Electric Grippers: With Drop Prevention Function Energy-Saving Product

New
Electric Grippers ®
Step Motor (Servo/24 VDC) RoHS
 With drop prevention function  Energy-saving product

(Self-lock mechanism is provided for all series.) Power consumption reduced by
Gripping force of the workpieces is maintained self-lock mechanism.
when stopped or restarted. The workpieces can be
removed with manual override.
 Compact body sizes and long stroke variations  With gripping check function
Gripping force equivalent to the widely used air Identify workpieces with different
grippers is available. dimensions/detect mounting and
removal of the workpieces.
 Possible to set position, speed and force. (64 points)
Z Type (2 fingers) ZJ Type (2 fingers)
Compact and light, various gripping forces With dust cover (Equivalent to IP50)
Series LEHZ 3 types of cover material (Finger portion only)
Stroke/ Gripping force [N]
Size both sides
[mm] Basic Compact Series LEHZJ
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) S Type (3 fingers)

Can hold various types of workpieces with a long stroke. Can hold round workpieces.
Series LEHF Series LEHS
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
Step Motor (Servo/24 VDC)

Controller/Driver
Step data input type Programless type Pulse input type

Series LECP6 Series LECP1 Series LECPA
 64 points positioning  14 points positioning
 Input using controller setting  Control panel setting
kit or teaching box
Series LEH
CAT.ES100-77E
Electric Gripper 2-Finger Type
Series LEHZ /Size: 10, 16, 20, 25, 32, 40
Series LEHZJ/Size: 10, 16, 20, 25
Series LEHF/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
¡Fluororubber (black): Option
¡Silicone rubber (white): Option
Compact
Weight: 135 g
(LEHZ10L)
Encoder dust cover
Silicone rubber
m
m
4
Cover designed with

10
30 no protrusions
mm
Inward-folding design creates
no protrusions when the
cover is opened and closed,
preventing interference with
m
other devices’ operations.

m
87
30
mm
Finger options
Series LEHZ Series LEHZJ
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

Friction resistance Friction resistance
Through-hole in opening/ reduced by special reduced by special
closing direction treatment treatment
Dust cover
Linear guide Linear guide misalignment prevention

Flat fingers Linear guide Linear guide misalignment prevention
Misalignment of the linear guide is
prevented with 2 positioning pins. Misalignment of the linear guide is
prevented with 2 positioning pins.
Features 1
Series LEHS/Size: 10, 20, 32, 40
 Canhold various types of  Can hold round workpieces.

workpieces with a long stroke.
Weight: 185 g
(LEHS10)
Stroke:
Max. 40 mm
Compact
150 g
Long stroke
m
Weight:
m
Stroke:
.1
29.
92
(LEHS10L)
Max. 80 mm 5m
m
m
m
.6
29.
75
5m
m
Series LEHF Series LEHS

Manual override Manual override
screw/Both sides Slide screw screw
For opening and Friction resistance For opening and closing the
closing the fingers reduced by special fingers (when power supply is
(when power supply is treatment turned off)
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.
Features 2
Series LEH
<Mounting Variations>
Series LEHZ/LEHZJ
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
Series LEHF
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
Series LEHS
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.

Series LEHZ/LEHZJ Series LEHS Series LEHF
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
Features 3
Electric Grippers
Application Examples
Gripping of components that are easily deformed or damaged
Test tube
Egg
O-ring
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
Identification of Speed control

workpieces with Positioning and positioning
different dimensions (Minimum stroke)
Gripping of cylindrical and spherical parts
Speed and gripping force control
Features 4
Step Data Input Type Series LECP6
Simple Setting to Use Straight Away Step motor
Easy Mode for Simple Setting (Servo/24 VDC)

LECP6
If you want to use it right away, select “Easy Mode.”
<When a PC is used>
Controller setting software Move jog
Step data setting, test operation, Start testing
move jog and move for the
constant rate can be set and
operated on one screen. Step data setting
Setting of jog
and speed of the Move for the
constant rate constant rate
<When a TB (teaching box) is used> Example of setting the step data Example of checking the operation status
Simple screen without scrolling promotes 1st screen 1st screen
ease of setting and operating.
Pick up an icon from the first screen to
select a function.
2nd screen 2nd screen
Set up the step data
Step Axis 1 Monitor Axis 1
and check the monitor Step No. 0 Step No. 1
on the second screen. Posn 123.45 mm Posn 12.34 mm
Speed 100 mm/s Speed 10 mm/s
Operation status
can be checked.
It can be registered by “SET” after entering the values.
Teaching box screen Step Axis 1 Step Axis 1

Data can be set with position Step No. 0 Step No. 1
and speed. (Other conditions Posn 50.00 mm Posn 80.00 mm
are already set.) Speed 200 mm/s Speed 100 mm/s
Gateway Unit Series LEC-G

Unit linking the LECP6 series and Fieldbus network
Two methods of operation
Step data input: Operate using preset step data in the controller.
Numerical data input: The actuator operates using values such as position and speed from the PLC.
PLC
Compatible electric actuators
Fieldbus Serial
network communication
RS485 Up to 12 controllers
are connectable
Electric gripper Electric slide table Electric actuator/
Gateway Series LEH Series LES Rod type
(GW) unit Compatible Series LEY
controllers
Series LEC
Electric actuator/ Electric actuator/

Slider type Rotary table
Applicable Series LEF Series LER
Fieldbus protocols
Step motor controller
Max. number of
connectable controllers
12 8 5 12 (Servo/24 VDC)
Series LECP6
Electric actuator/ Electric actuator/
Power 24 VDC Miniature type Guide rod slider
supply
for gateway unit Series LEP Series LEL
Features 5
Normal Mode for Detailed Setting
Select normal mode when detailed setting is required.
Step data can be set in detail. Parameters can be set.
Signals and terminal status can be monitored. JOG and constant rate movement, return to origin, test operation and testing of forced output can be performed.
<When a PC is used>
Controller setting software
Step data setting, parameter
setting, monitor, teaching,
etc., are indicated in different
windows.
Step data
setup window
Parameter
setup window
Monitoring window
Teaching window
<When a TB (teaching box) is used> Menu Axis 1

Step data
Multiple step data can be Parameter Step Axis 1
stored in the teaching box, and Test Step No. Test DRV Axis 1
transferred to the controller. 0 Step No. 1
Main menu screen Movement MOD
Continuous test operation by Posn 123.45 mm
up to 5 step data. Stop Out mon Axis 1
Step data
setup screen BUSY[ ]
Teaching box screen Test screen
SVRE[ ]
SETON[ ]
Each function (step data setting,
test, monitor, etc.) can be Monitoring screen
selected from the main menu.
The actuator and controller are provided as a set. (They can be ordered separately.)
Confirm that the combination of the controller and the actuator is correct.
<Check the following before use.>
q Check the actuator label for model number. This matches the controller.
w Check Parallel I/O configuration matches (NPN or PNP).
Controller
Actuator
q w
Features 6
Programless Type Series LECP1
No programming
Capable of setting up an electric actuator operation without using a PC or teaching box
Step motor
1 Setting position number 2 Setting a stop position 3 Registration (Servo/24 VDC)
LECP1
Setting a registered number Moving the actuator to a stop Registering the stop
for the stop position position using FORWARD and position using SET
Maximum 14 points REVERSE buttons button
Speed/Acceleration
16-level adjustment
Position
number
display Position SET button
Speed
selecting
adjustment
FORWARD switches
switch
and
REVERSE Acceleration
buttons adjustment
switches
Pulse Input Type Series LECPA
A driver that uses pulse signals to allow positioning at any position.

The actuator can be controlled from the customers’ positioning unit.
Touch panel
Pulse signal
PLC
positioning
Electric gripper
unit
Series LEH
Step motor driver (Pulse input type)
Series LECPA
Return-to-origin command signal

Enables automatic return-to-origin action.
With force limit function (Pushing force/Gripping force operation available)

Pushing force/Positioning operation possible by switching signals.
Features 7
Series LECP6/LECP1/LECPA
Function
Step data input type Programless type Pulse input type
Item
LECP6 LECP1 LECPA
Step data and • Input from controller setting software (PC) • Select using controller operation • Input from controller setting software (PC)
parameter setting • Input from teaching box buttons • Input from teaching box
• Input the numerical value from controller • Direct teaching • No “position” setting required
setting software (PC) or teaching box • JOG teaching Position and speed set by pulse signal
Step data “position”
• Input the numerical value
setting
• Direct teaching
• JOG teaching
Number of step data 64 points 14 points —
Operation command (I/O signal) Step No. [IN∗] input ⇒ [DRIVE] input Step No. [IN∗] input only Pulse signal
Completion signal [INP] output [OUT∗] output [INP] output
Setting Items
TB: Teaching box PC: Controller setting software
Easy Normal Step data

mode mode Pulse input type Programless type
Item Contents input type
LECPA LECP1∗
TB PC TB/PC LECP6
Movement MOD Selection of “absolute position” and “relative position”    Set at ABS/INC Fixed value (ABS)
Speed Transfer speed    Set in units of 1 mm/s Select from 16-level
[Position]: Target position No setting required Direct teaching

Position    Set in units of 0.01 mm
[Pushing]: Pushing start position JOG teaching
Acceleration/Deceleration Acceleration/deceleration during movement    Set in units of 1 mm/s2 Select from 16-level
Step data Pushing force Rate of force during pushing operation    Set in units of 1% Set in units of 1% Select from 3-level (weak, medium, strong)
setting
(Excerpt) Trigger LV Target force during pushing operation    Set in units of 1% Set in units of 1% No setting required (same value as pushing force)
Pushing speed Speed during pushing operation    Set in units of 1 mm/s Set in units of 1 mm/s
Moving force Force during positioning operation    Set to 100% Set to (Different values for each actuator)%
Area output Conditions for area output signal to turn ON    Set in units of 0.01 mm Set in units of 0.01 mm
[Position]: Width to the target position Set to 0.5 mm or more Set to (Different values for each No setting required
In position   
[Pushing]: How much it moves during pushing (Units: 0.01 mm) actuator) or more (Units: 0.01 mm)
Stroke (+) + side limit of position × ×  Set in units of 0.01 mm Set in units of 0.01 mm
Stroke (−) − side limit of position × ×  Set in units of 0.01 mm Set in units of 0.01 mm
Parameter
setting ORIG direction Direction of the return to origin can be set. × ×  Compatible Compatible Compatible
(Excerpt)
ORIG speed Speed during return to origin position × ×  Set in units of 1 mm/s Set in units of 1 mm/s
No setting required
ORIG ACC Acceleration during return to origin position × ×  Set in units of 1 mm/s2 Set in units of 1 mm/s
Continuous operation at the Continuous operation at the Hold down MANUAL button
JOG    set speed can be tested while set speed can be tested while ( ) for uniform sending
the switch is being pressed. the switch is being pressed. (speed is specified value)
Operation at the set distance Operation at the set distance Press MANUAL button ( )
MOVE ×   and speed from the current and speed from the current once for sizing operation
position can be tested. position can be tested. (speed, sizing amount are specified values)
Test
Return to ORIG    Compatible Compatible Compatible
Operation of the specified 

Test drive   (Continuous Compatible Not compatible Compatible
step data operation)
Forced output ON/OFF of the output terminal can be tested. × ×  Compatible Compatible
Current position, speed,
DRV mon force and the specified step    Compatible Compatible
data can be monitored. Not compatible
Monitor
Current ON/OFF status of the
In/Out mon input and output terminal × ×  Compatible Compatible
can be monitored.
Status Alarm currently being generated can be confirmed.    Compatible Compatible Compatible (display alarm group)
ALM
ALM Log record Alarm generated in the past can be confirmed. × ×  Compatible Compatible
Step data and parameter can
File Save/Load be saved, forwarded and × ×  Compatible Compatible Not compatible
deleted.
Other Language Can be changed to Japanese or English.    Compatible Compatible
: Can be set from TB Ver. 2.∗∗ (The version information is displayed on the initial screen)
∗ Programless type LECP1 cannot be used with the teaching box and controller setting kit.
Features 8
Series LEH
System Construction/General Purpose I/O

Provided by customer
Electric gripper
PLC
Power supply for I/O signal

24 VDC Note)
I/O cable Pages 61, 73

Controller type Part no.
LECP6 LEC-CN5-
LECP1 (Programless) LEC-CK4-
Controller∗ Page 54
To CN5
To CN4
To CN3
To CN2
Programless type
To CN1
LECP1
Provided by customer Step data input type Page 68
Power supply for controller LECP6 Note) The teaching box, controller setting kit
24 VDC Note) Power supply plug
Page 55 and Touch Operator Interface cannot be
connected.
Note) When conformity to UL is (Accessory)
required, the electric actuator <Applicable cable size> Touch Operator Interface (Provided by customer)
and controller should be AWG20 (0.5 mm2) GP4501T/GP3500T
used with a UL1310 Class 2
Manufactured by Digital Electronics Corp.
power supply.
Actuator cable∗ Pages 61, 73 Cockpit parts can be
downloaded free via
Controller type Standard cable Robotic cable the Pro-face website.
LECP6 (Step data input type) LE-CP--S LE-CP- Using cockpit parts
LECP1 (Programless type) LE-CP--S LE-CP- makes adjustment
from the Touch
Operator Interface
possible.
The ∗ mark: Can be included in the “How to

Order” for the actuator.
Option
Teaching box Page 63 Controller setting kit Page 62

(With 3 m cable) Controller setting kit
Part no.: LEC-T1-3JG (Communication cable, conversion unit and USB cable are included.)
Part no.: LEC-W2
Communication cable
(3 m)
Or
USB cable
(A-miniB type)
(0.3 m)
PC
Note) Cannot be used with the programless type (LECP1).
Features 9
Electric Grippers
System Construction/Pulse Signal

Provided by customer
Electric gripper
PLC
Power supply for I/O signal

24 VDC Note)
Note) When conformity to UL is

required, the electric actuator
and driver should be used with a
UL1310 Class 2 power supply.
Driver∗ Page 74 I/O cable Page 80

Driver type Part no.
LECPA LEC-CL5-
To CN5
To CN4
To CN3
To CN2
Provided by customer To CN1

Power supply for driver
24 VDC Note) Power supply plug (Accessory)
Note) When conformity to UL is <Applicable cable size>
required, the electric actuator AWG20 (0.5 mm2)
and driver should be used with a
Actuator cable∗ Page 79

Driver type Standard cable Robotic cable
LECPA (Pulse input type) LE-CP--S LE-CP-
The ∗ mark: Can be included in the “How to

Order” for the actuator.
Option
Teaching box Page 82 Controller setting software Page 81

(With 3 m cable) Communication cable (With conversion unit)
Part no.: LEC-T1-3JG and USB cable are included.
Part no.: LEC-W2
Communication cable
Or
USB cable
(A-miniB type)
PC
Features 10
Series LEH Electric Grippers
System Construction/Fieldbus Network
Gateway (GW) unit Page 65 Option

PLC
(Provided by customer) Applicable Fieldbus protocols Controller setting software Page 62
CC-Link Ver. 2.0 (Communication cable and USB cable are included.)
Power supply for DeviceNet™ Part no.: LEC-W2
gateway unit PROFIBUS DP
24 VDC Note 1) EtherNet/IP™
Fieldbus Power supply

Power network connector To CN4
supply (Accessory) Communication
cable
Communication
connector To CN3
Page 65
(Accessory)∗
Communication cable ∗ CC-Link Ver. 2.0
USB cable
PC
LEC-CG1- To CN2 (A-miniB type) (Provided by customer)
DeviceNet™ only
Or
To CN1
Teaching box Page 63
Page 65 (With 3 m cable)
Cable between branches Part no.: LEC-T1-3JG
LEC-CG2-
Terminating resistor
Branch connector Page 65 connector 120Ω
LEC-CGD LEC-CGR
Page 65
Communication cable
LEC-CG1-
Controller Page 55 Controller Page 55
Max. number of
Applicable Fieldbus protocols
connectable controllers
CC-Link Ver. 2.0 12
Power supply
To CN4 DeviceNet™ 8
connector
(Accessory) PROFIBUS DP 5
Power supply EtherNet/IP™ 12
connector
(Accessory) To CN1 To CN1 Compatible controller
Controller input Controller input Step motor controller
Series LECP6
power supply Note 1) power supply Note 1) (Servo/24 VDC)
Note 1) Connect the 0 V terminals for both the
controller input power supply and
gateway unit power supply.
When conformity to UL is required, the
electric actuator and controller should be
used with a UL1310 Class 2 power
supply.
Electric gripper
Series LEH
Features 11
SMC Electric Actuators
Slider Type Step Motor (Servo/24 VDC) Servo Motor (24 VDC) AC Servo Motor
Ball screw drive Belt drive Ball screw drive Belt drive
Series LEFS Series LEFB Series LEFS Series LEFB
Clean room compatible Clean room compatible
CAT.ES100-87
Series LEFS Series LEFB Series LEFS Series LEFB

Max. work load Stroke Max. work load Stroke Max. work load Stroke Max. work load Stroke
Size Size Size Size
(kg) (mm) (kg) (mm) (kg) (mm) (kg) (mm)
16 10 Up to 400 16 1 Up to 1000 25 20 Up to 600 25 5 Up to 2000
40 60 Up to 1000
High Rigidity Slider Type AC Servo Motor Guide Rod Slider Step Motor (Servo/24 VDC)
Ball screw drive Belt drive Belt drive

Series LEJS Series LEJB Series LEL
CAT.ES100-104 CAT.ES100-101
Series LEL25M Series LEL25L

Series LEJS Series LEJB Sliding bearing Ball bushing bearing
Max. work Stroke Max. work Stroke Max. work Stroke Max. work Stroke
Size Size Size Size
load (kg) (mm) load (kg) (mm) load (kg) (mm) load (kg) (mm)
40 55 200 to 1200 40 20 200 to 2000 25 3 Up to 1000 25 5 Up to 1000
63 85 300 to 1500 63 30 300 to 3000
Rod Type Step Motor (Servo/24 VDC) Servo Motor (24 VDC)
Basic type In-line motor type Guide rod type Guide rod type
Series LEY Series LEYD Series LEYG /In-line motor type
Dust/Drip proof compatible Dust/Drip proof compatible Series LEYGD
CAT.ES100-83
Series LEY Series LEYG
Pushing force Stroke Pushing force Stroke

Size Size
(N) (mm) (N) (mm)
16 141 Up to 300 16 141 Up to 200
25 452 Up to 400 25 452 Up to 300
32 707 Up to 500 32 707 Up to 300
40 1058 Up to 500 40 1058 Up to 300
AC Servo Motor
Basic type In-line motor type Guide rod type Guide rod type
Series LEY Series LEYD Series LEYG /In-line motor type
Dust/Drip proof compatible Dust/Drip proof compatible Series LEYGD
Series LEY Series LEY Series LEYG Series LEYG
Pushing force Stroke Pushing force Stroke Pushing force Stroke Pushing force Stroke
Size Size Size Size
(N) (mm) (N) (mm) (N) (mm) (N) (mm)
25 485 Up to 400 25 485 Up to 400 25 485 25 485
300 300
32 588 Up to 500 32 736 Up to 500 32 588 32 736
63 1910 Up to 800
Features 12
SMC Electric Actuators
Slide Table Step Motor (Servo/24 VDC) Servo Motor (24 VDC)
Compact type Series LES High rigidity type Series LESH
Basic type/R type Symmetrical type/L type Basic type/R type Symmetrical type/L type
Series LESR Series LESL Series LESHR Series LESHL
CAT.ES100-78
Max. work load Stroke In-line motor type/D type Max. work load Stroke In-line motor type/D type
Size Series LESD Size Series LESHD
(kg) (mm) (kg) (mm)
8 1 30, 50, 75 8 2 50, 75
30, 50 16 6 50, 100
16 3
75, 100 50, 100
25 9
30, 50, 75 150
25 5
100, 125, 150
Miniature Step Motor (Servo/24 VDC) Rotary Table Step Motor (Servo/24 VDC)
Rod type Slide table type Basic type High precision type
Series LEPY Series LEPS Series LER Series LERH
CAT.ES100-92 CAT.ES100-94
Series LER
Series LEPY Series LEPS Rotating torque (N⋅m) Max. speed (°/s)
Size
Max. work load Stroke Max. work load Stroke Basic High torque Basic High torque
Size Size
(kg) (mm) (kg) (mm) 10 0.2 0.3
6 1 6 1 25 30 0.8 1.2 420 280
25, 50, 75
10 2 10 2 50 50 6.6 10
Gripper Step Motor (Servo/24 VDC)
2-finger type 2-finger type 2-finger type 3-finger type

