compatibility of the product is the responsibility of the person who designs the equipment
or decides its specifications.
Since the product specified here is used under various operating conditions, its compatibility with specific
equipment must be decided by the person who designs the equipment or decides its specifications based on
necessary analysis and test results. The expected performance and safety assurance of the equipment will
be the responsibility of the person who has determined its compatibility with the product. This person should
also continuously review all specifications of the product referring to its latest catalog information, with a view
to giving due consideration to any possibility of equipment failure when configuring the equipment.
2. Only personnel with appropriate training should operate machinery and equipment.
The product specified here may become unsafe if handled incorrectly. The assembly, operation and
maintenance of machines or equipment including our products must be performed by an operator who is
appropriately trained and experienced.
3. Do not service or attempt to remove product and machinery/equipment until safety is confirmed.
1. The inspection and maintenance of machinery/equipment should only be performed after measures to
prevent falling or runaway of the driven objects have been confirmed.
2. When the product is to be removed, confirm that the safety measures as mentioned above are
implemented and the power from any appropriate source is cut, and read and understand the specific
product precautions of all relevant products carefully.
3. Before machinery/equipment is restarted, take measures to prevent unexpected operation and malfunction.
4. Our products cannot be used beyond their specifications. Our products are not developed,
designed, and manufactured to be used under the following conditions or environments. Use
under such conditions or environments is not covered.
1. Conditions and environments outside of the given specifications, or use outdoors or in a place exposed to
direct sunlight.
2. Use for nuclear power, railways, aviation, space equipment, ships, vehicles, military application, equipment
affecting human life, body, and property, fuel equipment, entertainment equipment, emergency shut-off
circuits, press clutches, brake circuits, safety equipment, etc., and use for applications that do not conform
to standard specifications such as catalogs and operation manuals.
3. Use for interlock circuits, except for use with double interlock such as installing a mechanical protection
function in case of failure. Please periodically inspect the product to confirm that the product is operating
properly.

3
Safety Instructions
Caution
We develop, design, and manufacture our products to be used for automatic control equipment, and
provide them for peaceful use in manufacturing business.
Use in non-manufacturing business is not covered.
Products we manufacture and sell cannot be used for the purpose of transactions or certification specified in the
Measurement Act.
The new Measurement Act prohibits use of any unit other than SI units in Japan.
Limited warranty and Disclaimer/Compliance Requirements
The product used is subject to the following “Limited warranty and Disclaimer” and “Compliance
Requirements”.
Read and accept them before using the product.
Limited warranty and Disclaimer
1. The warranty period of the product is 1 year in service or 1.5 years after the product is delivered, whichever is
first.∗2)
Also, the product may have specified durability, running distance or replacement parts. Please consult your
nearest sales branch.
2. For any failure or damage reported within the warranty period which is clearly our responsibility, a
replacement product or necessary parts will be provided.
This limited warranty applies only to our product independently, and not to any other damage incurred due to
the failure of the product.
3. Prior to using SMC products, please read and understand the warranty terms and disclaimers noted in the
specified catalog for the particular products.
*2) Vacuum pads are excluded from this 1 year warranty.
A vacuum pad is a consumable part, so it is warranted for a year after it is delivered.
Also, even within the warranty period, the wear of a product due to the use of the vacuum pad or failure due to
the deterioration of rubber material are not covered by the limited warranty
Compliance Requirements
1. The use of SMC products with production equipment for the manufacture of weapons of mass destruction
(WMD) or any other weapon is strictly prohibited.
2. The exports of SMC products or technology from one country to another are governed by the relevant
security laws and regulations of the countries involved in the transaction. Prior to the shipment of a SMC
product to another country, assure that all local rules governing that export are known and followed.