Series LEHZ With dust cover Long stroke Series LEHS
Series LEHZJ Series LEHF
CAT.ES100-77
Series LEHZ Series LEHZJ Series LEHF Series LEHS

Max. gripping force (N) Stroke/both Max. gripping force (N) Stroke/both Max. gripping Stroke/both Max. gripping force (N) Stroke/both
Size Size Size Size
Basic Compact sides (mm) Basic Compact sides (mm) force (N) sides (mm) Basic Compact sides (mm)
10 6 4 10 6 4 10 7 16 (32) 10 5.5 3.5 4
14 14
16 8 6 16 8 6 20 28 24 (48) 20 22 17 6
20 10 20 10 32 120 32 (64) 32 90 — 8
40 28 40 28
25 14 25 14 40 180 40 (80) 40 130 — 12
32 130 — 22 Note) ( ): Long stroke
40 210 — 30
Features 13
Controller/Driver
Controller Driver
Step data input type Step data input type Programless type Pulse input type
For step motor For servo motor Series LECP1 Series LECPA
Series LECP6 Series LECA6
Control motor Control motor Control motor Control motor

Step motor Servo motor Step motor Step motor
(Servo/24 VDC) (24 VDC) (Servo/24 VDC) (Servo/24 VDC)
Gateway Unit
Fieldbus-compatible gateway (GW) unit
Series LEC-G
Applicable Fieldbus protocols
Max. number of connectable controllers 12 8 5 12
Driver
AC Servo Motor Driver
Pulse input type/ Pulse input type CC-Link direct input type SSCNET III type
Positioning type Series LECSB Series LECSC Series LECSS
Series LECSA (Absolute type) (Absolute type) (Absolute type)
(Incremental type)
Control motor Control motor Control motor Control motor

AC servo motor AC servo motor AC servo motor AC servo motor
(100/200/400 W) (100/200/400 W) (100/200/400 W) (100/200/400 W)
Features 14
Series Variations
Electric Gripper 2-Finger Type Series LEHZ/LEHZJ/LEHF
Opening/closing Gripping force [N] Opening/closing Controller

Reference
Series Size stroke speed /Driver
Basic Compact page
both sides (mm) (mm/s) series
10 4 2 to 6
6 to 14 5 to 80
16 6 3 to 8
LEHZ 20 10
LEHZ 16 to 40 11 to 28 5 to 100 Page 1
25 14
32 22 52 to 130 — Series
5 to 120 LECP6
40 30 84 to 210 —
10 4 3 to 6 Series
6 to 14 5 to 80
16 6 4 to 8 LECP1
LEHZJ With dust cover LEHZJ Page 15
20 10 Series
16 to 40 11 to 28 5 to 100
25 14 LECPA
10 16 (32) Note) 3 to 7 5 to 80
20 24 (48) Note) 11 to 28
LEHF Page 27
32 32 (64) Note) 48 to 120 5 to 100
LEHF 40 40 (80) Note) 72 to 180
Note) ( ): Long stroke
Electric Gripper 3-Finger Type Series LEHS
Opening/closing Gripping force [N] Opening/closing Controller

Reference
Series Size stroke speed /Driver
Basic Compact page
both sides (mm) (mm/s) series
10 4 2.2 to 5.5 1.4 to 3.5 5 to 70 Series
LECP6
20 6 9 to 22 7 to 17 5 to 80 Series
LEHS LECP1
Page 40
32 8 36 to 90 — 5 to 100
Series
40 12 52 to 130 — 5 to 120 LECPA
Controller/Driver LEC
Power Parallel I/O Number of

Compatible Reference
Type Series supply positioning
motor Input Output page
voltage pattern points
11 inputs 13 outputs
Step data Step motor 24 VDC
input type
LECP6 (Servo/24 VDC) ±10%
(Photo-coupler (Photo-coupler 64 Page 55
isolation) isolation)
6 inputs 6 outputs
Programless Step motor 24 VDC
LECP6 LECP1 type
LECP1 (Servo/24 VDC) ±10%
(Photo-coupler (Photo-coupler 14 Page 68
5 inputs 9 outputs
Pulse input Step motor 24 VDC
type
LECPA (Servo/24 VDC) ±10%
(Photo-coupler (Photo-coupler — Page 74
LECPA
Front matter 1
Selection
Model
Step Motor (Servo/24 VDC) Type
LEHZ
Electric Gripper 2-Finger Type Series LEHZ
Model Selection ………………………………………………………………………………… Page 1
How to Order …………………………………………………………………………………… Page 7
Specifications …………………………………………………………………………………… Page 9
Construction ……………………………………………………………………………………… Page 10
LEHZJ
Dimensions ……………………………………………………………………………………… Page 11
Finger Options ………………………………………………………………………………… Page 14

Electric Gripper 2-Finger Type/With Dust Cover Series LEHZJ
How to Order …………………………………………………………………………………… Page 21
LEHF
Dimensions ……………………………………………………………………………………… Page 25
Electric Gripper 2-Finger Type Series LEHF

LEHS
How to Order …………………………………………………………………………………… Page 31
Dimensions ……………………………………………………………………………………… Page 35
LECP6
How to Order …………………………………………………………………………………… Page 43
LEC-G
Dimensions ……………………………………………………………………………………… Page 47
Specific Product Precautions …………………………………………………………… Page 49
LECP1
Step Motor (Servo/24 VDC) Controller/Driver

Step Data Input Type/Series LECP6 ………………………………………………… Page 55
LECPA
Controller Setting Kit/LEC-W2 ……………………………………………………… Page 62

Teaching Box/LEC-T1 ………………………………………………………………… Page 63
Gateway Unit/Series LEC-G ……………………………………………………………… Page 65
Programless Controller/Series LECP1 ……………………………………………… Page 68
Specific Product
Step Motor Driver/Series LECPA ……………………………………………………… Page 74

Precautions
Controller Setting Kit/LEC-W2 ……………………………………………………… Page 81

Teaching Box/LEC-T1 ………………………………………………………………… Page 82
Front matter 2
Electric Gripper 2-Finger Type Step Motor (Servo/24 VDC)
Series LEHZ
Model Selection
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  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 Note)
the workpiece weight, or more. 30 70%
Note) For details, refer to the calculation of required gripping 27
force. 20
40%
 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.

 A gripping force of 27 N is obtained 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%.
 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/sec 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/sec]
2 x µF > mg
 Pushing speed is satisfied at the point where 70%
Attachment of the pushing force and 30 mm/sec of the pushing
Number of fingers
mg speed cross.
and therefore, F >
2xµ Note) Confirm 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 Note) • Even in cases where the coefficient of friction is greater than µ = 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.
1
Model Selection Series LEHZ
Selection
Model
Selection Procedure
Step 1 Check the gripping force: Series LEHZ
 Indication of gripping force
The gripping force shown in the graphs below is expressed as  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.
LEHZ
and attachments are in full contact with the workpiece as
shown in the figure below.
External Gripping State Internal Gripping State
LEHZJ
Finger Finger
LEHF
Attachment
Attachment
L
L
L: Gripping L: Gripping
F F point F F point
Workpiece F: Gripping Workpiece F: Gripping
force force
LEHS
∗ Pushing force is one of the values of ∗ Pushing 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.)
LECP6
20 8
16
Pushing force 100% 6
Pushing force 100%
12
70% 4
LEC-G
70%
8
40% 40%
2
4
0 0
LECP1
0 20 40 60 80 0 20 40 60 80 100
Gripping point L [mm] Gripping point L [mm]
LEHZ16 LEHZ16L
20 10
LECPA
16 8
Pushing force 100%
12 6 Pushing force 100%
70% 70%
8 4
Specific Product
Precautions
40% 40%
4 2
0 0
0 20 40 60 80 100 120 140 0 20 40 60 80 100 120 140
2
Series LEHZ
Selection Procedure
Step 1 Check the gripping force: Series LEHZ
LEHZ20 LEHZ20L
50 35
Pushing force 100% 30 Pushing force 100%


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
LEHZ25 LEHZ25L
50 35
30
Pushing force 100%
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
LEHZ32
Gripping force accuracy: ±20% (F.S.) Selection of Pushing Speed
160
 Set the [Pushing force] and the [Trigger LV] within the
Pushing force 100%
120 range shown in the figure below.

Basic
70% 110
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/sec]
250
Compact
Pushing force 100%
200 110

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/sec]
3
Selection
Model
Step 2 Check the gripping point and overhang: Series LEHZ
 Decide the gripping position of the workpiece so that the amount of overhang “H” stays within the range shown in the figure below.
 If the gripping position is out of the limit, it may shorten the life of the electric gripper.
LEHZ
H
H
Gripping Gripping
position position
LEHZJ
H: Overhang L H: Overhang
L
L : Gripping point L : Gripping point

LEHZ10 LEHZ10L
LEHF
100 100
80 80
Overhang H [mm]
Overhang H [mm]
60 60 70
40 %,
% 40
Pu %
40 40 sh
70 ing
% for
20 Push ce
LEHS
20 10
i100 ng for 0%
% ce
0 0
0 20 40 60 80 100 0 20 40 60 80 100
LEHZ16 LEHZ16L
LECP6
140 140
120 120
Overhang H [mm]
Overhang H [mm]
100 100
Pu
70 sh
80 %, 80 ing
40 for
Pu ce
LEC-G
60 sh % 60
ing 10
0%
40 for 40 ,7
ce 0%
10 ,4
20 0% 20 0%
0 0
LECP1
0 20 40 60 80 100 120 140 0 20 40 60 80 100 120 140

LEHZ20 LEHZ20L
140 140
LECPA
120 120
Overhang H [mm]
Overhang H [mm]
100 100
40 40
80 % 80 %
70
60 60 Pu %
Pu sh
Specific Product
sh 70 ing
ing % for
Precautions
40 40
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
4
Series LEHZ
Selection Procedure
Step 2 Check the gripping point and overhang: Series LEHZ
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
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
5
Selection
Model
Step 3 Check the external force on fingers: Series LEHZ
LEHZ
LEHZJ
L

Mp My: Yaw moment Mr
Fv
My
Fv: Allowable vertical load Mp: Pitch moment Mr: Roll moment
LEHF
H
LEHS
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
LECP6
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
LEC-G
Note) Values for load in the table indicate static values.
Calculation of allowable external force (when moment load is applied) Calculation example
LECP1
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 ∗ 30 x 10–3
LECPA
(∗ Constant for unit conversion)

= 22.7 (N)
Load f = 10 (N) < 22.7 (N)
Specific Product
Precautions
6
Series LEHZ
®
LEHZ10, 16, 20, 25, 32, 40 RoHS
How to Order
LEHZ 10 K2 4 S 1 6N 1
q w er t y u i o !0 !1 !2
q Size w Motor size e Lead r 2-finger type Finger options

10 Nil Basic K Basic Nil: Basic
16 L Note) Compact (Tapped in opening/
20 Note) Size: 10, 16, 20, 25 only closing direction)
25
32
40
t Stroke [mm] y Finger options
Stroke/both sides Size Nil Basic (Tapped in opening/closing direction)
4 10 A Side tapped mounting
6 16 B Through-hole in opening/closing direction
10 20 C Flat fingers
14 25 A: Side tapped mounting
22 32
30 40
u Motor cable entry

Basic (Entry on the left side)
Mounting reference plane
B: Through-hole in opening/
Mounting closing direction
Nil
reference plane
Motor cable
Connector cover
Caution
Entry on the front side Mounting reference plane [CE-compliant products]
EMC compliance was tested by combining the electric
actuator LEH series and the controller LEC series.
The EMC depends on the configuration of the
Mounting
C: Flat fingers
customer’s control panel and the relationship with
reference plane other electrical equipment and wiring. Therefore
conformity to the EMC directive cannot be certified for
F SMC components incorporated into the customer’s
equipment under actual operating conditions. As a
Motor cable result it is necessary for the customer to verify
Connector cover conformity to the EMC directive for the machinery and
equipment as a whole.
[UL-compliant products]
When conformity to UL is required, the electric
actuator and controller/driver should be used with a
The actuator and controller/driver are sold as a package.

Confirm that the combination of the controller/driver and the actuator is correct.
q Check the actuator label for model number. This matches the controller/driver.
q w
∗ Refer to the operation manual for using the products. Please download it via our website, http://www.smcworld.com
7
Selection
Model
LEHZ
LEHZJ
i Actuator cable type∗ o Actuator cable length [m] !0 Controller/Driver type∗

Nil Without cable Nil Without cable Nil Without controller/driver
S Standard cable 1 1.5 6N LECP6 NPN
R Robotic cable (Flexible cable) 3 3 6P (Step data input type) PNP
∗ The standard cable should be used on fixed 5 5 1N LECP1 NPN
parts. For using on moving parts, select the 8 8∗ 1P (Programless type) PNP
robotic cable.
A 10∗ AN LECPA
LEHF
NPN
B 15∗ AP (Pulse input type) PNP
C 20∗ ∗ For details about controllers/driver and
∗ Produced upon receipt of order (Robotic cable only) compatible motors, refer to the compatible
Refer to the specifications Note 3) on page 9. controllers/driver below.
!1 I/O cable length [m]∗1 !2 Controller/Driver mounting

Nil Without cable Nil Screw mounting
LEHS
1 1.5 D DIN rail mounting∗
3 3∗2 ∗ DIN rail is not included. Order it separately.
5 5∗2 (Refer to page 56.)
∗1 When “Without controller/driver” is selected
for controller/driver types, I/O cable cannot
be selected. Refer to page 61 (For LECP6),
page 73 (For LECP1) or page 80 (For
LECPA) if I/O cable is required.
LECP6
∗2 When “Pulse input type” is selected for
controller/driver types, pulse input usable
only with differential. Only 1.5 m cables
usable with open collector.
Compatible Controllers/Driver
Step data
input type
Programless type Pulse input type
LEC-G
LECP1
Type
LECPA
Series LECP6 LECP1 LECPA

Value (Step data) input Capable of setting up operation (step data)
Features Operation by pulse signals
Standard controller without using a PC or teaching box
Specific Product
Step motor Step motor

Precautions
Compatible motor
(Servo/24 VDC) (Servo/24 VDC)
Maximum number of step data 64 points 14 points —

Power supply voltage 24 VDC
Reference page Page 55 Page 68 Page 74
8
Series LEHZ
Specifications
Model LEHZ10 LEHZ16 LEHZ20 LEHZ25 LEHZ32 LEHZ40

Opening/closing stroke (Both sides) 4 6 10 14 22 30
Gripping force Basic 6 to 14 16 to 40 52 to 130 84 to 210
[N] Note 1) Note 3)Compact 2 to 6 3 to 8 11 to 28 — —
Opening and closing speed/
5 to 80/5 to 50 5 to 100/5 to 50 5 to 120/5 to 50
Pushing speed [mm/s] Note 2) Note 3)
Drive method Slide screw + Slide cam
Actuator specifications
Finger guide type Linear guide (No circulation)
Repeatability [mm] Note 4) ±0.02
Repeated length measurement
±0.05
accuracy [mm] Note 5)
Finger backlash/
0.5 or less 1.0 or less
both sides [mm] Note 6)
Impact/Vibration resistance [m/s2] Note 7) 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)
Basic 165 220 430 585 1120 1760
Weight [g]
Compact 135 190 365 520 — —
Motor size 20 28 42
Electric specifications
Motor type Step motor (Servo/24 VDC)

Encoder Incremental A/B phase (800 pulse/rotation)
Rated voltage [V] 24 VDC ±10%
Power consumption/
Standby power Basic 11/7 28/15 34/13 36/13
consumption when
operating [W] Note 8) Compact 8/7 22/12 — —
Max. instantaneous Basic 19 51 57 61
power consumption
[W] Note 9) Compact 14 42 — —
Note 1) Gripping force should be from 10 to 20 times the workpiece weight. Positioning 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.
Note 2) Pushing speed should be set within the range during pushing (gripping) operation. Otherwise, it may cause malfunction.
The opening/closing speed and pushing speed are for both fingers. The speed for one finger is half this value.
Note 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%)
Note 4) Repeatability means the variation of the gripping position (workpiece position) when the gripping operation is repeatedly
performed by the same sequence for the same workpiece.
Note 5) Repeated length measurement accuracy means dispersion (value on the controller monitor) when the workpiece is
repeatedly held in the same position.
Note 6) There will be no influence of backlash during pushing (gripping) operation. Make the stroke longer for the amount of
backlash when opening.
Note 7) 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. (Test was performed with the gripper in the initial state.)
Vibration resistance: No malfunction occurred in a test ranging between 45 to 2000 Hz. Test was performed in both an
axial direction and a perpendicular direction to the lead screw. (Test was performed with the gripper in the initial state.)
Note 8) The power consumption (including the controller) is for when the gripper is operating.
The standby power consumption when operating is for when the gripper is stopped in the set position during operation,
including the energy saving mode when gripping.
Note 9) The maximum instantaneous power consumption (including the controller) is for when the gripper is operating. 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
9
Selection
Model
Construction
Series LEHZ
LEHZ
e
!0
w
t
LEHZJ
q

r
u
y
LEHF
o
i
LEHS
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
LECP6
5 Slide bolt Stainless steel Heat treatment + Special treatment
6 Needle roller High carbon chromium bearing steel
8 Finger assembly —
LEC-G
9 Lever Special stainless steel
10 Step motor (Servo/24 VDC) —
Replacement Parts i Finger Assembly

LECP1
Through-hole in opening/
Basic (Nil) Side tapped mounting (A) Flat fingers (C)
closing direction (B)
Size
LECPA
10 MHZ-A1002 MHZ-A1002-1 MHZ-A1002-2 MHZ-A1002-3

16
Specific Product
MHZ-A1602 MHZ-A1602-1 MHZ-A1602-2 MHZ-A1602-3

Precautions

10
Series LEHZ
Dimensions
LEHZ10(L)K2-4 29.5
15
Motor cable entry: Entry on the front side
[mm]
Model L (L1)
LEHZ10K2-4 103.8 (59.7)
20 2 x ø5
LEHZ10LK2-4 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
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) Note)
19
Note) Range within which the fingers can move when it
29
returns to origin. Make sure a workpiece mounted
on the fingers does not interfere with the workpieces
LEHZ16(L)K2-6 and facilities around the fingers.

[mm]
Model L (L1)
LEHZ16K2-6 112.8 (59.7)
2 x ø5
LEHZ16LK2-6 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
(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) Note)
24 Note) Range within which the fingers can move when it
38 returns to origin. Make sure a workpiece mounted
and facilities around the fingers.
11
Selection
Model
Dimensions
LEHZ20(L)K2-10
[mm]
Model L (L1)
Manual override
LEHZ20K2-10 129.6 (61.8) screw
LEHZ
LEHZ20LK2-10 115.6 (47.8)
2 x ø5
28
28.5
20
14.5
42
LEHZJ
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
LEHF
L
)
28.5
3H9 ( +0.025
65
22.5
19.5
13.5
depth 3
0
4
67.8
9.5
2 x M5 x 0.8 x 8 When closed:

22.5
20
+0.3
5 9
16 −0.4 2 x M5 x 0.8 x 8
When opened: 2 x ø4.2 through Note) Range within which the fingers can
0
10 −0.05 Reference position +0.3
0
8 −0.1 26 −0.4 (Finger operating range: 16 to 28) Note) move when it returns to origin. Make
4 x M4 x 0.7 of the gripping point
LEHS
18 30 sure a workpiece mounted on the
50 fingers does not interfere with the
workpieces and facilities around the
fingers.
LEHZ25(L)K2-14
[mm] Motor cable entry: Entry on the front side
Model L (L1)
Manual override
LECP6
LEHZ25K2-14 139.8 (61.8) screw
LEHZ25LK2-14 125.8 (47.8)
2 x ø5
28
33.7
20
17.1

28
52
20
LEC-G
ø4H9 ( +0.030
0 ) (Motor cable entry: Basic)
LECP1
depth 3
Mounting
reference
(L1)
4H9 ( +0.030 )
plane
5
0
depth 3
ø4H9 ( +0.030
0 )
LECPA
depth 3
L
4H9 ( +0.030 )
32.5
65
25.5
22.5
5
0
depth 3
15.5
78
11
Specific Product
2 x M6 x 1.0 x 10
Precautions
Note) Range within which the fingers can

28.1
When closed:
25
12
6
+0.3 move when it returns to origin. Make

19 −0.5 2 x M6 x 1.0 x 10
0 When opened: 2 x ø5.2 through sure a workpiece mounted on the
12 −0.05 +0.3
0
10 −0.1 33 −0.5 fingers does not interfere with the
4 x M5 x 0.8 (Finger operating range: 19 to 34.5) Note)
20 Reference position workpieces and facilities around the
38
of the gripping point fingers.
63
12
Series LEHZ
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
ø4H9 ( +0.030
0 ) Motor cable length ≈ 300
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
36
29
24
5
17
98
12
2 x M6 x 1.0 x 10
34
29
14
When closed:
7
0 2 x M6 x 1.0 x 10 Note) Range within which the

0
15 −0.05 26 −0.5
Reference position of the gripping point When opened:
fingers can move when
2 x ø5.2 through
28 4 x M6 x 1.0 0 0 it returns to origin. Make
12 −0.1 48 −0.5 (Finger operating range: 26 to 49.5) Note) sure a workpiece
48 mounted on the fingers
97 does not interfere with
the workpieces and
Motor cable entry: Entry on the front side facilities around the
LEHZ40K2-30 fingers.
2 x ø5

42
48.1
20
24.3
20
80
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
31.5
22.5
120.5
6
( +0.030
depth 4
0
15
Note) Range within which the

5H9
2 x M8 x 1.25 x 14 fingers can move when

When closed: it returns to origin. Make
41
36
17
sure a workpiece
9
Reference position 0
30 −0.5 2 x M8 x 1.25 x 14
of the gripping point When opened: 2 x ø6.8 through mounted on the fingers
0
18 −0.05 0 0
60 −0.5 does not interfere with
14 −0.1 (Finger operating range: 30 to 62.5) Note)
4 x M8 x 1.25 the workpieces and
28 60 facilities around the
119 fingers.
13
Series LEHZ
Finger Options
Selection
Model
Side Tapped Mounting (A) Through-hole in Opening/Closing Direction (B)
LEHZ
4 x MM through
∗ Thread for
attachment
LEHZJ
mounting
B

C C 4 x øH through
A
A
∗ Hole for attachment

mounting
[mm] [mm]
Model A B C MM Model A B H
LEHZ10(L)K2-4A 3 5.7 2 M2.5 x 0.45 LEHZ10(L)K2-4B 3 5.7 2.9
LEHF
LEHZ16(L)K2-6A 4 7 2.5 M3 x 0.5 LEHZ16(L)K2-6B 4 7 3.4
LEHZ20(L)K2-10A 5 9 4 M4 x 0.7 LEHZ20(L)K2-10B 5 9 4.5
LEHZ25(L)K2-14A 6 12 5 M5 x 0.8 LEHZ25(L)K2-14B 6 12 5.5
LEHZ32K2-22A 7 14 6 M6 x 1 LEHZ32K2-22B 7 14 6.6
LEHZ40K2-30A 9 17 7 M8 x 1.25 LEHZ40K2-30B 9 17 9
Flat Fingers (C)
LECP6 LEHS
C
LEC-G
W K J
F
D G
4 x MM, thread length L

∗ Thread for attachment
mounting
LECP1
B A
LECPA
[mm]
G Weight
Model A B C D F J K MM L W (g)
When opened When closed
LEHZ10K2-4C 0 165
2.45 6 5.2 10.9 2 5.4 −0.2 0
1.4 −0.2 4.45 2H9 +0.025
0 M2.5 x 0.45 5 0
5 −0.05
LEHZ10LK2-4C 135
LEHZ16K2-6C 0 220
3.05 8 8.3 14.1 2.5 7.4 −0.2 0
1.4 −0.2 5.8 2.5H9 +0.025 M3 x 0.5 6 0
8 −0.05
Specific Product
0
LEHZ16LK2-6C 190
Precautions
LEHZ20K2-10C 0 430
3.95 10 10.5 17.9 3 11.6 −0.2 0
1.6 −0.2 7.45 3H9 +0.025
0 M4 x 0.7 8 0
10 −0.05
LEHZ20LK2-10C 365
LEHZ25K2-14C 0 575
4.9 12 13.1 21.8 4 16 −0.2 0
2 −0.2 8.9 4H9 +0.030
0 M5 x 0.8 10 0
12 −0.05
LEHZ25LK2-14C 510
LEHZ32K2-22C 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
LEHZ40K2-30C 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
14
Electric Gripper 2-Finger Type/With Dust Cover Step Motor (Servo/24 VDC)
Series LEHZJ
Model Selection
Selection Procedure

Step 1 Check the of gripping force.

Example Guidelines for the selection of the gripper

with respect to workpiece mass LEHZJ20
Workpiece mass: 0.1 kg
 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

40
can provide a gripping force of 10 to 20 times Note)
the workpiece weight, or more. 30 70%
force. 20 40%
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%  A gripping force of 27 N is obtained 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%.
Gripping point distance: 30 mm
workpiece weight, and therefore satisfies a gripping
LEHZJ20
Pushing speed: 30 mm/sec
110

100
90
50
µ : Coefficient of friction between the
g : Gravitational acceleration (= 9.8 m/s2) 0 10 20 30 40 50 60
mg : Workpiece weight (N) Pushing speed [mm/sec]
will not drop are  Pushing speed is satisfied at the point where 70%
Finger
2 x µF > mg of the pushing force and 30 mm/sec of the pushing
speed cross.
Attachment Number of fingers
mg Note) Confirm 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
mg mg
F= x 4 = 10 x mg F= x 4 = 20 x mg
15
Model Selection Series LEHZJ
Selection
Model
Selection Procedure
Step 1 Check the gripping force: Series LEHZJ
The gripping force shown in the graphs below is expressed as  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.
LEHZ
and attachments are in full contact with the workpiece as
shown in the figure below.
LEHZJ
Finger Finger
LEHF
Attachment
Attachment
L
L
L: Gripping L: Gripping
F F point F F point
F: Gripping F: Gripping
Workpiece Workpiece
force force
LEHS
LEHZJ10 LEHZJ10L
LECP6
20 8
16
Pushing force 100%
12
70% 4
LEC-G
70%
8
40% 50%
2
4
0 0
LECP1
0 20 40 60 80 0 20 40 60 80 100
LEHZJ16 LEHZJ16L
20 10
LECPA
16 8
Pushing force 100%
12 6 Pushing force 100%
70% 70%
8 4
Specific Product
Precautions
40% 50%
4 2
0 0
0 20 40 60 80 100 120 140 0 20 40 60 80 100 120 140
16
Series LEHZJ
Selection Procedure
Step 1 Check the gripping force: Series LEHZJ
LEHZJ20 LEHZJ20L
50 35

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
LEHZJ25 LEHZJ25L
50 35
30
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
Selection of Pushing Speed

 Set the [Pushing force] and [Trigger level] within the range shown in the figure below.
Basic Compact
LEHZJ10L, LEHZJ16L
110 110
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/sec] Pushing speed [mm/sec]
LEHZJ20L, LEHZJ25L
110

100
90
80
70
60
50
40
30
0 10 20 30 40 50 60
Pushing speed [mm/sec]
17
Selection
Model
Step 2 Check the gripping point and overhang: Series LEHZJ
LEHZ
H
H
Gripping Gripping
position position
LEHZJ
H: Overhang L H: Overhang
L

LEHZJ10 LEHZJ10L
LEHF
100 100
80 80
Overhang H [mm]
Overhang H [mm]
60 60 70
40 %,
% 50
Pu %
40 40 sh
70 ing
% for
20 Push ce
LEHS
20 10
i 100 ng for 0%
% ce
0 0
0 20 40 60 80 100 0 20 40 60 80 100
LEHZJ16 LEHZJ16L
LECP6
140 140
120 120
Overhang H [mm]
Overhang H [mm]
100 100 Pu
sh
70 ing
80 %, 80 for
Pu 40 ce
LEC-G
60 sh % 60 10
ing 0%
for ,7
40 ce 40 0%
10 ,5
0% 0%
20 20
0 0
LECP1
0 20 40 60 80 100 120 140 0 20 40 60 80 100 120 140

LEHZJ20 LEHZJ20L
140 140
LECPA
120 120
Overhang H [mm]
Overhang H [mm]
100 100
40 40
80 % 80 %
70
60 P 60 Pu %
us sh
Specific Product
hin 70 ing
% for
Precautions
40 g 40
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
18
Series LEHZJ
Selection Procedure
Step 2 Check the gripping point and overhang: Series LEHZJ
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
19
Selection
Model
Step 3 Check the external force on fingers: Series LEHZJ
LEHZ
LEHZJ
L

Mp My: Yaw moment Mr
Fv
My
Fv: Allowable vertical load Mp: Pitch moment Mr: Roll moment
LEHF
H
LEHS
Model
LEHZJ10(L)K2-4 58 0.26 0.26 0.53
LEHZJ16(L)K2-6 98 0.68 0.68 1.36
LECP6
LEHZJ20(L)K2-10 147 1.32 1.32 2.65
LEHZJ25(L)K2-14 255 1.94 1.94 3.88
Calculation of allowable external force (when moment load is applied) Calculation example LEC-G
moment to point L = 30 mm from the LEHZJ16K2-6 guide.
LECP1

L x 10–3 ∗ 30 x 10–3
= 22.7 (N)
LECPA
Load f = 10 (N) < 22.7 (N)

Specific Product
Precautions
20
Electric Gripper 2-Finger Type/With Dust Cover
Series LEHZJ
®
LEHZJ10, 16, 20, 25 RoHS
How to Order
LEHZ J 10 K2 4 S 1 6N 1
q w e rt y u i o !0 !1 !2 !3
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

Basic (Entry on the left side)
Nil Mounting
reference plane
Motor cable
Connector cover
Entry on the front side Mounting reference plane

Caution
[CE-compliant products]
Mounting EMC compliance was tested by combining the electric actuator LEH series
reference plane and the controller LEC series.
The EMC depends on the configuration of the customer’s control panel
and the relationship with other electrical equipment and wiring. Therefore
F
conformity to the EMC directive cannot be certified for SMC components
Motor cable incorporated into the customer’s equipment under actual operating
Connector cover conditions. As a result it is necessary for the customer to verify conformity
to the EMC directive for the machinery and equipment as a whole.
When conformity to UL is required, the electric actuator and
controller/driver should be used with a UL1310 Class 2 power supply.

q w
21
Selection
Model
LEHZ
LEHZJ
o Actuator cable type∗ !0 Actuator cable length [m] !1 Controller/Driver type∗

robotic cable.
A 10∗ AN LECPA
LEHF
NPN

LEHS
LECP6
Step data
input type
LEC-G
LECP1
Type
LECPA

Specific Product

Precautions
Compatible motor

22
Series LEHZJ
Specifications
Model LEHZJ10 LEHZJ16 LEHZJ20 LEHZJ25

Opening/closing stroke (Both sides) 4 6 10 14
Gripping force Basic 6 to 14 16 to 40
[N] Note 1) Note 3) Compact 3 to 6 4 to 8 11 to 28
Opening and closing speed/Pushing speed [mm/s] Note 2) Note 3) 5 to 80/5 to 50 5 to 100/5 to 50
Drive method Slide screw + Slide cam
Repeated length measurement accuracy [mm] Note 5) ±0.05
Finger backlash/
0.5 or less
both sides [mm] Note 6)
Basic 170 230 440 610
Weight [g]
Compact 140 200 375 545
Motor size 20 28

Power consumption/
Standby power Basic 11/7 28/15
consumption when
operating [W] Note 8) Compact 8/7 22/12
Max. instantaneous Basic 19 51
power consumption
[W] Note 9) Compact 14 42
Note 1) Gripping force should be from 10 to 20 times the workpiece weight. Positioning 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.
Note 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%)
Note 4) Repeatability means the variation of the gripping position (workpiece position) when the gripping operation is
repeatedly performed by the same sequence for the same workpiece.
Note 5) Repeated length measurement accuracy means dispersion (value on the controller monitor) when the workpiece is repeatedly held in the same position.
Note 6) There will be no influence of backlash during pushing (gripping) operation. Make the stroke longer for the amount of backlash when opening.
Note 7) 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. (Test was performed with the gripper in the initial state.)
Vibration resistance: No malfunction occurred in a test ranging between 45 to 2000 Hz. Test was performed in
both an axial direction and a perpendicular direction to the lead screw. (Test was performed with the gripper in
the initial state.)
The standby power consumption when operating is for when the gripper is stopped in the set position during
operation, including the energy saving mode when gripping.
Note 9) The maximum instantaneous power consumption (including the controller) is for when the gripper is operating.
This value can be used for the selection of the power supply.
How to Mount
side of the body mounting plate back of the body
Foreign matter protection

seal (included)
∗ Refer to the operation
manual for details.
Positioning pin
23
Selection
Model
Construction
Series LEHZJ
!1
LEHZ
e !3
w t
LEHZJ
q r

u y
i
o
LEHF
!2
!0
LEHS
Component Parts
LECP6
5 Slide bolt Stainless steel Heat treatment + Special treatment
8 Body plate Aluminum alloy Anodized
LEC-G
CR Chloroprene rubber
9 Dust cover FKM Fluororubber
Si Silicone rubber
11 Encoder dust cover Si Silicone rubber
LECP1
12 Lever Special stainless steel

Replacement Parts
LECPA
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
Specific Product
10 Finger assembly MHZJ-A1002 MHZJ-A1602 MHZJ-A2002 MHZJ-A2502

Precautions
∗ The dust cover is a consumable part. Please replace as necessary.
24
Series LEHZJ
Dimensions
LEHZJ10(L)K2-4 29.3
15 Motor cable entry: Entry on the front side
[mm]
Model L (L1)
Encoder dust cover
LEHZJ10K2-4 109.8 (62.7)
LEHZJ10LK2-4 93.2 (46.1)
10.5
2 x ø5
20.5
20
21 21.6
ø2.5H9 ( +0.025 ) depth 2.5
0 Motor cable length ≈ 300
) depth 2.5
(L1)
2.5H9 (+0.025 )
2.5H9 ( +0.025
Mounting
depth 2.5
0
reference
0
plane
ø2.5H9 ( +0.025 ) depth 2.5
L
0
6.3

15.3

11.3
11.8 (12.1) 10.3
65
3.5
2 x M3 x 0.5 x 6 it returns to origin.
47.1
3.5 Make sure a workpiece

5.7
23.9
mounted on the fingers

does not interfere with
0 the workpieces and
5 −0.05
3
Reference position 2 x M4 x 0.7 x 6 facilities around the

12 4 x M2.5 x 0.45 of the gripping point 2 x ø3.3 through fingers.
(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) Note)
19
(34)
LEHZJ16(L)K2-6 35
17.5 Motor cable entry: Entry on the front side
[mm]
Model L (L1) Encoder dust cover
LEHZJ16K2-6 118.6 (62.7)
LEHZJ16LK2-6 102 (46.1)
2 x ø5
12.1
20.6
23.7
20

21
ø2.5H9 ( +0.025
0 ) depth 2.5 21.6
) depth 2.5
(L1)
2.5H9 ( +0.025 )
2.5H9 ( +0.025
Mounting
depth 2.5
0
0
ø2.5H9 (+0.025
0 ) depth 2.5 reference
plane
L

12.6
17.1

65
14.9 (16.1) 11.1
3.5
2 x M4 x 0.7 x 6 it returns to origin.
55.9
3.5 Make sure a workpiece

1
6.6

31

7
the workpieces and

0 2 x M4 x 0.7 x 6 facilities around the
8 −0.05
4
Reference position 2 x ø3.3 through fingers.

14 4 x M3 x 0.5 of the gripping point
When closed: 14.6 +0.3
(29.6) 0
5 −0.1 When opened: 20.6 +0.3
−0.4 range: 14.6 to 21.6) Note)
24
(45)
25
Selection
Model
Dimensions
LEHZJ20(L)K2-10 42 Motor cable entry: Entry on the front side
21
[mm]
Model L (L1)
LEHZJ20K2-10 135.7 (64.8)
LEHZ
LEHZJ20LK2-10 121.7 (50.8)
Encoder dust cover
2 x ø5
28.5
24
20
20
14.5
51
LEHZJ
29 ø3H9 ( +0.025
0 ) depth 3 29.6 Motor cable length ≈ 300

) depth 3
(L1)
Mounting
4
3H9 (+0.025
reference
plane 4
0
ø3H9 ( +0.025
0 ) depth 3
L
24.1
it returns to origin. Make
LEHF
18.1
19.8 (19.7) 15.1
65
3H9 ( +0.025
sure a workpiece
depth 3
2 x M5 x 0.8 x 8
0
70.9

1
9.1

39.5
the workpieces and

facilities around the
9
2 x M5 x 0.8 x 8
2 x ø4.2 through fingers.
Reference position
5
0
10 −0.05 of the gripping point When closed: 16 +0.3
18 4 x M4 x 0.7 0
8 −0.1 When opened: 26 +0.3
−0.4 range: 16 to 28) Note)
LEHS
(34.6) 30
(58)
LEHZJ25(L)K2-14 52 Motor cable entry: Entry on the front side

26
[mm]
Model L (L1)
LEHZJ25K2-14 146.7 (64.8)
LECP6
Encoder dust cover
LEHZJ25LK2-14 132.7 (50.8)
2 x ø5
29.6
33.7
20
20 LEC-G
17.1
64
29 ø4H9 ( +0.030
0 ) depth 3 29.6 Motor cable length ≈ 300
LECP1
) depth 3
Mounting
(L1)
reference
4H9 ( +0.030
plane
5 ø4H9 (+0.030 ) depth 3
0
0 5
LECPA

L
27.6
65
20.6
4H9 (+0.030
(22.8) 17.6
it returns to origin. Make

depth 3
0
2 x M6 x 1.0 x 10
sure a workpiece
81.9

1
10.6

47.9
the workpieces and

Specific Product
25.1
2 x M6 x 1.0 x 10 facilities around the

12
Precautions
2 x ø5.2 through fingers.

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) Note)
−0.1 −0.5
(42) 38
(73)
26
Series LEHF
Model Selection
Selection Procedure

Step 1 Check the gripping force.

Example Guidelines for the selection of the gripper

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

attachments and the workpiece, select a model that 26 Pushing force 100%
can provide a gripping force of 10 to 20 times Note) 25
the workpiece weight, or more. 20
Note) For details, refer to the model selection illustration. 70%
15
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.
Pushing force: 100% intersection point of gripping point distance L = 30
mm and pushing force of 100%.
Gripping point distance: 30 mm workpiece weight, and therefore satisfies a gripping
LEHF20
Pushing speed: 20 mm/sec
110

100
90

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)
mg : Workpiece weight (N)
Finger
the conditions under which the workpiece  Pushing speed is satisfied at the point where 100%
will not drop are of the pushing force and 20 mm/sec of the pushing
2 x µF > mg speed cross.
F F
Number of fingers
Workpiece mg Note) Confirm 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
mg mg
F= x 4 = 10 x mg F= x 4 = 20 x mg
27
Model Selection Series LEHF
Selection
Model
Selection Procedure
Step 1 Check the gripping force: Series LEHF
 Indication of gripping force External Gripping State Internal Gripping State
Gripping force shown in the graphs
below is expressed as “F”, which is the
LEHZ
gripping force of one finger, when both
fingers and attachments are in full
contact with the workpiece as shown in
the figure below.
 Set the workpiece gripping point “L” so
that it is within the range shown in the
figure below. Finger Finger
LEHZJ
L
L
F L: Gripping L: Gripping

F
point F F point
Attachment Workpiece F: Gripping F: Gripping
force Attachment Workpiece force
LEHF10 LEHF40
10 200
LEHF
Pushing force 100%
8 160
Pushing force 100% 70%

6 120
70%
4 80 40%
40%
2 40
LEHS
0 0
0 20 40 60 80 100 0 30 60 90 120
LEHF20
Gripping force accuracy: ±25% (F.S.) Selection of Pushing Speed
35
LECP6
30  Set the [Pushing force] and the [Trigger LV] within the
Pushing force 100% range shown in the figure below.