4
1．Precautions for product
1.1 Design
Warning
①Be sure to read the Operation Manual (this manual).
Handling or usage/operation other than that specified in the Operation Manual may lead to
breakage and product failure.
Any damage attributed to the use beyond the specifications is not guaranteed.
②There is a possibility of dangerous sudden action by the product if sliding parts of machinery
are twisted due to external forces etc.
In such cases, human injury may occur, such as by catching hands or feet in the machinery, or
damage to the machinery itself may occur. Design the machinery should be designed to avoid such
dangers.
③A protective cover is recommended to minimize the risk of personal injury.
If a driven object and moving parts of the product are in close proximity, personal injury may occur.
Design the system to avoid contact with the human body.
④Securely tighten all stationary parts and connected parts so that they will not become
loose.
When the product operates with high frequency or is installed where there is a lot of
vibration, ensure that all parts remain secure.
⑤Consider a possible loss of power source.
Take measures to prevent injury and equipment damage even in the case of a power source
failure.
⑥Consider behavior of emergency stop of whole system.
Design the system so that human injury and/or damage to machinery and equipment will not
be caused, when it is stopped by a safety device for abnormal conditions such as a power
outage or a manual emergency stop of whole system.
⑦Consider the action when operation is restarted after an emergency stop or abnormal
stop of whole system.
Design the system so that human injury or equipment damage will not occur upon restart of
operation of whole system.
⑧Never disassemble or modify (including additional machining) the product.
An injury to failure can result. It will cause the loss of the product performance.
⑨In order to prevent danger and damage due to the breakdown and the malfunction of this
product, which may occur at a certain probability, a backup system should be established
in advance by giving a multiple-layered structure or a fail-safe design to the equipment, etc.
⑩Avoid designing a system that allows the driving part of an electric actuator to operate with
a spring or other external force.

5
⑪Keep the specified gripping point.
If the specified gripping range is exceeded, excessive moment is applied to the sliding part of the
finger, which may have an adverse affect on the life of the product.
⑫Design the attachment to be lightweight and of minimum length.
A long and heavy attachment will increase inertia force when the product is opened or closed, which
causes play at the finger. Even 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 work piece, select a model of a larger size or use two or more grippers together.
⑬Reserve a gripping space for attachment when a work piece is extremely thin.
Without a gripping space, the product cannot perform stable gripping, and the displacement of a
work piece or gripping failure can result.
⑭Use a gripping force with a margin with respect to the workpiece weight.
The selection of inappropriate model can cause dropping of a work piece.
Gripping force should be from 5 to 10 times of the weight of the object to be conveyed.
The accuracy of the gripping force is ±20% F.S.
⑮Do not use the product in such a way that excessive external force (including vibration) or
impact force will be applied.
It may lead to breakage or galling, which causes operation failure. Do not apply impact and vibration
outside of the specifications.
L: Gripping point distance
H
：
Overhang

6
⑯Select the model that allows for penning and closing width relative to a work piece.
The selection of an inappropriate model will cause gripping at unexpected positions due to variable
opening and closing width of the product and the diameter of a work piece the product can handle.
It is necessary to make a larger stroke to overcome backlash created when the product will open
after gripping.
Caution
①Operate within the limits of the maximum usable stoke.
The product will be damaged if it is used with a stroke which exceeds the maximum stroke. Refer to
the specifications of the product.
②When the product repeatedly cycles with partial strokes, operate it at a full stroke at least
once a day or every 1000 strokes.
Otherwise, lubrication can be lost.
③Do not use the product in applications where excessive external force or impact force
is applied to it.
The product can be damaged. The components, including the motor, are manufactured to
precise tolerances. Even a slight deformation may cause a malfunction or seizure.

7
1.2 Mounting
Warning
①Install and operate the product only after reading the Operation Manual carefully and
understanding its contents. Keep the manual in a safe place future reference.
②Observe the tightening torque for screws.
Tighten the screws to the recommended torque for mounting the product.
③Do not make any alterations to this product.
Alterations made to this product may lead to a loss of durability and damage to the product,
which can lead to human injury and damage to other equipment and machinery.
④Do not use the product until you verify that the equipment can operate properly.
After mounting or repair, connect the power supply to the product and perform appropriate
functional inspections to check it is mounted properly.
⑤When mounting the actuator or attaching to the work piece, do not apply strong impact
or large moment.
If an external force over the allowable moment is applied, it may cause looseness in the guide
unit, an increase in sliding resistance or other problems.
⑥Maintenance space
Allow sufficient space for maintenance and inspection.
⑦The electric actuator and its peripheral devices should be installed on a fire-proof
material.
Direct installation on or near a flammable material may cause a fire.
⑧Do not install the product in a place subject to vibrations and impacts.
It will cause failure or malfunction.
⑨Consider the installation method so that the ambient temperature around the Electric Gripper
for Collaborative Robot is 40°C or below.
⑩Install the product on a flat surface.
If the mounting surface is distorted or uneven, an unacceptable force may be added to the
housing, etc., causing problems.
⑪Select the model that allows for penning and closing width relative to a work piece.
The selection of an inappropriate model will cause gripping at unexpected positions due to variable
opening and closing width of the product and the diameter of a work piece the product can handle.
It is necessary to make a larger stroke to overcome backlash created when the product will open
after gripping.
⑫Tighten the product and attachment mounting screws to the specified torque.
Tightening to a torque over the specified range can cause operation failure, and insufficient torque
can cause displacing or dropping of the attachment.
Refer to "3. Installation" for installation method.
⑬When fixing the attachment to the finger, avoid applying excessive torque to the finger.
Play or deteriorated accuracy can result.