25
20 70%
110
40% 100
LEC-G
10
90
5 80
0 70
0 20 40 60 80 100
LECP1
50
LEHF32 40
Gripping force accuracy: ±20% (F.S.)
150 30
0 10 20 30 40
LECPA
90
70%
60
40%
Specific Product
30
Precautions
0
0 20 40 60 80 100
∗ Pushing force is one of the values of step data that is input into the controller.
28
Series LEHF
Selection Procedure
Step 2 Check the gripping point and overhang: Series LEHF
H: Overhang H: Overhang
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
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
∗ Pushing force is one of the values of step data that is input into the controller.
29
Model Selection Series LEHF
Selection
Model
Step 3 Check the external force on fingers: Series LEHF
LEHZ
L
LEHZJ
Mp My: Yaw moment
Fv
My
Fv: Allowable vertical load Mp: Pitch moment Mr
Mr: Roll moment
LEHF
LEHS
Model
LEHF10K2- 58 0.26 0.26 0.53
LEHF20K2- 98 0.68 0.68 1.4
LEHF32K2- 176 1.4 1.4 2.8
LEHF40K2- 294 2 2 4
LECP6
Calculation of allowable external force (when moment load is applied) Calculation example
LEC-G
moment to point L = 30 mm from the LEHF20K2- guide.
L x 10–3 ∗ 30 x 10–3
LECP1

= 22.7 (N)
Load f = 10 (N) < 22.7 (N)
LECPA
Specific Product
Precautions
30
Series LEHF
®
LEHF10, 20, 32, 40 RoHS
How to Order
LEHF 10 K 2 16 S 1 6N 1
q we r t y u i o !0
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

Basic (Entry on the right side)
Motor cable
Nil
Caution
Entry on the left side EMC compliance was tested by combining the electric actuator LEH series
and the controller LEC series.
Motor cable
The EMC depends on the configuration of the customer’s control panel and
the relationship with other electrical equipment and wiring. Therefore
conformity to the EMC directive cannot be certified for SMC components
L incorporated into the customer’s equipment under actual operating
conditions. As a result it is necessary for the customer to verify conformity
to the EMC directive for the machinery and equipment as a whole.
When conformity to UL is required, the electric actuator and controller/driver
should be used with a UL1310 Class 2 power supply.

q w
31
Selection
Model
LEHZ
LEHZJ
y Actuator cable type∗ u Actuator cable length [m] i Controller/Driver type∗

robotic cable.
A 10∗ AN LECPA
LEHF
NPN
o I/O cable length [m]∗1 !0 Controller/Driver mounting

LEHS
LECP6
Step data
input type
LEC-G
LECP1
Type
LECPA

Specific Product

Precautions
Compatible motor

32
Series LEHF
Specifications
Model LEHF10 LEHF20 LEHF32 LEHF40

Opening/closing Basic 16 24 32 40
stroke (Both sides) Long stroke 32 48 64 80
Gripping force [N] Note 1) Note 3) 3 to 7 11 to 28 48 to 120 72 to 180
Opening and closing speed/Pushing speed [mm/s] Note 2) Note 3) 5 to 80/5 to 20 5 to 100/5 to 30
Drive method Slide screw + Belt
Repeated length measurement accuracy [mm] Note 5) ±0.05
Finger backlash/both sides [mm] Note 6) 1.0 or less
Basic 340 610 1625 1980
Weight [g]
Long stroke 370 750 1970 2500
20 28 42
Motor size
Power consumption/Standby power consumption when operating [W] Note 8) 11/7 28/15 34/13 36/13
Max. instantaneous power consumption [W] Note 9) 19 51 57 61
Note 1) Gripping force should be from 10 to 20 times the workpiece weight. Positioning 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.
Note 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%)
Note 4) Repeatability means the variation of the gripping position (workpiece position) when the gripping
operation is repeatedly performed by the same sequence for the same workpiece.
Note 5) Repeated length measurement accuracy means dispersion (value on the controller monitor) when the
workpiece is repeatedly held in the same position.
Note 6) There will be no influence of backlash during pushing (gripping) operation. Make the stroke longer for
the amount of backlash when opening.
Note 7) 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. (Test was performed with the gripper in
the initial state.)
Vibration resistance: No malfunction occurred in a test ranging between 45 to 2000 Hz. Test was
performed in both an axial direction and a perpendicular direction to the lead screw. (Test was
performed with the gripper in the initial state.)
The standby power consumption when operating is for when the gripper is stopped in the set position
during operation, including the energy saving mode when gripping.
Note 9) The maximum instantaneous power consumption (including the controller) is for when the gripper is
operating. This value can be used for the selection of the power supply.
How to Mount
body mounting plate back of the body
Mounting direction
Positioning pin
Mounting Mounting
direction direction
33
Selection
Model
Construction
Series LEHF
!3 o
LEHZ
!6 !8
!0
i
LEHZJ
!5

y
!1
!4 !2
LEHF
w u t r q !7 e
LEHS
Component Parts
2 Side plate A Aluminum alloy Anodized
3 Side plate B Aluminum alloy Anodized
LECP6
4 Slide shaft Stainless steel Heat treatment + Special treatment
5 Slide bushing Stainless steel
8 Fixed plate Stainless steel
9 Motor plate Carbon steel LEC-G
10 Pulley A Aluminum alloy
11 Pulley B Aluminum alloy
12 Bearing stopper Aluminum alloy
LECP1
13 Rubber bushing NBR

14 Bearing —
15 Belt —
16 Flange —
LECPA
Specific Product
Precautions
34
Series LEHF
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
≈ 290 ≈ 230
(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) Note)
2 x M5 x 0.8 x 10 (38.2) 36.4
2 x ø4.2 through 1.7 74.6 1.7 Note) Range within which the fingers can move when it
0.8 0.8
on the fingers does not interfere with the
0.8 14 14 0.8 workpieces and facilities around the fingers.
4 x M2.5 x 0.45 x 3
12
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
≈ 280 ≈ 230
65 25
4
2 x ø5
20
30.5 (37)

3H9 ( +0.025 )
depth 3
0
ø3H9 ( +0.025
0 )
47.5
depth 3
59.5
62.5
67.5
When closed: 0 +0.1

0
2 x M5 x 0.8 x 10
When opened: 32 ±1 (Finger operating range: 0 to 33) Note)
2 x ø4.2 through
(37.5) 45.9
1.7 83.4 1.7 Manual override screw 17
(both sides)
0.8
8 x M2.5 x 0.45 x 3 0.8 18 0.8 18 0.8 Note) Range within which the fingers can move when it
12

20

8.5 ±0.05
2 x ø2H9 ( +0.025
0 ) 8 5 5 8
depth 2
35
Selection
Model
Dimensions
4H9 (+0.030
0 )
4 x M5 x 0.8 x 8 depth 3
5
22
LEHZ
ø4H9 ( +0.030
0 )
depth 3
≈ 270 ≈ 230
65 2 x ø5 5 Mounting reference plane 35
30
20
LEHZJ
2 x M6 x 1 x 12
57.8
(46)
72.8
75.8
2 x ø5.2 through
83

(+0.030 )
37
depth 3
0

4H9
ø4H9 ( +0.030
0 ) (both sides) 20
+0.1
When closed: 0 0 depth 3
(Finger operating range: 0 to 25) Note) When opened: 24 ±1
(35.8) 45.7
LEHF
Note) Range within which the 2 81.5 2
fingers can move when it
returns to origin. Make sure 1 21 1
a workpiece mounted on 8 x M3 x 0.5 x 4 1 21 1
the fingers does not
15
interfere with the

20
workpieces and facilities

around the fingers.
2 x ø2.5H9 ( +0.025 )
10 ±0.05
0
4.5 4.5
depth 2.5
LEHS
12 12
LEHF20K2-48: Long Stroke

40
4H9 (+0.030
0 )
4 x M5 x 0.8 x 8 depth 3
5
LECP6
22
ø4H9 ( +0.030
0 )
depth 3
≈ 240 ≈ 230
LEC-G
Basic) 50 Entry on the left side) Mounting
65 5 reference plane 35
2 x ø5
30
20
LECP1
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
LECPA
When closed: 0 +0.1

0 depth 3
(Finger operating range: 0 to 49) Note) When opened: 48 ±1
(53.8) 62.2
Note) Range within which the 2 116 2
fingers can move when it
returns to origin. Make sure
a workpiece mounted on 1 27 1 1 27 1
Specific Product
the fingers does not 8 x M3 x 0.5 x 4

Precautions
15
interfere with the

workpieces and facilities
20
around the fingers.

2 x ø2.5H9 ( +0.025 )
10 ±0.05
0
18 4.5 4.5 18
depth 2.5
36
Series LEHF
Dimensions
5H9 ( +0.030
0 )
4 x M6 x 1 x 10 depth 4
6
32
ø5H9 ( +0.030
0 )
depth 4
≈ 240 ≈ 220
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

0
depth 4 (both sides) 27
+0.1
(Finger operating When closed: 0 0
range: 0 to 33) Note) When opened: 32 ±1
(49.5) 65.5
Note) Range within which the 2.6 115 2.6
8 x M4 x 0.7 x 4 1.2 29 1.2
it returns to origin.
Make sure a workpiece 1.2 29 1.2
20
20
the workpieces and

facilities around the
13.5 ±0.05
fingers. 2 x ø3H9 ( +0.025 ) 18 5.5

0
depth 3 5.5 18
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
≈ 190 ≈ 220
(Motor cable entry: (Motor cable entry: Mounting reference plane
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 )

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) Note)
(72.5) 84
2.6 156.5 2.6 Note) Range within which the fingers can move when it
1.2 37 1.2 1.2 37 1.2 on the fingers does not interfere with the workpieces
8 x M4 x 0.7 x 4 and facilities around the fingers.
20
20
2 x ø3H9 ( +0.025 )
13.5 ±0.05
0
depth 3 26 5.5 5.5 26
37
Selection
Model
Dimensions
LEHF40K2-40: Basic 4 x M6 x 1 x 10
70
5H9 ( +0.030
0 )
depth 4
32
LEHZ
ø5H9 ( +0.030
0 )
depth 4
≈ 240 ≈ 210
65 6 51
2 x ø5
60
20
2 x M8 x 1.25 x 16
LEHZJ
(69)
86.5
108
2 x ø6.4 through
112
124

5H9 ( +0.030 )
55
depth 4
0

When closed: 0
32
0 +0.1 (both sides)
0 depth 4
When opened:
(60) 69.5
LEHF
2.6 129.5 2.6
1.2 36 1.2 returns to origin. Make sure a workpiece mounted
8 x M4 x 0.7 x 4
1.2 36 1.2 on the fingers does not interfere with the
workpieces and facilities around the fingers.
20
24
2 x ø3H9 ( +0.025 )
16 ±0.05
0
depth 3 20 8 8 20
LEHS
LEHF40K2-80: Long Stroke
70
4 x M6 x 1 x 10 5H9 ( +0.030
0 )
depth 4
6
32
LECP6
ø5H9 ( +0.030
0 )
depth 4
≈ 180 ≈ 210
6 51
65
2 x ø5
LEC-G
60
20
2 x M8 x 1.25 x 16
(69)
86.5
2 x ø6.4 through
108
112
124
LECP1
5H9 ( +0.030 )
55
depth 4
0

When closed: ø5H9 ( +0.030
0 ) (both sides) 32
0 +0.1
0
When opened: depth 4
LECPA
(90) 99.5
2.6 189.5 2.6 Note) Range within which the fingers can move when it
on the fingers does not interfere with the
1.2 46 1.2 1.2 46 1.2
8 x M4 x 0.7 x 4 workpieces and facilities around the fingers.
Specific Product
Precautions
20
24
16 ±0.05
2 x ø3H9 ( +0.025
0 ) 30 8 8 30
depth 3
38
Series LEHS
Model Selection
Selection
Model
Selection Procedure
Step Check the gripping force.
LEHZ
Example Guidelines for the selection of the gripper LEHS20

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

20
attachments and the workpiece, select a model that

can provide a gripping force of 7 to 13 times Note) 15 70%
the workpiece weight, or more. 14
force. 40%
 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
LEHF
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
intersection point of gripping point distance L = 30
Pushing force: 70% mm and pushing force of 70%.
 Gripping force is 14 times greater than the
Gripping point distance: 30 mm workpiece weight, and therefore satisfies a gripping
LEHS
LEHS20
Pushing speed: 30 mm/sec 110

100
90
LECP6
µ : Coefficient of friction between the 50
g : Gravitational acceleration (= 9.8 m/s2) 0 10 20 30 40 50 60
mg : Workpiece weight (N)
LEC-G
will not drop are  Pushing speed is satisfied at the point where 70%
Finger 3 x µF > mg of the pushing force and 30 mm/sec of the pushing
Number of fingers speed cross.
mg
and therefore, F >
3xµ Note) Confirm the pushing speed range from the
LECP1
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
LECPA
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
Specific Product
mg mg Note) • Even in cases where the coefficient of friction is greater

Precautions
F= x 4 = 6.7 x mg F= x 4 = 13.3 x mg than µ = 0.2, for reasons of safety, select a gripping

3 x 0.2 3 x 0.1 force 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.
40
Series LEHS
Selection Procedure
Step Check the gripping force: Series LEHS
The gripping force shown in the graphs on page 42 is  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.
Finger Finger
Attachment Attachment
L
L
Workpiece
Workpiece L: Gripping L: Gripping
point point
F F
F F
F: Gripping F: Gripping
force force
41
Model Selection Series LEHS
Selection
Model
Step Check the gripping force: Series LEHS
LEHS10 LEHS10L
LEHZ
8 5

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

0 0
0 10 20 30 40 50 60 70 0 20 40 60 80
LEHS20 LEHS20L
LEHF
25 20
Pushing force 100% Pushing force 100%
20
15
15 70% 70%
10
10 40%
40%
5
LEHS
5
0 0
0 20 40 60 80 100 0 20 40 60 80 100
LEHS32
Gripping force accuracy: ±20% (F.S.)
Selection of Pushing Speed
LECP6
100
Pushing force 100%  Set the [Pushing force] and the [Trigger LV] within the
80 range shown in the figure below.
60 70% Basic
110
LEC-G

40 40% 100
90
20 80
70
0 60
LECP1
0 20 40 60 80 100 120 50
30
LEHS40 0 10 20 30 40 50 60
Gripping force accuracy: ±20% (F.S.) Pushing speed [mm/sec]
160
LECPA
Compact
Pushing force 100%
110

100
70% 90
80 80
70
Specific Product
40%
Precautions
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/sec]
42
Series LEHS
®
LEHS10, 20, 32, 40 RoHS
How to Order
LEHS 10 K3 4 S 1 6N 1
q w er t y u i o !0 !1
q Size w Motor size e Lead

10 Nil Basic K Basic
20 L Note) Compact
32 Note) Size: 10, 20 only
40
r 3-finger type t Stroke [mm] y Motor cable entry

Stroke/diameter Size Mounting
Basic (Entry on the left side) reference plane
4 10
6 20
8 32
Nil
12 40
Motor cable
Connector cover
Entry on the front side Mounting reference plane
F
Motor cable
Connector cover
Caution
EMC compliance was tested by combining the electric actuator LEH series and the
controller LEC series.
The EMC depends on the configuration of the customer’s control panel and the Entry on the Mounting reference plane
relationship with other electrical equipment and wiring. Therefore conformity to the EMC right side Motor cable
directive cannot be certified for SMC components incorporated into the customer’s Connector cover
equipment under actual operating conditions. As a result it is necessary for the
customer to verify conformity to the EMC directive for the machinery and equipment as R
a whole.
When conformity to UL is required, the electric actuator and controller/driver should be
used with a UL1310 Class 2 power supply.

q w
43
Selection
Model
LEHZ
LEHZJ
u Actuator cable type∗ i Actuator cable length [m] o Controller/Driver type∗

robotic cable.
A 10∗ AN LECPA
LEHF
NPN

LEHS
LECP6
Step data
input type
LEC-G
LECP1
Type
LECPA

Specific Product

Precautions
Compatible motor

44
Series LEHS
Specifications
Model LEHS10 LEHS20 LEHS32 LEHS40
Opening/closing stroke (diameter) 4 6 8 12
Gripping force Basic 2.2 to 5.5 9 to 22 36 to 90 52 to 130
[N] Note 1) Note 3) Compact 1.4 to 3.5 7 to 17 — —
Opening and closing speed/ 5 to 70/ 5 to 80/ 5 to 100/ 5 to 120/
Pushing speed [mm/s] Note 2) Note 3) 5 to 50 5 to 50 5 to 50 5 to 50
Drive method Slide screw + Wedge cam
Repeated length measurement
±0.05
accuracy [mm] Note 5)
Finger backlash/dia. [mm] Note 6) 0.5 or less
Basic 185 410 975 1265
Weight [g]
Compact 150 345 — —
Motor size 20 28 42

Power consumption/
Standby power Basic 11/7 28/15 34/13 36/13
consumption when
operating [W] Note 8) Compact 8/7 22/12 — —
Max. instantaneous Basic 19 51 57 61
power consumption
[W] Note 9) Compact 14 42 — —
Note 1) Gripping force should be from 7 to 13 times the workpiece weight. Positioning force should be 150% when re-
leasing the workpiece. Gripping force accuracy should be ±30% (F.S.) for LEHS10, ±25% (F.S.) for LEHS20
and ±20% (F.S.) for LEHS32/40.
Note 2) Pushing speed should be set within the range during pushing (gripping) operation. Otherwise, it may cause
malfunction. The opening/closing speed and pushing speed are for both fingers. The speed for one finger is half this value.
Note 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%)
Note 4) Repeatability means the variation of the gripping position (workpiece position) when the gripping operation is
repeatedly performed by the same sequence for the same workpiece.
Note 5) Repeated length measurement accuracy means dispersion (value on the controller monitor) when the
workpiece is repeatedly held in the same position.
Note 6) There will be no influence of backlash during pushing (gripping) operation. Make the stroke longer for the
amount of backlash when opening.
Note 7) 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. (Test was performed with the gripper in the initial
state.)
Vibration resistance: No malfunction occurred in a test ranging between 45 to 2000 Hz. Test was performed in
both an axialdirection and a perpendicular direction to the lead screw. (Test was performed with the gripper in
the initial state.)
The standby power consumption when operating is for when the gripper is stopped in the set position during
operation, including the energy saving mode when gripping.
Note 9) The maximum instantaneous power consumption (including the controller) is for when the gripper is operating.
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)
Mounting Mounting
direction direction
45
Selection
Model
Construction
LEHZ
LEHZJ
e i
LEHF
w t
q r
LEHS
y u
LECP6
Component Parts
LEC-G
4 Slide cam Stainless steel Heat treatment + Special treatement
LECP1
5 Slide bolt Stainless steel Heat treatment + Special treatement

6 Finger Carbon steel Heat treatment + Special treatement
7 End plate Stainless steel
8 Step motor (Servo/24 VDC)
LECPA
Specific Product
Precautions
46
Series LEHS
Dimensions
Motor cable entry: Motor cable entry:
LEHS10(L)K3-4 Entry on the right side Entry on the front side
[mm] Manual override screw

L (L1)
2 x ø4.7
Model
20
LEHS10K3-4 89.1 (59.6)
LEHS10LK3-4 72.6 (43.1)
29.5
20
20
20
29.5
ø2.5H9 ( +0.025
0 ) 2 x M4 x 0.7 x 6
depth 2.5 2 x ø3.3 through
(L1)
L
29.5
10
22.5
65
16.5
2
3.5
3
2H9 ( +0.025
0 ) 4 Reference position
14
When closed: 5 of the gripping point
2.5H9 ( +0.025 )
When opened: 7
depth 2.5
0
(Finger operating range: 4.5 to 7.5) Note)
10
(When opened: 17)
(When closed: 15)

.3

29

6
0
5h9 ( −0.030 )
2
6 x M3 x 0.5 x 5 8
LEHS20(L)K3-6 Motor cable entry:
Entry on the front side
[mm]
Model L (L1) Motor cable entry:
LEHS20K3-6 98.8 (61.8) Entry on the right side Manual override screw
LEHS20LK3-6 84.8 (47.8)
2 x ø4.7
20
44
28
28 20
ø4H9 ( +0.030
0 ) 44
depth 3
(L1)
2 x M6 x 1 x 10
2 x ø5.2 through
L
37
65
29
4H9 ( +0.030
20
0
depth 3
12
5
2
Reference position 20
2H9 ( +0.025
0 ) 6 When closed: 7 of the gripping point
14 When opened: 10 Mounting reference plane
.8
(Finger operating range:

43
(When opened: 24)
(When closed: 21)
6.5 to 10.5) Note)

8

0
6h9 ( −0.030 )
3
6 x M3 x 0.5 x 6 12
47
Selection
Model
Dimensions
LEHS32K3-8
Motor cable entry:
Entry on the front side
Motor cable entry:
Entry on the right side Manual override screw
LEHZ
64
42
20
2 x ø4.7
42 20
64
ø5H9 ( +0.030 ) 2 x M8 x 1.25 x 14
LEHZJ
0
depth 4 2 x ø6.8 through

(63.4)
112.5
65
49.1
36
5H9 ( +0.030 )
25
15
0
depth 4
LEHF
6
3
2
Reference position
3H9 ( +0.025 ) 30
0 9 When closed: 10 of the gripping point
21 When opened: 14 Mounting reference plane
(When opened: 35)
63.8
(When closed: 31)

9.5 to 14.5) Note)
12

LEHS
0
8h9 ( −0.036 )
4.5
16
LEHS40K3-12 6 x M4 x 0.7 x 8

Motor cable entry: Entry on the right side
LECP6
64
42
20
2 x ø4.7
42
20
64
ø5H9 ( +0.030
0 ) 2 x M8 x 1.25 x 14 LEC-G
2 x ø6.8 through
depth 4
(75.4)
LECP1
135.4
65
60
46
30
LECPA
17.5
6
5H9 ( +0.030
3
2
Reference position
4H9 ( +0.030 ) 30
0
depth 4
0 10 When closed: 11 of the gripping point

24 When opened: 17
63.8

(When opened: 41)
(When closed: 35)
10.5 to 17.5) Note)

Specific Product
Precautions

14

0
10h9 ( −0.036 )
5
6 x M5 x 0.8 x 10 18
48
Series LEH
Electric Grippers/
Specific Product Precautions 1
Be sure to read before handling. Refer to back cover for Safety Instructions and the
Operation Manual for Electric Actuator Precautions.
Please download it via our website, http://www.smcworld.com
Design/Selection
Warning
1. Keep the specified gripping point. 6. Select the model that allows for opening and closing
If the specified gripping range is exceeded, excessive moment is width relative to a workpiece.
applied to the sliding part of the finger, which may have an The selection of an inappropriate model will cause gripping at
adverse affect on the life of the product. unexpected positions due to variable opening and closing 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 can cause the deterioration of accuracy

H H Gripping and operation failure.
position
position
H Gripping position 2. When mounting the attachment, use screws with
“L” and “H” are adequate length and tighten them with adequate
appropriate. “L” is too long. “H” is too long.
torque within the specified torque range.
2. Design the attachment to be lightweight and short. Tightening the screws with a higher torque than recommended
A long and heavy attachment will increase inertia force when the may cause malfunction, whilst the tightening with a lower torque
product is opened or closed, which causes play on the finger. Even can cause the displacement of the mounting position or in extreme
if the gripping point of the attachment is within a specified range, conditions the actuator could become detached from its mounting
design it to be short and lightweight as possible. position.
For a long or large workpiece, select a model of a larger size or
use two or more grippers together. Mounting of Attachment to Finger
3. Provide a runoff space for attachment when a work- The attachment should be mounted at the torque specified in the
following table by screwing the bolt into the finger mounting female
piece is extremely thin or small.
thread and hole.
Without a runoff space, the product cannot perform stable
gripping, and the displacement of a workpiece or gripping failure <Series LEHZ>
can result.
Max. tightening
Model Bolt
torque [N·m]
LEHZ(J)10(L) M2.5 x 0.45 0.3
Finger LEHZ(J)16(L) M3 x 0.5 0.9
LEHZ(J)20(L) M4 x 0.7 1.4
Attachment
LEHZ(J)25(L) M5 x 0.8 3.0
Runoff space Runoff space
LEHZ32 M6 x 1 5.0
Needle shaped workpiece Thin plate workpiece
LEHZ40 M8 x 1.25 12.0
4. Select the model that allows for gripping force in <Series LEHF>
relation to the workpiece weight, as appropriate.
Max. tightening
The selection of inappropriate model can cause dropping of a Model Bolt
torque [N·m]
workpiece. Gripping force should be from 10 to 20 times (LEHZ,
LEHF) or 7 to 13 times (LEHS) of the workpiece weight. LEHF10 M2.5 x 0.45 0.3
LEHF20 M3 x 0.5 0.9
Gripping Force Accuracy
LEHF32 M4 x 0.7 1.4
LEHZ(J)10(L) LEHZ(J)16(L) LEHZ(J)20(L) LEHZ(J)25(L) LEHZ32 LEHZ40
LEHF40 M4 x 0.7 1.4
±30% (F.S.) ±25% (F.S.) ±20% (F.S.)
LEHF10 LEHF20 LEHF32 LEHF40 <Series LEHS>
±30% (F.S.) ±25% (F.S.) ±20% (F.S.) Max. tightening
Model Bolt
LEHS10(L) LEHS20(L) LEHS32 LEHS40 torque [N·m]
±30% (F.S.) ±25% (F.S.) ±20% (F.S.) LEHS10(L) M3 x 0.5 0.9
LEHS20(L) M3 x 0.5 0.9
5. Do not use the product in applications where excessive
LEHS32 M4 x 0.7 1.4
external force (including vibration) or impact force is
applied to it. LEHS40 M5 x 0.8 3.0
It may lead to breakage or galling, which causes operation failure.
Do not apply impact and vibration outside of the specifications.
49
Series LEH
Electric Grippers/
Selection
Model
Mounting
Mounting of Electric Gripper, Series LEHZ/LEHZJ Mounting of Electric Gripper, Series LEHF
LEHZ
When using the thread on the side of the body When using the thread on the body
Manual override screw/Both sides
Max. Max.
tightening screw-in
Model Bolt
torque depth
[N·m] L [mm] Max. Max.
tightening screw-in
LEHZ(J)10(L) M3 x 0.5 0.9 6 Model Bolt
LEHZJ
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
LEHF
When using the thread on the mounting plate When using the thread on the mounting plate
Max. Max.
tightening tightening
Model Bolt Model Bolt
torque 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
LEHS
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
LECP6
Max. Max. Max. Max.
tightening screw-in tightening screw-in
torque depth 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
LEC-G
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
LECP1
Mounting of Electric Gripper, Series LEHS

LECPA
When using the thread on the mounting plate When using the thread on the back of the body
Max. Max. Max.

tightening tightening screw-in
torque torque depth
Specific Product
[N·m] [N·m] L [mm]

Precautions
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
50
Series LEH
Electric Grippers/
Mounting
Warning
3. Tighten the electric gripper mounting screws to the 3) When turning over
specified torque.
Tightening to a torque greater than the specified range may cause
malfunction, and insufficient tightening may cause displacement.
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.
6. When a workpiece is to be removed when it is not
energized, open or close the finger manually or
Clearance
remove the attachment beforehand.
When the product is operated with the manual override screws, check
the position of the manual override screws of the product, and leave Impact load
necessary space. Do not apply excessive torque to the manual override
screws that could lead to damage and malfunction of the product.
7. When gripping a workpiece, keep a gap in the horizontal 9. Adjust the gripping point so that an excessive force will
direction to prevent the load from concentrating on one not be applied to the fingers when inserting a workpiece.
finger, to allow for workpiece misalignment. In particular, during a trial run, operate the product manually or at
For the same purpose, when moving a workpiece for alignment by a low speed and check that the safety is assured without impact.
the product, minimize the friction resistance created by the Aligned Not aligned
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
Finger Handling
Impact load Caution

1. The parameters of the stroke and the opening/closing
speed are for both fingers.
The stroke and the opening/closing speed for one finger is half a
Clearance Clearance Attachment set parameter.
2) Stroke end when gripper is moving 2. When gripping a workpiece by the product, be sure to
With clearance Without clearance set to the pushing operation.
Also, do not hit the workpiece to the finger and attachment in
positioning operation or in the range of positioning operation.
Otherwise, the lead screw can get caught and cause operation failure.
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 52.
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.
51
Series LEH
Electric Grippers/
Selection
Model
Handling
Caution
LEHZ
3. Keep the following driving speed range for pushing operation. 9. Self-lock mechanism
• LEHZ/LEHZJ: 5 to 50 mm/s • LEHF10: 5 to 20 mm/s The product keeps a gripping force due to the self-lock mechanism
• LEHF20/32/40: 5 to 30 mm/s • LEHS: 5 to 50 mm/s in the lead screw. Also, it will not operate in opposite direction
Operation at the speed outside of the range can get the lead even when external force is applied during gripping a workpiece.
screw caught and cause operation failure. <Type of Stops, Cautions>
4. There is no backlash effect in pushing operation. 1) All the power supplies to the controller are shut off.
The return to origin is done by pushing operation. When the power supply is turned on to restart operation, the
The finger position can be displaced by the effect of the backlash controller will be initialized, and the product can drop a
LEHZJ
during the positioning operation. workpiece due to a motor magnetic pole detective operation. (It
means that there is finger motions of partial strokes by the
Take the backlash into consideration when setting the position.

phase detection of motor after power supply is turned on.)
5. Do not change the setting of energy saving mode. Remove the workpiece before restarting operation.
When pushing (gripping) operation is continued, the heat 2) “EMG (stop)” of the CN1 of the controller is shut off.
generated by the motor can cause operation failure. When using the stop switch on the teaching box;
This is due to the self-lock mechanism in the lead screw, which makes It is not necessary to remove a workpiece beforehand because
the product keep the gripping force. To save the energy in this situation a motor magnetic pole detective operation will not occur when
where the product is to be standby or continue to grip for extended the power supply is turned on to restart operation. An alarm can
periods of time, the product will be controlled to reduce current take place when operation is restarted from stop.
LEHF
consumption (to 40% automatically after it has gripped a workpiece once). 3) “M24V (motor driving power supply)” of the CN1 of the
If there is the reduction of gripping force seen in the product after controller is shut off.
a workpiece has been gripped and deformed over certain amount It is not necessary to remove a workpiece beforehand because
of time, contact SMC separately. a motor magnetic pole detective operation will not occur when
6. INP output signal the power supply is turned on to restart operation.
1) Positioning operation An alarm can take place when stop is activated during operation
When the product comes within the set range by step data [In or operation is restarted from stop.
position], the INP output signal will turn on. 10. Return to origin
LEHS
Initial value: Set to [0.50] or higher. 1) It is recommended to set the directions of return to origin and
2) Pushing operation workpiece gripping to the same direction.
When the effective force exceeds step data [Trigger LV], the If they are set opposite, there can be backlash, which worsens
INP output signal will turn on. the measurement accuracy significantly.
Use the product within the specified range of [Pushing force] 2) If the direction of return to origin is set to CW (Internal gripping);
and [Trigger LV]. If the return to origin is performed with the product only, there
a) To ensure that the gripper holds the workpiece with the set can be significant deviation between different actuators. Use a
[Pushing force], it is recommended that the [Trigger LV] be workpiece to set return to origin.
LECP6
set to the same value as the [Pushing force]. 3) If the return to origin is performed by using a workpiece;
b) When the [Pushing force] and [Trigger LV] are set less than The stroke (operation range) will be shortened. Recheck the
the specified range, the INP output signal will turn on from value of step data.
the pushing start position.
4) If basic parameters (Origin offset) are used;
<INP output signal in the controller version> When the return to origin is set with [Origin offset], it is
 SV0.8 or more necessary to change the current position of the product.
LEC-G
Although the product automatically switches to the energy Recheck the value of step data.
saving mode (reduced current) after pushing operation is
completed, the INP output signal remains ON. 11. In pushing (gripping) operation, set the product to a
 SV0.7 or less position of at least 0.5 mm away from a workpiece.
a. When [Trigger LV] is set to 40% (when the value is the (This position is referred to as a pushing start
same as the energy saving mode) position.)
LECP1
Although the product automatically switches to the energy If the product is set to the same position as a workpiece, the following
saving mode (reduced current) after pushing operation is alarms may be generated and operation may become unstable.
completed, the INP output signal remains ON. a. “Posn failed” alarm is generated.
b. When [Trigger LV] is set higher than 40% The product cannot reach a pushing start position due to
The product is turned on after pushing operation is completed, variation in the width of workpieces.
but INP output signal will turn off when current consumption is b. “Pushing ALM” alarm is generated.
LECPA
reduced automatically in energy saving mode. The product is pushed back from a pushing start position
after starting to push.
7. When releasing a workpiece, set the positioning force
to 150%. 12. When mounting the product, keep a 40 mm or longer
If the torque is too small when a workpiece is gripped in pushing diameter for bends in the cable.
operation, the product can have galling and become unable to
Maintenance
Specific Product
release the workpiece.

Precautions
8. If the finger has galling due to operational setting

error, etc., open and close the finger manually. Warning
When the workpiece is removed by manual operation, check the
position of the manual override of the product, and allow a necessary 1. When the product is to be removed, check it has not
space. At that time, be careful not to apply excessive torque to the been gripping a workpiece.
manual override, which causes breakage and malfunction. There is a risk of dropping the workpiece.
52
Controller/Driver
Selection
Model
Step Data Input Type Page 55 Gateway Unit Page 65
LEHZ
LEHZJ
LEHF
Series LECP6 Series LEC-G
LEHS
Programless Type Page 68 Pulse Input Type Page 74
LECP6
LEC-G
LECP1
Step Motor (Servo/24 VDC) Step Motor (Servo/24 VDC)

LECPA
Series LECP1 Series LECPA

Specific Product
Precautions
54
Controller (Step Data Input Type)
Step Motor (Servo/24 VDC) ®
Series LECP6 RoHS
How to Order
Caution
[CE-compliant products] LE C P 6 N
EMC compliance was tested by combin-
ing the electric actuator LEH series and Electric
the controller LEC series. equipment
The EMC depends on the configuration
of the customer’s control panel and the Controller
relationship with other electrical equip-
ment and wiring. Therefore conformity to Actuator part number
Compatible motor
the EMC directive cannot be certified for
Step motor (Except cable specifications and actuator options)
SMC components incorporated into the
P Example: Enter “LEHZ10LK2-4” for the
customer’s equipment under actual oper- (Servo/24 VDC)
ating conditions. As a result it is neces- LEHZ10LK2-4AF-R16N1.
sary for the customer to verify conformity
to the EMC directive for the machinery Number of step data (Points)
and equipment as a whole. Option
6 64
[UL-compliant products] Nil Screw mounting
I/O cable length [m]
When conformity to UL is required, the D Note) DIN rail mounting
electric actuator and controller should be Parallel I/O type Nil Without cable
Note) DIN rail is not included.
used with a UL1310 Class 2 power
N NPN 1 1.5 Order it separately.
supply.
P PNP 3 3
5 5
∗ When controller equipped type is selected when ordering the LE series, you do not need to order this controller.
The controller is sold as single unit after the compatible actuator is set.
Confirm that the combination of the controller and the actuator is correct.
q Check that actuator label for model number. This matches the controller.
w Check Parallel I/O configuration matches (NPN or PNP). q w
∗ Refer to the operation manual for using the products. Please download it via our website. http://www.smcworld.com
Specifications
Basic Specifications
Item Specifications
Compatible motor Step motor (Servo/24 VDC)
Power voltage: 24 VDC ±10% Current consumption: 3 A (Peak 5 A) Note 2)
Power supply Note 1)
[Including motor drive power, control power, stop, lock release]
Parallel input 11 inputs (Photo-coupler isolation)
Parallel output 13 outputs (Photo-coupler isolation)
Compatible encoder Incremental A/B phase (800 pulse/rotation)
Serial communication RS485 (Modbus protocol compliant)
Memory EEPROM
LED indicator LED (Green/Red) one of each
Lock control Forced-lock release terminal Note 3)
Cable length [m] I/O cable: 5 or less Actuator cable: 20 or less
Cooling system Natural air cooling
Operating temperature range [°C] 0 to 40 (No freezing)
Storage temperature range [°C] −10 to 60 (No freezing)
Storage humidity range [%RH] 90 or less (No condensation)
Between the housing and SG terminal
Insulation resistance [MΩ]
50 (500 VDC)
150 (Screw mounting)
Weight [g]
170 (DIN rail mounting)
Note 1) Do not use the power supply of “inrush current prevention type” for the controller power supply. When conformity to UL is
required, the electric actuator and controller should be used with a UL1310 Class 2 power supply.
Note 2) The power consumption changes depending on the actuator model. Refer to the specifications of actuator for more details.
Note 3) Applicable to non-magnetizing lock.
55
Controller (Step Data Input Type)/Step Motor (Servo/24 VDC) Series LECP6
Selection
Model
How to Mount
a) Screw mounting (LECP6-) b) DIN rail mounting (LECP6D-)
(Installation with two M4 screws) (Installation with the DIN rail)
DIN rail is locked.

Ground
LEHZ
Ground wire Ground wire
wire
Mounting direction
DIN rail
LEHZJ
LEHF
Mounting direction
A
DIN rail mounting adapter

Hook the controller on the DIN rail and press the lever
of section A in the arrow direction to lock it.
LEHS
L
DIN rail
12.5 5.25 7.5
AXT100-DR- (Pitch)
LECP6
∗ For , enter a number from the “No.” line in the table below.
(35)
(25)
Refer to the dimensions on page 57 for the mounting dimensions.

5.5
1.25
L Dimension [mm]
LEC-G
No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20
L 23 35.5 48 60.5 73 85.5 98 110.5 123 135.5 148 160.5 173 185.5 198 210.5 223 235.5 248 260.5
No. 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40
L 273 285.5 298 310.5 323 335.5 348 360.5 373 385.5 398 410.5 423 435.5 448 460.5 473 485.5 498 510.5
LECP1
LECPA

LEC-D0 (with 2 mounting screws)
This should be used when the DIN rail mounting adapter is mounted onto the screw mounting type controller afterwards.
Specific Product
Precautions
56
Series LECP6
Dimensions
a) Screw mounting (LECP6-)
(81.7)
ø4.5 35 66
Power supply LED (Green) for body 31 1
(ON: Power supply is ON.) mounting
Power supply LED (Red)

(ON: Alarm is ON.)
CN5 parallel I/O connector
CN4 serial I/O connector

150
132
141
CN3 encoder connector
CN2 motor power connector
CN1 power supply connector
4.6
for body
mounting
b) DIN rail mounting (LECP6D-)

Refer to page 56 for L dimension and
part number of DIN rail. (81.7) (11.5)
35 66
31 1
64.2
167.3 (When locking DIN rail)
173.2 (When removing DIN rail)
150
132
35
(91.7)
57
Selection
Model
Wiring Example 1
Power Supply Connector: CN1 ∗ Power supply plug is an accessory. Power supply plug for LECP6
CN1 Power Supply Connector Terminal for LECP6 (PHOENIX CONTACT FK-MC0.5/5-ST-2.5)
Terminal name Function Details
M24V terminal/C24V terminal/EMG terminal/BK RLS
0V Common supply (−)
terminal are common (−).
LEHZ
M24V Motor power supply (+) Motor power supply (+) supplied to the controller
C24V Control power supply (+) Control power supply (+) supplied to the controller
0V
M24V
C24V
EMG
BK RLS
EMG Stop (+) Input (+) for releasing the stop
BK RLS Lock release (+) Input (+) for releasing the lock
Wiring Example 2
LEHZJ
∗ When you connect a PLC, etc., to the CN5 parallel I/O connector, please use the I/O cable (LEC-CN5-).
Parallel I/O Connector: CN5 ∗ The wiring should be changed depending on the type of the parallel I/O (NPN or PNP).