8
⑭The mounting face has holes and slots for positioning. Make use of them if necessary.
⑮When the work piece has to be removed after the power has been switched off, it can be
removed by using the manual override or by removing the finger attachments.
If the manual override is used to remove the workpiece allow sufficient space to access the manual
override screw. Do not apply excessive torque to the manual override that could lead to damage and
malfunction of the product.
⑯When gripping the work piece leave space in the finger movement direction to prevent the
load from being concentrated on one finger and to allow for work piece mis-alignment.
For the same reason when aligning the work piece using the gripper finger movement, minimize the
frictional resistance created by the movement of the workpiece.
The finger can be displaced or play or breakage can occur.
⑰Perform 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 work
piece or the attachment from hitting gripper product at the end of the stroke.
1. Stroke end when fingers are open.

9
2. Stroke end when gripper is moving.
⑱When mounting a work piece, align it with the product carefully to prevent excessive force to
the finger.
In particular, during a trial run, operate the product manually or at a low speed and check that the
safety is assured without impact.
【Unpackaging】
Caution
①Check the received product is as ordered.
If the different product is installed from the one ordered, injury or damage can result.

10
1.3 Handling
Warning
①Do not touch the motor while in operation.
The surface temperature of the motor can increase to approx. 80oC due to operating conditions.
Energizing alone may also cause this temperature increase. As it may cause burns, do not touch the
motor when in operation.
②If abnormal heating, smoking or fire, etc., occurs in the product, immediately shut off the
power supply.
③Immediately stop operation if abnormal operation noise or vibration occurs.
If abnormal operation noise or vibration occurs, the product may have been mounted incorrectly.
Unless operation of the product is stopped for inspection, the product can be seriously damage.
④Never touch the rotating part of the motor or moving part of the actuator while operation.
⑤When installing, adjusting, inspecting or performing maintenance on the product, controller
and related equipment, be sure to shut off the power supply to them. Then, lock it so that no
one other than the person working can turn the power on, or implement measures such as a
safety plug.
⑥The inside of the electric actuator and its connector should not be touched.
It may cause an electric shock or damage to the controller.
⑦Do not perform the operation or setting of the product with wet hands.
Doing so may cause an electric shock.
⑧Products with damage or those missing any components should not be used.
An electric shock, fire, or injury may result.
⑨Be careful not to be caught or hit by the workpiece while the electric actuator is moving.
It may cause an injury.
⑩Do not connect the power supply or power on the product before confirming the area
to which the workpiece moves is safe.
The movement of the workpiece may cause an accident.
⑪Before installation, wiring, and maintenance, the voltage should be checked with a tester 5
minutes after the power supply has been turned off.
Otherwise, an electric shock, fire, or injury may result.
⑫Do not use the product in an area where dust, powder dust, water, chemicals, or oil is in the
air.
It will cause failure or malfunction.
⑬Do not use the product in an area where a magnetic field is generated.
It will cause failure or malfunction.
⑭Do not install the product in an environment containing flammable gas, explosive gas, or
corrosive gas.
It could lead to fire, explosion and corrosion.