Wiring diagram
LECP6N- (NPN) LECP6P- (PNP)
Power supply 24 VDC Power supply 24 VDC
CN5 for I/O signal CN5 for I/O signal
COM+ A1 COM+ A1
COM− A2 COM− A2
IN0 A3 IN0 A3
LEHF
IN1 A4 IN1 A4
IN2 A5 IN2 A5
IN3 A6 IN3 A6
IN4 A7 IN4 A7
IN5 A8 IN5 A8
SETUP A9 SETUP A9
HOLD A10 HOLD A10
DRIVE A11 DRIVE A11
RESET A12 RESET A12
LEHS
SVON A13 SVON A13
OUT0 B1 Load OUT0 B1 Load
LECP6
BUSY B7 Load BUSY B7 Load
AREA B8 Load AREA B8 Load
SETON B9 Load SETON B9 Load
INP B10 Load INP B10 Load
SVRE B11 Load SVRE B11 Load
∗ESTOP B12 Load ∗ESTOP B12 Load
LEC-G
∗ALARM B13 Load ∗ALARM B13 Load
Input Signal Output Signal

Name Details Name Details
COM+ Connects the power supply 24 V for input/output signal OUT0 to OUT5 Outputs the step data no. during operation
COM− Connects the power supply 0 V for input/output signal BUSY Outputs when the actuator is moving
LECP1
Step data specified Bit No. AREA Outputs within the step data area output setting range
IN0 to IN5
(Input is instructed in the combination of IN0 to 5.) SETON Outputs when returning to origin
SETUP Instruction to return to origin Outputs when target position or target force is reached
INP
HOLD Operation is temporarily stopped (Turns on when the positioning or pushing is completed.)
DRIVE Instruction to drive SVRE Outputs when servo is on
LECPA
RESET Alarm reset and operation interruption ∗ESTOP Note) Not output when EMG stop is instructed
SVON Servo ON instruction ∗ALARM Note) Not output when alarm is generated
Note) Signal of negative-logic circuit ON (N.C.)
Specific Product
Precautions
58
Series LECP6
Step Data Setting

1. Step data setting for positioning 2. Step data setting for pushing
In this setting, the actuator moves toward and stops at the The actuator moves toward the pushing start position, and
target position. when it reaches that position, it starts pushing with the set
The following diagram shows the setting items and operation. force or less.
The setting items and set values for this operation are stated The following diagram shows the setting items and operation.
below. The setting items and set values for this operation are stated
below.
Speed Speed
Acceleration Deceleration Acceleration Deceleration
Speed Speed
Position Pushing speed
In position Force Position

In position
INP output ON OFF ON Pushing force
Trigger LV
INP output ON OFF ON
 : Need to be set.

 : Need to be adjusted as required.  : Need to be set.

Step Data (Positioning) —: Setting is not required. Step Data (Pushing)  : Need to be adjusted as required.
Necessity Item Details Necessity Item Details
When the absolute position is required, set When the absolute position is required, set

 Movement MOD Absolute. When the relative position is 
 Movement MOD Absolute. When the relative position is
required, set Relative. required, set Relative.

 Speed Transfer speed to the target position 
 Speed Transfer speed to the pushing start position

 Position Target position 
 Position Pushing start position
Parameter which defines how rapidly the Parameter which defines how rapidly the
actuator reaches the speed set. The actuator reaches the speed set. The
 Acceleration  Acceleration
higher the set value, the faster it reaches higher the set value, the faster it reaches
the speed set. the speed set.
Parameter which defines how rapidly the Parameter which defines how rapidly the
 Deceleration actuator comes to stop. The higher the set  Deceleration actuator comes to stop. The higher the set
value, the quicker it stops. value, the quicker it stops.
Set 0. Pushing force ratio is defined.


 Pushing force (If values 1 to 100 are set, the operation The setting range differs depending on the

 Pushing force electric actuator type. Refer to the
will be changed to the pushing operation.)
operation manual for the electric actuator.
— Trigger LV Setting is not required.
— Pushing speed Setting is not required. Condition that turns on the INP output
Max. torque during the positioning operation signal. The INP output signal turns on
 Moving force 
 Trigger LV when the generated force exceeds the
(No specific change is required.)
value. Trigger level should be the pushing
Condition that turns on the AREA output force or less.
 Area 1, Area 2
signal.
Pushing speed during pushing.
Condition that turns on the INP output When the speed is set fast, the electric
signal. When the actuator enters the range actuator and workpieces might be
of [in position], the INP output signal turns  Pushing speed damaged due to the impact when they hit
on. (It is unnecessary to change this from the end, so this set value should be
 In position
the initial value.) When it is necessary to smaller. Refer to the operation manual for
output the arrival signal before the the electric actuator.
operation is completed, make the value
larger. Max. torque during the positioning operation
 Moving force
(No specific change is required.)
Condition that turns on the AREA output
 Area 1, Area 2
signal.
Transfer distance during pushing. If the
transferred distance exceeds the setting, it

 In position stops even if it is not pushing. If the
transfer distance is exceeded, the INP
output signal will not turn on.
59
Selection
Model
Signal Timing
Return to Origin
24 V
Power supply
0V
ON
SVON
OFF
LEHZ
Input
SETUP
ON
BUSY
OFF
SVRE
SETON
LEHZJ
Output
INP

∗ALARM
∗ESTOP
LEHF
Speed 0 mm/s
Return to origin
If the actuator is within the “in position” range of the basic

parameter, INP will turn ON, but if not, it will remain OFF.
∗ “∗ALARM” and “∗ESTOP” are expressed as negative-logic circuit.
LEHS
Scan the step Scan the step
Positioning Operation data no.
Pushing Operation data no.
ON ON
IN IN
OFF OFF
Input 15 ms Output the step Input 15 ms Output the step
or more data no. or more data no.
DRIVE DRIVE
ON ON
OUT OUT
LECP6
OFF OFF
Output BUSY Output BUSY
INP INP
Speed 0 mm/s
LEC-G
Positioning operation Speed 0 mm/s
Pushing operation
If the actuator is within the “in position” range of the step data, If the current pushing force exceeds the “trigger LV” value
LECP1
INP will turn ON, but if not, it will remain OFF. of the step data, the INP signal will turn ON.
∗ “OUT” is output when “DRIVE” is changed from ON to OFF.

(When power supply is applied, “DRIVE” or “RESET” is turned ON or
“∗ESTOP” is turned OFF, all of the “OUT” outputs are OFF.)
LECPA
HOLD Reset Alarm reset

ON ON
Input HOLD Input RESET
OFF OFF
ON ON
Output BUSY OUT
OFF OFF
Output
Specific Product
ON
Precautions
∗ALARM OFF
Slow-down Alarm out
Speed 0 mm/s
starting HOLD during the operation
point It is possible to identify the alarm group by the combination
of OUT signals when the alarm is generated.
∗ When the actuator is in the positioning range in the pushing operation, it does
not stop even if HOLD signal is input. ∗ “∗ALARM” is expressed as negative-logic circuit.
60
Series LECP6
Options: Actuator Cable, I/O Cable

Actuator cable
[Robotic cable, standard cable for step motor (Servo/24 VDC)]
1 Controller side
LE CP 1 LE-CP- 35 / Cable length: 1.5 m, 3 m, 5 m Connector C (14.2) (Terminal no.)

Actuator side
(Terminal no.) 1 2
(ø8)
(14)
A1 B1 5 6 (13.5)
(17.7)
Cable length (L) [m]
1 2
1 1.5 A6 B6
(18)
Connector A 15 16
3 3 (14.7) (30.7) L Connector D (11)
(10)
5 5
8 8∗ LE-CP- A8 BC / Cable length: 8 m, 10 m, 15 m, 20 m Controller side
A 10∗ (∗ Produced upon receipt of order) Connector C (14.2) (Terminal no.)
B 15∗
(ø5.5)
Actuator side 1 2
(14)
(Terminal no.)
C 20∗ 5 6
A1 B1
(17.7)
∗ Produced upon receipt of order (13.5)
(Robotic cable only) A6 B6 1 2
(18)
(ø6.3)
Cable type (14.7) Connector A 15 16
(30.7) L Connector D (11)
(10)
Robotic cable
Nil (Flexible cable) Connector A Connector C
Signal Cable color
terminal no. terminal no.
S Standard cable A B-1 Brown 2
A A-1 Red 1
B B-2 Orange 6
B A-2 Yellow 5
COM-A/COM B-3 Green 3
COM-B/— A-3 Blue 4
Connector D
Shield Cable color
terminal no.
Vcc B-4 Brown 12
GND A-4 Black 13
A B-5 Red 7
A A-5 Black 6
B B-6 Orange 9
B A-6 Black 8
— 3
I/O cable
LEC CN5 1 (Terminal no.)
Controller side PLC side
(ø8.9)
B1 A1 A1
(22.4)
A13
1 1.5 B1
3 3
(14.4) L B13
5 5 B13 A13
Connector Insulation Dot Dot Connector Insulation Dot Dot

pin No. color mark color pin No. color mark color
A1 Light brown Black B1 Yellow Red
∗ Conductor size: AWG28
A2 Light brown Red B2 Light green Black
A3 Yellow Black B3 Light green Red
A4 Yellow Red B4 Gray Black
A5 Light green Black B5 Gray Red
A6 Light green Red B6 White Black
A7 Gray Black B7 White Red
A8 Gray Red B8 Light brown Black
A9 White Black B9 Light brown Red
A10 White Red B10 Yellow Black
A11 Light brown Black B11 Yellow Red
A12 Light brown Red B12 Light green Black
A13 Yellow Black B13 Light green Red
— Shield
61
Series LEC Windows®XP, Windows®7 compatible
Controller Setting Kit/LEC-W2
Selection
Model
How to Order
LEC W2
LEHZ
q Controller setting
software
Controller setting kit
(Japanese and English are available.)
w Communication e USB cable
cable (A-miniB type)
HRS
Contents
LEHZJ
q Controller setting software (CD-ROM)
PC
w Communication cable (With conversion unit)

e USB cable
(Cable between the PC and the conversion unit)
Compatible Controller/Driver
LEHF
Step motor controller (Servo/24 VDC) Series LECP6
Step motor driver (Pulse input type) Series LECPA
Hardware Requirements
LEHS
IBM PC/AT compatible machine running
OS Windows®XP (32-bit),
Windows®7 (32-bit and 64-bit).
Communication
USB 1.1 or USB 2.0 ports
interface
Display XGA (1024 x 768) or more
∗ Windows® and Windows®7 are registered trademarks of Microsoft Corporation in the United States.
LECP6
∗ Refer to SMC website for version update information, http://www.smcworld.com
Screen Example
Easy mode screen example Normal mode screen example
LEC-G
LECP1
LECPA
Easy operation and simple setting

Specific Product
Detailed setting
Precautions
 Allowing to set and display actuator step data

such as position, speed, force, etc.  Step data can be set in detail.
 Setting of step data and testing of the drive can  Signals and terminal status can be monitored.
be performed on the same page.  Parameters can be set.
 Can be used to jog and move at a constant rate.  JOG and constant rate movement, return to origin, test operation and
testing of forced output can be performed.
62
®
Series LEC
Teaching Box/LEC-T1 RoHS
How to Order
LEC T1 3 J G
Enable switch Teaching box Enable switch
(Option)
Nil None
Cable length [m] S Equipped with enable switch
3 3 ∗ Interlock switch for jog and test function
Stop switch
Initial language
J Japanese
Stop switch
E English G Equipped with stop switch
∗ The displayed language can be
changed to English or Japanese.
Specifications
Item Description
Standard functions
Switch Stop switch, Enable switch (Option)
• Chinese character display
• Stop switch is provided. Cable length [m] 3
Enclosure IP64 (Except connector)
Option Operating temperature range [°C] 5 to 50
• Enable switch is provided. Operating humidity range [%RH] 90 or less (No condensation)
Weight [g] 350 (Except cable)
The EMC compliance of the teaching box was tested with the LECP6 series step motor controller
(servo/24 VDC) and an applicable actuator.
When conformity to UL is required, the electric actuator and controller should be used with a UL1310
Class 2 power supply.
Easy Mode
Function Details Menu Operations Flowchart

Menu Data
Step data • Setting of step data
Data Step data no.
• Jog operation Monitor Setting of two items selected below
Jog
• Return to origin Jog (Position, Speed, Force, Acceleration, Deceleration)
• 1 step operation Test
Test ALM Monitor
• Return to origin
TB setting Display of step no.
• Display of axis and step data no.
Monitor • Display of two items selected Display of two items selected below
from Position, Speed, Force. (Position, Speed, Force)
• Active alarm display Jog
ALM
• Alarm reset
Return to origin
• Reconnection of axis Jog operation
• Setting of easy/normal mode
TB setting
• Setting step data and selection Test
of items from easy mode monitor 1 step operation
ALM
Active alarm display
Alarm reset
TB setting
Reconnect
Easy/Normal
Set item
63
Teaching Box Series LEC
Selection
Model
Normal Mode
Menu Operations Flowchart
Function Details Menu Step data
Step data • Step data setting Step data Step data no.
Parameter Movement MOD
Parameter • Parameters setting
Monitor Speed
• Jog operation/Constant rate
LEHZ
Test Position
movement ALM Acceleration
• Return to origin File Deceleration
• Test drive TB setting Pushing force
Test (Specify a maximum of 5 step Reconnect Trigger LV
data and operate.) Pushing speed
• Forced output Positioning force
(Forced signal output, Area 1, 2
Forced terminal output) In position
LEHZJ
• Drive monitor Parameter
• Output signal monitor Basic setting
Basic

Monitor • Input signal monitor ORIG setting
ORIG
• Output terminal monitor
• Input terminal monitor Monitor DRV monitor
• Active alarm display Drive Position, Speed, Torque
ALM (Alarm reset) Output signal Step no.
• Alarm log record display Input signal Last step no.
• Data saving Output terminal
LEHF
Input terminal Output signal monitor
Save the step data and
parameters of the controller Test Input signal monitor
which is being used for
JOG/MOVE Output terminal monitor
communication (it is possible to
Return to ORIG
save four files, with one set of
Test drive Input terminal monitor
step data and parameters
File Compulsory output
defined as one file).
• Load to controller ALM Status
Loads the data which is saved in
Status Active alarm display
LEHS
the teaching box to the controller
ALM Log record Alarm reset
which is being used for
communication. File ALM Log record display
• Delete the saved data. Data saving Log entry display
• Display setting Load to controller
(Easy/Normal mode) File deletion
• Language setting
(Japanese/English) TB setting
LECP6
TB setting • Backlight setting Easy/Normal
• LCD contrast setting Language
• Beep sound setting Backlight
• Max. connection axis LCD contrast
• Distance unit (mm/inch) Beep
Max. connection axis
LEC-G
Reconnect • Reconnection of axis
Password
Distance unit
Reconnect
Dimensions
LECP1
34.5 4 102
w No. Description Function
q 1 LCD A screen of liquid crystal display (with backlight)

2 Ring A ring for hanging the teaching box
r
LECPA
When switch is pushed in, the switch locks and stops.

t 3 Stop switch
The lock is released when it is turned to the right.
185
4 Stop switch guard A guard for the stop switch

y e Enable switch
Prevents unintentional operation (unexpected
5 operation) of the jog test function. Other functions
(Option)
such as data change are not covered.
Specific Product
Precautions
6 Key switch Switch for each input

7 Cable Length: 3 meters
8 Connector A connector connected to CN4 of the controller
25 22.5 u i
64
Gateway Unit ®
Series LEC-G RoHS
How to Order
Caution
Gateway unit LEC G MJ2
EMC compliance was tested by
combining the electric actuator LE Applicable Fieldbus protocols
series and the controller LEC MJ2 CC-Link Ver. 2.0 Mounting
series. DN1 DeviceNet™ Nil Screw mounting
The EMC depends on the PR1 PROFIBUS DP D Note) DIN rail mounting
configuration of the customer’s
EN1 EtherNet/IP™ Note) DIN rail is not included.
control panel and the relationship
with other electrical equipment and Order it separately.
wiring. Therefore conformity to the
EMC directive cannot be certified
for SMC components incorporated
Cable LEC CG 1 L
into the customer’s equipment
under actual operating conditions. Cable type
As a result it is necessary for the 1 Communication cable Cable length
customer to verify conformity to the 2 Cable between branches K 0.3 m
Communication cable
EMC directive for the machinery
and equipment as a whole.
L 0.5 m
1 1m
When conformity to UL is required,
the electric actuator and controller
should be used with a UL1310
Class 2 power supply.
Branch connector LEC CGD Cable between branches
Branch connector
Terminating resistor LEC CGR

Specifications
Model LEC-GMJ2 LEC-GDN1 LEC-GPR1 LEC-GEN1
Applicable Fieldbus CC-Link DeviceNet™ PROFIBUS DP EtherNet/IP™
system Version Note 1) Ver. 2.0 Release 2.0 V1 Release 1.0
9.6 k/19.2 k/45.45 k/
156 k/625 k/2.5 M
Communication speed [bps] 125 k/250 k/500 k 93.75 k/187.5 k/500 k/ 10 M/100 M
/5 M/10 M 1.5 M/3 M/6 M/12 M
Configuration file Note 2) — EDS file GSD file EDS file
Communication 4 stations Input 896 points
specifications occupied 108 words Input 200 bytes Input 57 words Input 256 bytes
I/O occupation area (8 times Output 896 points Output 200 bytes Output 57 words Output 256 bytes
setting) 108 words
Power supply for Power supply voltage [V] Note 6) — 11 to 25 VDC — —
communication Internal current consumption [mA] — 100 — —
Communication connector specifications Connector (Accessory) Connector (Accessory) D-sub RJ45
Terminating resistor Not included Not included Not included Not included
Power supply voltage [V] Note 6) 24 VDC±10%
Current Not connected to teaching box 200
consumption [mA] Connected to teaching box 300
EMG output terminal 30 VDC 1A
Applicable controllers Series LECP6, Series LECA6
Controller
specifications Communication speed [bps] Note 3) 115.2 k/230.4 k
Max. number of connectable controllers Note 4) 12 8 Note 5) 5 12
Accessories Power supply connector, communication connector Power supply connector
Weight [g] 200 (Screw mounting), 220 (DIN rail mounting)
Note 1) Please note that the version is subject to change.
Note 2) Each file can be downloaded from the SMC website, http://www.smcworld.com
Note 3) When using a teaching box (LEC-T1-), set the communication speed to 115.2 kbps.
Note 4) A communication response time for 1 controller is approximately 30 ms.
Refer to “Communication Response Time Guideline” for response times when several controllers are connected.
Note 5) For step data input, up to 12 controllers connectable.
Note 6) When conformity to UL is required, the electric actuator and controller should be used with a UL1310 Class 2 power supply.
65
Gateway Unit Series LEC-G
Selection
Model
Communication Response Time Guideline
Response time between gateway unit and controllers depends on the number of controllers connected to the gateway unit.
For response time, refer to the graph below.
400
350
LEHZ
Response time (ms)
300
250
200
150
100
LEHZJ
50

1 2 3 4 5 6 7 8 9 10 11 12
∗ This graph shows delay times between gateway unit and controllers.
Number of connectable controllers (unit)
Fieldbus network delay time is not included.
Dimensions
Screw mounting (LEC-G)
LEHF
Applicable Fieldbus protocol: CC-Link Ver. 2.0 Applicable Fieldbus protocol: DeviceNet™
(35) (85) (35) (85)
ø4.5 31 82 ø4.5 31 82
For body mounting 1 For body mounting 1
LEHS
152.2
152.2
170
161
170
161
LECP6
18.2 18.2
4.5 4.5
For body mounting For body mounting
LEC-G
Applicable Fieldbus protocol: PROFIBUS DP Applicable Fieldbus protocol: EtherNet/IP™
(35) (87.9) (35) (85)
ø4.5 31 82 ø4.5 31 82
For body mounting 1 For body mounting
1
LECP1
152.2
152.2
170
161
170
161
LECPA
Specific Product
Precautions
18.2 18.2
4.5 4.5
For body mounting For body mounting
Trademark DeviceNet™ is a trademark of ODVA. EtherNet/IP™ is a trademark of ODVA.