11
⑮Radiant heat from strong heat sources, such as a furnace, direct sunlight, etc., should not be
applied to the product.
It will cause failure of the electric actuator or its peripheral devices.
⑯Do not use the product in an environment subject to a temperature cycle.
It will cause failure of the electric actuator or its peripheral devices.
⑰Do not use the product in a place where surges are generated.
When there are units that generate a large amount of surge around the product (e.g. solenoid type
lifters, high-frequency in- duction furnaces, motors, etc.), this may cause deterioration or damage to
the product’s internal circuit. Avoid sources of surge generation and crossed lines.
⑱Do not install the product in an environment under the effect of vibrations and impacts.
It will cause failure or malfunction.
Caution
①Conduct the following inspection before operation.
a) Confirm that the power supply line and each signal line is not damaged.
b) Play and looseness of the connector to each power line and signal line
c) Play and looseness of the mounting
d) Confirm that the electric actuator/cylinder/controller/driver is operating correctly.
e) Confirm the function of the emergency stop of the whole system.
②If several persons are to be working conjointly, determine the procedure, signs, measures
against abnormality, and restarting measures in advance. Then, have someone else,
supervise the work.
③The product may operate at a speed different from the set speed depending on the load and
resistance.
When selecting a product, check the catalog for instructions regarding selection and specifications.
④Do not apply a load, impact, or resistance in addition to the transferred load during the return
to origin.
If the product is made to return to origin by pushing force, a displacement of the origin position may
occur.
⑤Do not remove the name plate.
⑥Operation tests should be done at a low speed. Start operation by predefined speed after
confirming there are no problems.
⑦Do not apply forces of impact, collision, or resistance to the moving parts of an actuator in
operation.
Doing so will cause a decrease in product life, damage to the product, etc.
⑧Supply power when the actuator is stationary.
The controller acquires the absolute position data from the absolute encoder when power is applied.
Therefore, if the power is applied to the controller when the actuator is moving with an external force, the
controller fails to acquire the absolute position data, which generates an alarm.
⑨The stroke and the open and close speed are for both fingers.
The stroke and the open and close speed of one finger will be halved from a setting.

12
⑩When gripping a workpiece, always use Grip command.
Always use Grip command when the finger "attachments" come into contact with each other
at the initial stroke position 0 mm.
Also, do not hit the work piece to the finger and attachment in positioning command or in the
range of positioning command.
Otherwise, the lead screw can get caught and cause operation failure.
However, if the work piece cannot be gripped in Grip command (such as a plastically deformed work
piece, rubber component, etc.), you can grip it in positioning command with consideration to the
elastic force of the work piece. In this case, keep the driving speed for impact specified in item 12.
⑪When instructing external gripping by means of a Gripper, set the position with a stroke value
that is shorter than the workpiece width by approximately 1 mm. When instructing internal
gripping, set the position with a stroke value that is longer than the workpiece width by
approximately 1 mm.
When performing gripping using the Grip command, if the gripping position is set to almost the same
dimension as the workpiece width, a warning on gripping nothing may be issued at the time of
gripping.
⑫Keep the following driving speed range for Grip command.
LEHR： 5～30 mm/s
When performing gripping by means of the Positioning, if gripping is performed at a speed beyond
the above speed range, the lead screw may be damaged, causing a malfunction.
⑬There is no backlash effect in Grip command.
When the positioning command, the gap is caused by backlash in the finger. Please set "Position"
in consideration of backlash.
⑭The electric power saving mode
This is due to the self-lock mechanism in the lead screw, which makes the product keep the gripping
force. To save the energy in this situation where the product is to be stand-by or continue to grip for
extended periods of time, the product will be controlled to reduce current consumption
⑮To release the workpiece, send an operation instruction by means of the Positioning
command.
If the workpiece is released by means of the Grip, it may not be possible to release the workpiece.
⑯If the finger/work piece has become galled due to operational setting error, etc. open and
close the fingers using the manual override or by removing the finger attachments.
Do not apply excessive force to the manual override that could lead to damage and malfunction of
the product.

13
⑰Self-lock mechanism
The product keeps a gripping force due to the self-lock mechanism in the lead screw. Also, it will not
operate in opposite direction even when external force is applied during gripping.
If there is the reduction of gripping force seen in the product after a work piece has been gripped and
deformed over certain amount of time, contact SMC.
⑱Return to the origin
As this product employs a battery-less absolute encoder, it is not necessary to perform a return to
origin even when the power supply to the Electric Gripper for Collaborative Robot is turned off. This
product went through return to origin at the closed end at the time of shipment.

14
1.4 Operating environment
Warning
①Avoid use in the following environments.
1.Locations where a large amount of dust and cutting chips are airborne.
2.Locations where the ambient temperature is outside the range of the temperature specification
(refer to specifications).
3.Locations where the ambient humidity is outside the range of the humidity specification
(refer to specifications).
4.Locations where corrosive gas, flammable gas, sea water, water and steam are present.
5. Locations where strong magnetic or electric fields are generated.
6.Locations where direct vibration or impact is applied to the product.
7.Areas that are dusty, or are exposed to splashes of water and oil drops.
8.Areas exposed to direct sunlight (ultraviolet rays).
9.Environment at an altitude of 1000 meters or higher.
Heat dissipation and withstand voltage will decrease. Contact SMC for details.
②Do not use in an environment where the product is directly exposed to liquid, such as
cutting oils.
If cutting oils, coolant or oil mist contaminates the product, failure or increased sliding resistance
can result.
③Install a protective cover when the product is used in an environment directly exposed
to foreign matter such as dust, cutting chips and spatter.
Play or increased sliding resistance can result.
④Shade the sunlight in the place where the product is applied with direct sunshine.
⑤Shield the product if there is a heat source nearby.
When there is a heat source surrounding the product, the radiated heat from the heat source
can increase the temperature of the product beyond the operating temperature range.
⑥Grease oil can be reduced due to the external environment and operating conditions.
The lubrication performance may deteriorate and shorten the life of the product.
⑦Do not use in an environment where strong magnetic field is present.
A magnetic sensor is used in the encoder. Therefore, if the actuator motor is used in a strong
magnetic field environment, malfunction or failure may occur.
【Storage】
Warning
①Do not store the product in a place in direct contact with rain or water drops or is exposed
to harmful gas or liquid.
②Store in an area that is shaded from direct sunlight and has a temperature and humidity
within the specified range (-20°C to 60°C and 90%RH or less no condensation or freezing).
③Do not apply vibration and impact to the product during storage.

15
1.5 Precautions for wiring and cable
Warning
①Adjustment, installation, inspection, or wiring changes should be conducted after the power
supply to this product has been turned off.
Electrical shock, malfunction, or damage can result.
②Never disassemble the cable.
③Never connect or disconnect the cable or connector with the power on.
Caution
①Wire the connector securely.
Do not apply any voltage to the terminals other than those specified in the Operation Manual.
②Wire the connector securely.
Check for correct connector wiring and polarity.
③Take care that actuator movement does not damage cables.
④Avoid twisting, folding, rotating, or applying external force to the cable.
Electric shock, wire breakage, contact failure, or a loss of product control may occur.
⑤When checking the conductivity of the cable, be careful not to deform the connector’s mating
hole and terminals.
Inserting a non-compatible connector, tool, cylinder-shaped object, etc., into the connector’s mating
hole can cause the mating hole or terminals to become deformed, which may cause contact failure
or disconnection.
⑥Refrain from plugging in and unplugging the connector frequently.
Doing so may result in contact failure or disconnection.

16
1.6 Maintenance
Warning
①Do not disassemble or repair the product.
Fire or electric shock can result. Contact SMC, in case of disassembly for the maintenance.
②Before modifying or checking the wiring, the voltage should be checked with a tester 5
minutes after the power supply is turned off.
Electric shock can result.
③When the product is to be removed, check that it is not gripping a work piece.
There is a risk of dropping the work piece.
Caution
①Maintenance should be performed according to the procedure indicated in the Operation
Manual.
Incorrect handling can cause an injury, damage or malfunction of equipment and machinery.
②Removal of product
When equipment is serviced, first confirm that measures are in place to prevent dropping of work
pieces and run-away of equipment, etc., and then cut the power supply to the system. When
machinery is restarted, check that operation is normal with actuators in the proper positions.
【Lubrication】
Caution
①The product has been lubricated for life at manufacturer, and does not require lubrication
in service.

17
2. Outlines of Product
2.1 How to Order

18
2.2 Specification Table
Open and close stroke/both sides [mm] 50
Gripping force[N]*1
60～140
Open and close speed/
Gripping speed [mm/s]*2
5～100 / 5～30
Drive method Slide screw + Belt
Finger guide type Sliding bearing
Finger backlash/ one side [mm]*3 0.5 or less
Positioning repeatability/one side [mm] ±0.1
Lost motion/one side [mm]*4 0.5 or less
Impact/Vibration resistance [m/s2]*5 150 / 5
Operating temperature range [°C]
5～40
Operating humidity range [%RH] 90 or less (No condensation)
Weight [kg] 1
Connector type M8, 8-pin (Plug)
Moter type
Battery-less absolute
(Step motor 24 VDC)
Encoder Battery-less absolute
Power supply voltage [V] 24
Power [W]*6 Max.Power 48
*1
*2 Gripping speed should be set within the range during Grip 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 There will be no influence of backlash during gripping operations (Grip Command).
Make the stroke longer for the amount of backlash when opening.
*4 A reference value for correcting an error in reciprocal operation which occurs during positioning operations.
*5
*6 Indicates the max. power during operation.
Electric specifications
Actuator specifications
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.)
Gripping force accuracy should be ±20% (F.S.). 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.

19
2.3 Dimensions
Basic type/LEHR32K2-50A