66
Series LEC-G
Dimensions
DIN rail mounting (LEC-GD)
Applicable Fieldbus protocol: CC-Link Ver. 2.0 Applicable Fieldbus protocol: DeviceNet™
(35) (85) (35) (85)

31 82 31 82
1 1


64.2
64.2
152.2
152.2
170
161
170
161
35
35
(95) (95)
∗ Mountable on DIN rail (35 mm) ∗ Mountable on DIN rail (35 mm)
Applicable Fieldbus protocol: PROFIBUS DP Applicable Fieldbus protocol: EtherNet/IP™
(35) (87.9) (35) (85)

31 82 31 82
1 1

64.2
64.2
152.2
152.2
170
161
170
161
35
35
(98)
(95)
∗ Mountable on DIN rail (35 mm)
∗ Mountable on DIN rail (35 mm)
DIN rail L
AXT100-DR- 12.5 (Pitch) 5.25 7.5
∗ For , enter a number from the “No.” line in the table below.
(35)
(25)
Refer to the dimensions above for the mounting dimensions.

5.5
1.25
L Dimension [mm]
No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20
L 23 35.5 48 60.5 73 85.5 98 110.5 123 135.5 148 160.5 173 185.5 198 210.5 223 235.5 248 260.5
No. 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40
L 273 285.5 298 310.5 323 335.5 348 360.5 373 385.5 398 410.5 423 435.5 448 460.5 473 485.5 498 510.5
Trademark DeviceNet™ is a trademark of ODVA. EtherNet/IP™ is a trademark of ODVA.

67
®
Programless Controller RoHS
Selection
Series LECP1
Model
LEHZ
How to Order
LE C P 1 N 1 LEHZ10LK2-4
Controller Option Actuator part number
Nil Screw mounting
Compatible motor D
(Except cable specifications and actuator options)
LEHZJ
Note)DIN rail mounting
P Step motor (Servo/24 VDC) Example: Enter “LEHZ10LK2-4” for the
Note) DIN rail is not included. LEHZ10LK2-4AF-R11N1.

Number of step data (Points) Order it separately.
1 14 (Programless) I/O cable length [m] ∗ When controller equipped type is selected
Nil Without cable when ordering the LE series, you do not
Parallel I/O type need to order this controller.
1 1.5
N NPN
3 3
P PNP
5 5
LEHF
Caution The controller is sold as single
[CE-compliant products] unit after the compatible
EMC compliance was tested by combining the electric actuator LEH series and the controller LEC series.
The EMC depends on the configuration of the customer’s control panel and the relationship with other actuator is set.
electrical equipment and wiring. Therefore conformity to the EMC directive cannot be certified for SMC Confirm that the combination of the
components incorporated into the customer’s equipment under actual operating conditions. As a result it is
necessary for the customer to verify conformity to the EMC directive for the machinery and equipment as a controller and the actuator is correct.
whole. ∗ Refer to the operation manual for using the
products. Please download it via our website,
When conformity to UL is required, the electric actuator and controller should be used with a UL1310 Class 2
http://www.smcworld.com
LEHS
power supply.
Specifications
Basic Specifications
Item LECP1
LECP6
Power supply voltage: 24 VDC ±10%, Max. current consumption: 3 A (Peak 5 A) Note 2)
Power supply Note 1)
[Including the motor drive power, control power supply, stop, lock release]
Parallel input 6 inputs (Photo-coupler isolation)
Stop points 14 points (Position number 1 to 14(E))
Compatible encoder Incremental A/B phase (800 pulse/rotation)
LEC-G
Memory EEPROM
7-segment LED display Note 3) 1 digit, 7-segment display (Red) Figures are expressed in hexadecimal (“10” to “15” in decimal number are expressed as “A” to “F”)
LECP1
Cable length [m] I/O cable: 5 or less, Actuator cable: 20 or less

LECPA
Insulation resistance [MΩ] Between the housing and SG terminal: 50 (500 VDC)
Note 1) Do not use the power supply of “inrush current prevention type” for the controller input power supply. When conformity to UL is required, the electric
actuator and controller should be used with a UL1310 Class 2 power supply.
Note 2) The power consumption changes depending on the actuator model. Refer to the each actuator’s operation manual etc. for details.
Note 3) “10” to “15” in decimal number are displayed as follows in the 7-segment LED.
Specific Product
Precautions
Decimal display 10 11 12 13 14 15
Hexadecimal display A b c d E F
68
Series LECP1
Controller Details
r e No. Display Description Details
t q q PWR Power supply LED
Power supply ON/Servo ON : Green turns on
Power supply ON/Servo OFF: Green flashes
y w With alarm : Red turns on
w ALM Alarm LED
Parameter setting : Red flashes
u Change and protection of the mode switch

i e — Cover
(Close the cover after changing switch)
o !0 Frame ground (Tighten the bolt with the nut when mounting
r — FG
the controller. Connect the ground wire.)
!1 !2 t — Mode switch Switch the mode between manual and auto.
!3 !4 y — 7-segment LED Stop position, the value set by i and alarm information are displayed.
u SET Set button Decide the settings or drive operation in Manual mode.
i — Position selecting switch Assign the position to drive (1 to 14), and the origin position (15).
o Manual forward button Perform forward jog and inching.
MANUAL
!0 Manual reverse button Perform reverse jog and inching.
!1 Forward speed switch 16 forward speeds are available.
SPEED
!2 Reverse speed switch 16 reverse speeds are available.
!8 !3
ACCEL
Forward acceleration switch 16 forward acceleration steps are available.
!4 Reverse acceleration switch 16 reverse acceleration steps are available.
!5 CN1 Power supply connector Connect the power supply cable.
!7 !6 CN2 Motor connector Connect the motor connector.
!7 CN3 Encoder connector Connect the encoder connector.
!8 CN4 I/O connector Connect I/O cable.
!6
!5
How to Mount
Controller mounting shown below.
1. Mounting screw (LECP1-) 2. Grounding
(Installation with two M4 screws) Tighten the bolt with the nut when mounting the ground wire
as shown below.
Ground wire
Mounting direction M4 screw
Cable with crimped terminal
Tooth lock washer
Mounting direction
Controller
Caution
M4 screws, cable with crimping terminal and tooth lock washer are not included.
Be sure to carry out grounding earth in order to ensure the noise tolerance.
Use a watchmaker’s screwdriver of the size shown below when changing position
switch i and the set value of the speed/acceleration switch !1 to !4.
Size
End width L: 2.0 to 2.4 [mm]
End thickness W: 0.5 to 0.6 [mm]
W
L Magnified view of the end

of the screwdriver
69
Programless Controller Series LECP1
Selection
Model
Dimensions
Screw mounting (LEC1-)
38
36.2 85
18.1 ø4.5 1.2
4.5
for body mounting
LEHZ
110
101
86
LEHZJ
4.5
for body mounting
LEHF
CN4 I/O connector
CN2 motor connector
LEHS
LECP6
DIN rail mounting (LEC1D-)
38
36.2 85 (11.5)
LEC-G
SL
24.2
LECP1
35
LECPA
110
86
Specific Product
Precautions
70
Series LECP1
Wiring Example 1
∗ When you connect a CN1 power supply connector, please use the power supply cable (LEC-CK1-1).
Power Supply Connector: CN1 ∗ Power supply cable (LEC-CK1-1) is an accessory.
CN1 Power Supply Connector Terminal for LECP1 Power supply cable for LECP1 (LEC-CK1-1)
Terminal name Cable color Function Details
Common M24V terminal/C24V terminal/BK
0V Blue supply (−)
RLS terminal are common (−).
Motor power Motor power supply (+) supplied
M24V White supply (+)
to the controller
Control power Control power supply (+) supplied
C24V Brown supply (+)
to the controller
BK RLS Black Lock release (+) Input (+) for releasing the lock
Wiring Example 2
∗ When you connect a PLC, etc., to the CN4 parallel I/O connector, please use the I/O cable (LEC-CK4-).
NPN PNP
Power supply 24 VDC Power supply 24 VDC
CN4 for I/O signal CN4 for I/O signal
COM+ 1 COM+ 1
COM− 2 COM− 2
OUT0 3 Load OUT0 3 Load
BUSY 7 Load BUSY 7 Load
ALARM 8 Load ALARM 8 Load
IN0 9 IN0 9
IN1 10 IN1 10
IN2 11 IN2 11
IN3 12 IN3 12
RESET 13 RESET 13
STOP 14 STOP 14
Input Signal Output Signal

Name Details Name Details
COM+ Connects the power supply 24 V for input/output signal Turns on when the positioning or pushing is completed.
COM− Connects the power supply 0 V for input/output signal (Output is instructed in the combination of OUT0 to 3.)
• Instruction to drive (input as a combination of IN0 to IN3) OUT0 to OUT3 Example - (operation complete for position no. 3)
• Instruction to return to origin (IN0 to IN3 all ON simultaneously) OUT3 OUT2 OUT1 OUT0
IN0 to IN3 Example - (instruction to drive for position no. 5) OFF OFF ON ON
IN3 IN2 IN1 IN0 BUSY Outputs when the actuator is moving
OFF ON OFF ON ∗ALARM Note) Not output when alarm is active or servo OFF
Alarm reset and operation interruption Note) Signal of negative-logic circuit (N.C.)
During operation: deceleration stop from position at which
RESET
signal is input (servo ON maintained)
While alarm is active: alarm reset
STOP Instruction to stop (after maximum deceleration stop, servo OFF)
Input Signal [IN0 - IN3] Position Number Chart : OFF : ON Output Signal [OUT0 - OUT3] Position Number Chart : OFF : ON
Position number IN3 IN2 IN1 IN0 Position number OUT3 OUT2 OUT1 OUT0
1     1    
2     2    
3     3    
4     4    
5     5    
6     6    
7     7    
8     8    
9     9    
10 (A)     10 (A)    
11 (B)     11 (B)    
12 (C)     12 (C)    
13 (D)     13 (D)    
14 (E)     14 (E)    
Retun to origin     Retun to origin    
71
Programless Controller Series LECP1
Selection
Model
Signal Timing
(1) Return to Origin
24 V
Power supply
IN0-3 all ON 0V
ON
Input IN0-3
OFF
LEHZ
ON
BUSY
OFF
Output OUT0-3
∗ALARM
External lock Release
LEHZJ
Hold

Speed 0 mm/s
ON after controller system initialization
Return to origin
Output signals for OUT0, OUT1, OUT2, OUT3

are ON when return to origin is completed.
∗ “∗ALARM” is expressed as negative-logic circuit.
LEHF
(2) Positioning Operation (4) Stop by the STOP Signal
Power supply 24 V Power supply 24 V
0V 0V
ON ON
Input IN0-3 IN0-3
OFF OFF
Input
LEHS
ON
OUT0-3 STOP
OFF
Output
ON
BUSY OUT0-3
OFF
Release
External lock Output BUSY
Hold
∗ALARM
LECP6
Speed 0 mm/s
Positioning operation Release
External lock
Hold
OUT0-3 output signals are ON in the same state as
the input IN0-3 when positioning is completed.
Speed 0 mm/s
LEC-G
Stop by the STOP signal during
positioning operation
(3) Cut-off Stop (Reset Stop)

Power supply 24 V
0V (5) Alarm Reset
LECP1
ON Alarm reset
IN0-3
OFF ON
Input Input RESET
OFF
RESET
ON
Output ∗ALARM
ON OFF
LECPA
OUT0-3
OFF Alarm out
Output
BUSY ∗ “∗ALARM” is expressed as negative-logic circuit.
Release
External lock
Hold
Specific Product
Precautions
Speed 0 mm/s
Cut-off stop during
positioning operation
72
Series LECP1
Options: Actuator Cable

1 Controller side
LE CP 1 LE-CP- 35 / Cable length: 1.5 m, 3 m, 5 m Connector C (14.2) (Terminal no.)

Actuator side
(Terminal no.) 1 2
(ø8)
(14)
A1 B1 5 6 (13.5)
(17.7)
1 2
1 1.5 A6 B6
(18)
Connector A 15 16
3 3 (14.7) (30.7) L Connector D (11)
(10)
5 5
8 8∗
A 10∗
LE-CP- A8 BC / Cable length: 8 m, 10 m, 15 m, 20 m
Controller side
B 15∗ (∗ Produced upon receipt of order)
Connector C (14.2) (Terminal no.)
20∗
(ø5.5)
C Actuator side 1 2
(14)
(Terminal no.)
∗ Produced upon receipt 5 6
A1 B1
(17.7)
of order (Robotic cable only) (13.5)
A6 B6 1 2
(18)
(ø6.3)
(14.7) Connector A 15 16
Cable type (30.7) L Connector D (11)
(10)
Robotic cable
Nil (Flexible cable)
Connector A Connector C
S Standard cable Signal
terminal no.
Cable color
terminal no.
A B-1 Brown 2
A A-1 Red 1
B B-2 Orange 6
B A-2 Yellow 5
Connector D
Shield Cable color
terminal no.
Vcc B-4 Brown 12
GND A-4 Black 13
A B-5 Red 7
A A-5 Black 6
B B-6 Orange 9
B A-6 Black 8
— 3
Options
[Power supply cable]
LEC CK1 1
(15.8)
Terminal name Covered color Function

0V Blue Common supply (−)
(ø6)
M24V White Motor power supply (+) (10.5) (13.3) (35) (60)
C24V Brown Control power supply (+) (1500)
BK RLS Black Lock release (+) ∗ Conductor size: AWG20
[I/O cable]
Controller side PLC side
LEC CK4
(16)

(ø7.9)
(10) (11) (30) (60)

1 1.5
(L)
3 3
5 5 ∗ Conductor size: AWG26
Terminal no. Insulation color Dot mark Dot color Function Terminal no. Insulation color Dot mark Dot color Function
1 Light brown Black COM+ 8 Gray Red ALARM
2 Light brown Red COM− 9 White Black IN0
3 Yellow Black OUT0 10 White Red IN1
4 Yellow Red OUT1 11 Light brown Black IN2
5 Light green Black OUT2 12 Light brown Red IN3
6 Light green Red OUT3 13 Yellow Black RESET
7 Gray Black BUSY 14 Yellow Red STOP
∗ Parallel I/O signal is valid in auto mode. While the test function operates at manual mode, only the output is valid.
73
Step Motor Driver ®
Selection
Series LECPA
Model
RoHS
LEHZ
How to Order
Caution
[CE-compliant products] LECP AN 1 LEHZ10LK2-4
q EMC compliance was tested by
combining the electric actuator Driver type
LEH series and the LECPA Driver mounting
AN Pulse input type (NPN)
LEHZJ
series. Nil Screw mounting
The EMC depends on the AP Pulse input type (PNP)
D Note) DIN rail mounting
configuration of the customer’s

control panel and the
Note) DIN rail is not included.
I/O cable length [m] Order it separately.
relationship with other electrical
equipment and wiring. Nil None
Therefore conformity to the 1 1.5 Actuator part number
∗ Pulse input usable only with
EMC directive cannot be differential. Only 1.5 m cables 3 3∗ (Except cable specifications and actuator options)
certified for SMC components usable with open collector. 5 5∗ Example: Enter “LEHZ10LK2-4” for the
incorporated into the customer’s
LEHZ10LK2-4AF-R1AN1.
equipment under actual
LEHF
operating conditions. As a result
it is necessary for the customer ∗ When controller equipped type is selected when ordering the LE series,
to verify conformity to the EMC you do not need to order this driver.
directive for the machinery and
equipment as a whole.
w For the LECPA series (step The driver is sold as single unit after
motor driver), EMC compliance
was tested by installing a noise
the compatible actuator is set.
filter set (LEC-NFA). Refer to Confirm that the combination of the driver and
page 80 for the noise filter set.
Refer to the LECPA Operation
the actuator is correct.
LEHS
Manual for installation. <Check the following before use.>
When conformity to UL is required, q Check the actuator label for model number.
the electric actuator and driver This matches the driver.
should be used with a UL1310
Class 2 power supply. w Check Parallel I/O configuration matches (NPN or PNP). q w
LECP6
Specifications
Item LECPA
Power voltage: 24 VDC ±10%
LEC-G
Power supply Note 1) Maximum current consumption: 3 A (Peak 5 A) Note 2)
[Including motor drive power, control power, stop, lock release]
Parallel input 5 inputs (Except photo-coupler isolation, pulse input terminal, COM terminal)
Maximum frequency: 60 kpps (Open collector), 200 kpps (Differential)
Pulse signal input
Input method: 1 pulse mode (Pulse input in direction), 2 pulse mode (Pulse input in differing directions)
LECP1
Compatible encoder Incremental A/B phase (Encoder resolution: 800 pulse/rotation)

Memory EEPROM
LECPA
I/O cable: 1.5 or less (Open collector), 5 or less (Differential)

Cable length [m]
Actuator cable: 20 or less
Specific Product

Precautions
Insulation resistance [MΩ] Between the housing and SG terminal: 50 (500 VDC)
Note 1) Do not use the power supply of “inrush current prevention type” for the driver power supply. When conformity to UL is required, the electric actuator
and driver should be used with a UL1310 Class 2 power supply.
Note 2) The power consumption changes depending on the actuator model. Refer to the specifications of actuator for more details.
74
Series LECPA
How to Mount
a) Screw mounting (LECPA-) b) DIN rail mounting (LECPAD-)
(Installation with two M4 (Installation with the DIN rail)
screws)
DIN rail is locked.
Ground wire Ground wire Ground wire
Mounting direction
DIN rail DIN rail
Mounting direction
A A
Hook the driver on the DIN rail and press the lever
of section A in the arrow direction to lock it.
Note) The space between the drivers should be 10 mm or more.
L
DIN rail
12.5 5.25 7.5
AXT100-DR- (Pitch)
∗ For , enter a number from the “No.” line in the table below.
(35)
(25)
Refer to the dimensions on page 76 for the mounting dimensions.

5.5
1.25
L Dimension [mm]
No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20
L 23 35.5 48 60.5 73 85.5 98 110.5 123 135.5 148 160.5 173 185.5 198 210.5 223 235.5 248 260.5
No. 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40
L 273 285.5 298 310.5 323 335.5 348 360.5 373 385.5 398 410.5 423 435.5 448 460.5 473 485.5 498 510.5

LEC-2-D0 (with 2 mounting screws)
This should be used when the DIN rail mounting adapter is mounted onto the screw mounting type driver afterwards.
75
Step Motor Driver Series LECPA
Selection
Model
Dimensions
a) Screw mounting (LECPA-)
35 66
Power supply LED (Green) ø4.5
1.2
(ON: Power supply is ON.) for body mounting
LEHZ
(Screw mounting type)
Power supply LED (Red)

(ON: Alarm is ON.)
CN5 parallel I/O connector
LEHZJ
125
116
109

CN4 serial I/O connector
CN2 motor power connector
LEHF
4.5
for body mounting
(Screw mounting type)
b) DIN rail mounting (LECPAD-)
LEHS
35 76
39.2

LECP6
35
109
LEC-G
LECP1
∗ Mountable on
DIN rail (35 mm)
LECPA
Wiring Example 1
Power Supply Connector: CN1 ∗ Power supply plug is an accessory. Power supply plug for LECPA
CN1 Power Supply Connector Terminal for LECPA (PHOENIX CONTACT FK-MC0.5/5-ST-2.5)
Terminal name Function Details
Specific Product
M24V terminal/C24V terminal/EMG terminal/

Precautions
0V Common supply (−)

BK RLS terminal are common (−).
M24V Motor power supply (+) Motor power supply (+) supplied to the driver
C24V Control power supply (+) Control power supply (+) supplied to the driver
0V
M24V
C24V
EMG
BK RLS
EMG Stop (+) Input (+) for releasing the stop

BK RLS Lock release (+) Input (+) for releasing the lock
76
Series LECPA
Wiring Example 2
∗ When you connect a PLC, etc., to the CN5 parallel I/O connector, please use the I/O cable (LEC-CN5-).
LECPAN- (NPN) LECPAP- (PNP)
CN5 Power supply CN5 Power supply
24 VDC ±10% 24 VDC ±10%
Terminal name Function Pin no. for I/O signal Terminal name Function Pin no. for I/O signal
COM+ 24 V 1 COM+ 24 V 1
COM− 0V 2 COM− 0V 2
NP+ Pulse signal 3 NP+ Pulse signal 3
NP− Pulse signal 4 NP− Pulse signal 4
Note 1) Note 1)
PP+ Pulse signal 5 PP+ Pulse signal 5
PP− Pulse signal 6 PP− Pulse signal 6
SETUP Input 7 SETUP Input 7
RESET Input 8 RESET Input 8
SVON Input 9 SVON Input 9
CLR Input 10 CLR Input 10
TL Input 11 TL Input 11
TLOUT Output 12 Load TLOUT Output 12 Load
WAREA Output 13 Load WAREA Output 13 Load
BUSY Output 14 Load BUSY Output 14 Load
SETON Output 15 Load SETON Output 15 Load
INP Output 16 Load INP Output 16 Load
SVRE Output 17 Load SVRE Output 17 Load
∗ESTOP Note 2) Output 18 Load ∗ESTOP Note 2) Output 18 Load
∗ALARM Note 2) Output 19 Load ∗ALARM Note 2) Output 19 Load
AREA Output 20 Load AREA Output 20 Load
Round Round
FG terminal FG terminal
0.5-5 0.5-5
Note 1) For pulse signal wiring method, refer to “Pulse Signal Wiring Details”.
Note 2) Output when the power supply of the driver is ON. (N.C.) Output Signal
Name Details
Input Signal BUSY Outputs when the actuator is operating
Name Details SETON Outputs when returning to origin
COM+ Connects the power supply 24 V for input/output signal INP Outputs when target position is reached
COM− Connects the power supply 0 V for input/output signal SVRE Outputs when servo is on
SETUP Instruction to return to origin ∗ESTOP Note 3) Not output when EMG stop is instructed
RESET Alarm reset ∗ALARM Note 3) Not output when alarm is generated
SVON Servo ON instruction AREA Outputs within the area output setting range
CLR Deviation reset WAREA Outputs within W-AREA output setting range
TL Instruction to pushing operation TLOUT Outputs during pushing operation
Note 3) Signal of negative-logic circuit ON (N.C.)
Pulse Signal Wiring Details
 Pulse signal output of positioning unit is differential output
Positioning unit Inside of the driver

NP+
NP− 1 kΩ
120 Ω
PP+
PP− 1 kΩ
120 Ω
 Pulse signal output of positioning unit is open collector output

Pulse signal power supply
Positioning
unit Inside of the driver
NP+
NP− 1 kΩ
Current limit 120 Ω Note) Connect the current limit resistor R in series to
resistor R Note) PP+ correspond to the pulse signal voltage.
PP− 1 kΩ Pulse signal power supply voltage Current limit resistor R specifications
Current limit 120 Ω 24 VDC ±10% 3.3 kΩ ±5% (0.5 W or more)
resistor R Note) 5 VDC ±5% 390 Ω ±5% (0.1 W or more)
77
Selection
Model
Signal Timing
Return to Origin
24 V
Power supply
0V
ON
SVON
OFF
LEHZ
Input
SETUP
ON
BUSY
OFF
SVRE
SETON
LEHZJ
Output
INP

∗ALARM
∗ESTOP
LEHF
Speed 0 mm/s
Return to origin
If the actuator is within the “in position” range of the basic

parameter, INP will turn ON, but if not, it will remain OFF.
∗ “∗ALARM” and “∗ESTOP” are expressed as negative-logic circuit.
LEHS
Positioning Operation Pushing Operation
ON ON
TL
OFF OFF
Input Pulse signal Input
Pulse signal
ON ON
TLOUT
LECP6
OFF OFF
Output BUSY Output BUSY
INP INP
Speed 0 mm/s
LEC-G
Positioning operation Speed 0 mm/s
Pushing operation
If the actuator is within the “in position” range of the step If the current pushing force exceeds the “trigger LV”
LECP1
data, INP will turn ON, but if not, it will remain OFF. value of the step data, INP signal will turn ON.
Note) If pushing operation is stopped when there is no pulse

deviation, the moving part of the actuator may pulsate.
Alarm Reset
LECPA
Alarm reset
ON
Input RESET
OFF
ON
Output ∗ALARM
OFF
Specific Product
Precautions
Alarm out
∗ “∗ALARM” is expressed as negative-logic circuit.
78
Series LECPA
Options: Actuator Cable

1
LE CP 1 LE-CP- 35 /Cable length: 1.5 m, 3 m, 5 m Driver side
Connector C (14.2) (Terminal no.)
Actuator side
Cable length (L) [m] (Terminal no.) 1 2
(ø8)
(14)
A1 B1 5 6 (13.5)
1 1.5
(17.7)
3 3 A6 B6 1 2
(18)
5 5 Connector A 15 16
(14.7) (30.7) L Connector D (11)
8 8∗ (10)
A 10∗
B 15∗
C 20∗
∗ Produced upon receipt of LE-CP- A8 BC /Cable length: 8 m, 10 m, 15 m, 20 m
order (Robotic cable only) (∗ Produced upon receipt of order) Driver side
Cable type Connector C (14.2) (Terminal no.)
(ø5.5)
Robotic cable Actuator side 1 2
(14)
(Terminal no.)
Nil 5 6
(Flexible cable) A1 B1
(17.7)
(13.5)
S Standard cable
A6 B6 1 2
(18)
(ø6.3)
(14.7) Connector A 15 16
(30.7) L Connector D (11)
(10)
Connector A Connector C
Signal Cable color
terminal no. terminal no.
A B-1 Brown 2
A A-1 Red 1
B B-2 Orange 6
B A-2 Yellow 5
Connector D
Shield Cable color
terminal no.
Vcc B-4 Brown 12
GND A-4 Black 13
A B-5 Red 7
A A-5 Black 6
B B-6 Orange 9
B A-6 Black 8
— 3
79
Selection
Model
Options
[I/O cable]
LEC C L5 1
I/O cable length (L)
LEHZ
I/O cable type
L5 For LECPA 1 1.5 m
3 3 m∗
5 5 m∗
∗ Pulse input usable only with
differential. Only 1.5 m cables
Pin Insulation Dot Dot Pin Insulation Dot Dot
no. color mark color no. color mark color
LEHZJ
L 1 Light brown Black 12 Light brown Red
(12) 2 Light brown Red 13 Yellow Black

20 19 3 Yellow Black 14 Yellow Red
4 Yellow Red 15 Light green Black
5 Light green Black 16 Light green Red
(22)
6 Light green Red 17 Gray Black

(25) (10) (40) 7 Gray Black 18 Gray Red
2 1 8 Gray Red 19 White Black
(45)
9 White Black 20 White Red
LEHF
100±10
Number of cores 20 10 White Red Round terminal
11 Light brown Black Green
AWG size 24 0.5-5
LEHS
[Noise filter set]
Step Motor Driver (Pulse Input Type)
LEC NFA
Contents of the set: 2 noise filters
LECP6
(Manufactured by WURTH ELEKTRONIK: 74271222)
(33.5)
LEC-G
(12.5)
(42.2) (28.8)
∗ Refer to the LECPA series Operation Manual for installation.

LECP1
LECPA
Specific Product
Precautions
80
Series LEC Windows®XP, Windows®7 compatible
Controller Setting Kit/LEC-W2

How to Order
q Controller setting LEC W2

software
Controller setting kit
w Communication e USB cable (Japanese and English are available.)
cable (A-miniB type)
Contents
HRS
PC q Controller setting software (CD-ROM)

w Communication cable
e USB cable
(Cable between the PC and the conversion unit)
Step motor controller (Servo/24 VDC) Series LECP6
Servo motor controller (24 VDC) Series LECA6
Step motor driver (Pulse input type) Series LECPA
Hardware Requirements
IBM PC/AT compatible machine running
OS Windows®XP (32-bit),
Windows®7 (32-bit and 64-bit).
Communication
USB 1.1 or USB 2.0 ports
interface
Display XGA (1024 x 768) or more
∗ Windows® and Windows®7 are registered trademarks of Microsoft Corporation in the United States.
∗ Refer to SMC website for version update information, http://www.smcworld.com
Screen Example
Easy mode screen example Normal mode screen example
Easy operation and simple setting

 Allowing to set and display actuator step data Detailed setting
such as position, speed, force, etc.  Step data can be set in detail.
 Setting of step data and testing of the drive can  Signals and terminal status can be monitored.
be performed on the same page.  Parameters can be set.
 Can be used to jog and move at a constant rate.  JOG and constant rate movement, return to origin, test operation and
testing of forced output can be performed.
81
®
Series LEC
Teaching Box/LEC-T1 RoHS
Selection
Model
How to Order
LEC T1 3 J G
LEHZ
Enable switch Teaching box Enable switch
(Option)
Nil None
Cable length [m] S Equipped with enable switch
3 3 ∗ Interlock switch for jog and test function
Stop switch
Initial language
Stop switch
LEHZJ
J Japanese
E English G Equipped with stop switch

∗ The displayed language can be changed to English or Japanese.
Specifications
Item Description
Standard functions Switch Stop switch, Enable switch (Option)
• Chinese character display
LEHF
Cable length [m] 3
• Stop switch is provided. Enclosure IP64 (Except connector)
Option Operating humidity range [%RH] 90 or less (No condensation)
• Enable switch is provided. Weight [g] 350 (Except cable)
The EMC compliance of the teaching box was tested with the LECP6 series step motor controller
LEHS
(servo/24 VDC) and an applicable actuator.
When conformity to UL is required, the electric actuator and driver should be used with a UL1310 Class
2 power supply.
Easy Mode
Function Details Menu Operations Flowchart
LECP6
Menu Data
Step data • Setting of step data
Data Step data no.
• Jog operation Monitor Setting of two items selected below
Jog
• Return to origin Jog Ver. 1.∗∗:
• 1 step operation Note 1) Test Position, Speed, Force, Acceleration, Deceleration
Test ALM Ver. 2.∗∗:
LEC-G
• Return to origin
TB setting Position, Speed, Pushing force, Acceleration, Deceleration, Movement MOD,
• Display of axis and step data no.
Trigger LV, Pushing speed, Moving force, Area 1, Area 2, In position
Monitor • Display of two items selected
from Position, Speed, Force. Monitor
• Active alarm display Display of step no.
ALM
• Alarm reset
LECP1
Display of two items selected below

• Reconnection of axis (Ver. 1.∗∗) (Position, Speed, Force)
• Displayed language setting
(Ver. 2.∗∗) Jog
TB setting Return to origin
• Setting of easy/normal mode
• Setting step data and selection Jog operation
LECPA
of items from easy mode monitor

Test Note 1)
1 step operation
ALM
Active alarm display
Specific Product
Alarm reset
Precautions
TB setting
Reconnection of axis (Ver. 1.∗∗)
Japanese/English (Ver. 2.∗∗)
Easy/Normal
Note 1) Not compatible with the LECPA. Set item
82
Series LEC
Normal Mode
Menu Operations Flowchart
Function Details Menu Step data
Step data • Step data setting Step data Step data no.
Parameter Movement MOD
Parameter • Parameters setting
Monitor Speed
• Jog operation/Constant rate movement Test Position
• Return to origin ALM Acceleration
• Test drive Note 1) File Deceleration
(Specify a maximum of 5 step TB setting Pushing force
Test
data and operate.) Reconnect Trigger LV
• Forced output Pushing speed
(Forced signal output, Forced Moving force
terminal output) Note 2) Area 1, 2
In position
• Drive monitor
• Output signal monitor Note 2) Parameter Basic setting
Monitor • Input signal monitor Note 2) Basic
• Output terminal monitor ORIG ORIG setting
• Input terminal monitor
Monitor DRV monitor
• Active alarm display
ALM (Alarm reset) Drive Position, Speed, Torque
• Alarm log record display Output signal Note 2) Step no.
Input signal Note 2) Last step no.
• Data saving Output terminal
Save the step data and parameters Input terminal Output signal monitor
of the driver which is being used
for communication (it is possible to Test Input signal monitor
save four files, with one set of step JOG/MOVE
data and parameters defined as Output terminal monitor
Return to ORIG
File one file). Test drive Note 1) Input terminal monitor
• Load to driver Forced output Note 2)
Loads the data which is saved in
the teaching box to the driver which ALM Status
is being used for communication. Status Active alarm display
• Delete the saved data. ALM Log record Alarm reset
• File protection (Ver. 2.∗∗)
File ALM Log record display
• Display setting Data saving Log entry display
(Easy/Normal mode) Load to driver
• Language setting File deletion
(Japanese/English) File protection (Ver. 2.∗∗)
TB setting • Backlight setting
• LCD contrast setting TB setting
• Beep sound setting Easy/Normal
• Max. connection axis Language
• Distance unit (mm/inch) Backlight Note 1) Not compatible with the
LCD contrast LECPA.
Reconnect • Reconnection of axis
Beep Note 2) The following signals
Max. connection axis are not compatible with
Password the LECPA.
Distance unit Input: CLR, TL
Output: TLOUT
Reconnect
Dimensions
34.5 4 102
w No. Description Function
q 1 LCD A screen of liquid crystal display (with backlight)

2 Ring A ring for hanging the teaching box
r
When switch is pushed in, the switch locks and stops.
t 3 Stop switch
The lock is released when it is turned to the right.
185
4 Stop switch guard A guard for the stop switch

y e Enable switch
Prevents unintentional operation (unexpected
5 operation) of the jog test function. Other functions
(Option)
such as data change are not covered.
6 Key switch Switch for each input
7 Cable Length: 3 meters
i 8 Connector A connector connected to CN4 of the controller
25 22.5 u
83
These safety instructions are intended to prevent hazardous situations and/or
Safety Instructions 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 relating to systems.
Caution indicates a hazard with a low level of risk ISO 4413: Hydraulic fluid power – General rules relating to systems.
Caution: which, if not avoided, could result in minor or IEC 60204-1: Safety of machinery – Electrical equipment of machines.
moderate injury.
(Part 1: General requirements)
Warning indicates a hazard with a medium level of ISO 10218-1: Manipulating industrial robots – Safety.
Warning: risk which, if not avoided, could result in death or etc.
serious injury.
Danger indicates a hazard with a high level of risk
Danger : which, if not avoided, will result in death or serious
injury.
Warning Caution
1. The compatibility of the product is the responsibility of the 1. The product is provided for use in manufacturing industries.
person who designs the equipment or decides its specifications. The product herein described is basically provided for peaceful use in
Since the product specified here is used under various operating conditions, its manufacturing industries.
compatibility with specific equipment must be decided by the person who designs If considering using the product in other industries, consult SMC beforehand and
the equipment or decides its specifications based on necessary analysis and test
exchange specifications or a contract if necessary.
results. The expected performance and safety assurance of the equipment will be
If anything is unclear, contact your nearest sales branch.
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 Limited warranty and Disclaimer/
equipment.
2. Only personnel with appropriate training should operate
Compliance Requirements
machinery and equipment. The product used is subject to the following “Limited warranty and Disclaimer”
The product specified here may become unsafe if handled incorrectly. The and “Compliance Requirements”.
assembly, operation and maintenance of machines or equipment including our Read and accept them before using the product.
products must be performed by an operator who is appropriately trained and
experienced. Limited warranty and Disclaimer
3. Do not service or attempt to remove product and machinery/
equipment until safety is confirmed. 1. The warranty period of the product is 1 year in service or 1.5 years after
1. The inspection and maintenance of machinery/equipment should only be the product is delivered, whichever is first.∗2)
performed after measures to prevent falling or runaway of the driven objects Also, the product may have specified durability, running distance or
have been confirmed. replacement parts. Please consult your nearest sales branch.
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 2. For any failure or damage reported within the warranty period which is clearly our
is cut, and read and understand the specific product precautions of all relevant responsibility, a replacement product or necessary parts will be provided.
products carefully. This limited warranty applies only to our product independently, and not to any
3. Before machinery/equipment is restarted, take measures to prevent other damage incurred due to the failure of the product.
unexpected operation and malfunction.
4. Contact SMC beforehand and take special consideration of safety 3. Prior to using SMC products, please read and understand the warranty terms
measures if the product is to be used in any of the following and disclaimers noted in the specified catalog for the particular products.
conditions. ∗2) Vacuum pads are excluded from this 1 year warranty.
1. Conditions and environments outside of the given specifications, or use 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
outdoors or in a place exposed to direct sunlight.
or failure due to the deterioration of rubber material are not covered by the limited warranty.
2. Installation on equipment in conjunction with atomic energy, railways, air
navigation, space, shipping, vehicles, military, medical treatment, combustion
and recreation, or equipment in contact with food and beverages, emergency Compliance Requirements
stop circuits, clutch and brake circuits in press applications, safety equipment
or other applications unsuitable for the standard specifications described in the 1. The use of SMC products with production equipment for the manufacture of
product catalog. weapons of mass destruction (WMD) or any other weapon is strictly prohibited.
3. An application which could have negative effects on people, property, or
animals requiring special safety analysis. 2. The exports of SMC products or technology from one country to another are
4. Use in an interlock circuit, which requires the provision of double interlock for governed by the relevant security laws and regulations of the countries involved
possible failure by using a mechanical protective function, and periodical in the transaction. Prior to the shipment of a SMC product to another country,
checks to confirm proper operation. assure that all local rules governing that export are known and followed.
Revision history
Edition B ∗ Electric gripper 3-finger type LEHS series is added. Edition D ∗ Electric gripper 2-finger type/with dust cover LEHZJ series is added.
∗ How to order for the electric gripper 2-finger type LEHZ/LEHF series ∗ Programless controller LECP1 series is added
is changed. ∗ Number of pages from 72 to 84 PY
∗ Number of pages from 60 to 72 NZ Edition E ∗ Pulse input type LECPA series is added.
∗ Gateway unit LEC-G series is added.
∗ Number of pages from 84 to 104 RQ
Safety Instructions Be sure to read “Handling Precautions for SMC Products” (M-E03-3) before using.
Akihabara UDX 15F,

4-14-1, Sotokanda, Chiyoda-ku, Tokyo 101-0021, JAPAN
Phone: 03-5207-8249 Fax: 03-5298-5362
http://www.smcworld.com
© 2013 SMC Corporation All Rights Reserved
Specifications are subject to change without prior notice D-G 1st printing NZ printing RQ 8150DN Printed in Japan.
and any obligation on the part of the manufacturer.

Electric Grippers: With Drop Prevention Function Energy-Saving Product

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Electric Grippers: With Drop Prevention Function Energy-Saving Product

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Step Motor (Servo/24 VDC) RoHS

 With drop prevention function  Energy-saving product

F Type (2 fingers) S Type (3 fingers)

Step Motor (Servo/24 VDC)

Step data input type Programless type Pulse input type

 Compact and lightweight  Sealed-construction dust cover (Equivalent to IP50)

Cover designed with

other devices’ operations.

Side tapped mounting

Slide screw Slide screw

Linear guide Linear guide misalignment prevention

 Canhold various types of  Can hold round workpieces.

Series LEHF Series LEHS

Positioning pin Positioning pin

Mounting Mounting direction

Positioning pin Positioning pin

Motor cable mounting direction can be selected.

Gripping of components that are easily deformed or damaged

Speed and gripping force control and positioning

Alignment and selection Soft touch/

Identification of Speed control

Gripping of cylindrical and spherical parts

Speed and gripping force control

Simple Setting to Use Straight Away Step motor

Easy Mode for Simple Setting (Servo/24 VDC)

Teaching box screen Step Axis 1 Step Axis 1

Gateway Unit Series LEC-G

Electric actuator/ Electric actuator/

<When a TB (teaching box) is used> Menu Axis 1

Pulse Input Type Series LECPA

A driver that uses pulse signals to allow positioning at any position.

Return-to-origin command signal

With force limit function (Pushing force/Gripping force operation available)

Easy Normal Step data

[Position]: Target position No setting required Direct teaching

Operation of the specified 

System Construction/General Purpose I/O

Power supply for I/O signal

I/O cable Pages 61, 73

The ∗ mark: Can be included in the “How to

Teaching box Page 63 Controller setting kit Page 62

System Construction/Pulse Signal

Power supply for I/O signal

Note) When conformity to UL is

Driver∗ Page 74 I/O cable Page 80

Provided by customer To CN1

Actuator cable∗ Page 79

The ∗ mark: Can be included in the “How to

Teaching box Page 82 Controller setting software Page 81

System Construction/Fieldbus Network

Gateway (GW) unit Page 65 Option

Fieldbus Power supply

Controller Page 55 Controller Page 55

Series LEFS Series LEFB Series LEFS Series LEFB

Ball screw drive Belt drive Belt drive

Series LEL25M Series LEL25L

Series LEY Series LEYG

Pushing force Stroke Pushing force Stroke

Series LEY Series LEY Series LEYG Series LEYG

Compact type Series LES High rigidity type Series LESH

Gripper Step Motor (Servo/24 VDC)

2-finger type 2-finger type 2-finger type 3-finger type