Z Type. F Type. S Type. Electric Grippers. Series LEH. 3-finger type is added! Can hold round work pieces.

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1 Electric Grippers Easy setting 2 Data can be set with only 2 items: position and force. Data Axis 1 Step No. Posn 12. mm Force % Teaching box screen Drop prevention function is provided. (Self-lock mechanism is provided for all series.) Gripping force of the work pieces is maintained when stopped or restarted. The work pieces can be removed by hand. Energy-saving Power consumption reduced by self-lock mechanism Compact body sizes and long stroke variations Can achieve the gripping force equivalent to the widely used air grippers. Gripping check function is provided. Identify work pieces with different dimensions/detect mounting and removal of the work pieces. Possible to set position, speed and force. ( points) Compact and light Various gripping forces Long stroke, can hold various types of work pieces. Z Type (2 fingers) F Type (2 fingers) NEW Series LEHZ Body size Stroke/ both sides [mm] finger type is added! Can hold round work pieces. S Type (3 fingers) Series LEH Gripping force [N] Basic to 1 1 to 2 to 13 8 to 21 Compact 2 to 3 to 8 11 to 28 Series LEHS Body size 1 32 Stroke/ diameter [mm] 8 12 Series LEHF Stroke/ Body size both sides [mm] 1 1 (32) 2 (8) () (8) ( ): Long stroke Gripping force [N] Basic Compact 2.2 to. 1. to 3. 9 to 22 7 to 17 3 to 9 2 to 13 Gripping force [N] 3 to 7 11 to 28 8 to 1 72 to 18 CAT.ES1-77B

2 3 mm 3 mm Electric Gripper 2-Finger Type Series LEHZ / Body Size: 1, 1,, 2, 32, Series LEHF / Body Size: 1,, 32, Compact and lightweight Various gripping forces Weight: 1 g (LEHZ1) Compact Weight: 13 g (LEHZ1L) Long stroke, can hold various types of work pieces. Stroke: Max. mm Long stroke Stroke: Max. 8 mm 1 mm 87 mm Finger options Series LEHZ Series LEHF Manual override adjustment screw For opening and closing the fingers (when power supply is turned off) Manual override adjustment screw/both sides For opening and closing the fingers (when power supply is turned off) Slide screw Friction resistance reduced by special treatment Side tapped mounting Through-hole in opening/ closing direction Slide screw Friction resistance reduced by special treatment Linear guide Flat fingers Mounting Variations Series LEHZ Linear guide Linear guide misalignment prevention Misalignment of the linear guide is prevented with 2 positioning pins. Series LEHF Misalignment of the linear guide is prevented with 2 positioning pins. A When using the thread B When using the thread C When using the thread A When using the B When using the thread C When using the on the side of the body on the mounting plate on the back of the body thread on the body on the mounting plate thread on the back of the body Positioning pin Mounting direction Linear guide misalignment prevention Positioning pin Positioning pin Positioning pin Mounting direction Mounting direction Mounting direction Mounting direction Mounting direction Positioning pin Positioning pin Features 1

3 Electric Gripper 3-Finger Type Series LEHS / Body Size: 1,, 32, Applicable to round work pieces Compact Weight: 18 g (LEHS1) Weight: 1 g (LEHS1L) 92.1 mm 7. mm 29. mm 29. mm Series LEHS Manual override adjustment screw For opening and closing the fingers (when power supply is turned off) Motor cable mounting direction can be selected. Series LEHZ Entry on the left side Motor cable Connector cover Entry on the front side Slide screw Friction resistance reduced by special treatment Series LEHF Entry on the left side Entry on the right side Motor cable Wedge cam structure is employed Compact and large gripping force can be obtained due to the wedge cam structure. Series LEHS Series LEHS A When using the thread on the mounting plate B When using the thread on the back of the body Entry on the left side Entry on the right side Mounting direction Positioning pin Positioning pin Mounting direction Entry on the front side Features 2

4 Application Examples Gripping of components that are easily deformed or damaged O-ring Test tube Egg Speed and gripping force control and positioning Alignment and selection of randomly lined parts Gripping in a narrow space Soft touch/ High frequency Deep holes Identification of work pieces with different dimensions Positioning Speed control and positioning (Minimum stroke) Gripping of cylindrical and spherical parts Speed and gripping force control Features 3

5 System Construction Electric gripper PLC Power supply for I/O signal 2 VDC Step motor controller P. I/O cable Part No.: LEC-CN- P. To CN Actuator cable (movable cable) Part No.: LE-CP- P. To CN3 To CN To CN2 To CN1 Controller power supply Power supply plug (accessory) <Applicable cable size> AWG (. mm 2 ) The components marked with are included depending on the model selection. Options Teaching box P. 8 (with 3 m cable) Part No.: LEC-T1-3JG Controller setting software P. 7 (Communication cable, conversion unit and USB cable are included.) Part No.: LEC-W1 Communication cable or Conversion unit USB cable (A-miniB type) PC Features

6 Simple Setting to Use Straight Away Start-up Time Shortened The controller is already set with the data of the actuator. Initial parameters are already set when the controller is shipped. Possible to start up the controller in a short time with easy mode. The actuator and controller are sold as a package. Confirm that the combination of the controller and the actuator is compatible. <Be sure to check the following before use.> q Check that actuator label for model number. This matches the controller. w Check Parallel I/O configuration matches (NPN or PNP). Refer to page for details of the controller. Controller Actuator q q w Simple Setting Easy Mode Easy operation and simple setting <When using a Teaching Box> The iconized menu enables selection of functions. Allowing to set and display actuator step data such as position, speed, force, etc. Setting of position, etc., and monitoring of the operation can be performed on the second screen. The simple screen without scrolling promotes ease of setting and operating. Example of setting the step data 1st screen 2nd screen Data Axis 1 Step No. Posn 123. mm Force 3% It can be registered by SET after entering the values. Example of checking the operation status 1st screen 2nd screen Monitor Axis 1 Step No. 1 Posn 12.3 mm Force % Operation status can be checked. Teaching box screen Data can be set with only two items. (Other conditions are already set.) Data Axis 1 Step No. Posn 12. mm Force % Data Axis 1 Step No. Posn. mm Force % <When using a PC> Controller setting software Allowing to set and display actuator step data such as position, speed, force, etc. Setting of step data and testing of the drive can be performed on the same page. Can be used to jog and move at a constant rate. Move jog Start testing Positioning data setting Setting of jog and speed of the constant rate Move for the constant rate Features

7 Detail Setting Normal Mode Select normal mode when detail setting is required. Step data can be set in detail. Signals and terminal status can be monitored. <When using a PC> Controller setting software Every function is indicated in a different window. Function windows can be positioned in your desired positions on the screen. Step data setup window Parameters can be set. JOG and constant rate movement, return to origin, test operation and testing of compulsory output can be performed. Parameter setup window Monitoring window Teaching window <When using a Teaching Box> Teaching box screen Step data and parameter can be saved/forwarded in this box. Test operation can be made after specifying items of step data. Settings particular to the teaching box can be changed. Menu Axis 1 Step data Parameter Menu Axis 1 Test Step No. Menu Axis 1 Main menu screen Operation type Step No. 1 Position 123. mm Step data Stop Output monitor Axis 1 setup screen BUSY[ ] Test screen SVRE[ ] SETON[ ] Monitoring screen Setting Items Step data settig (Excerpt) Function Speed Position Acceleration/Deceleration Pushing force Trigger LV Pushing speed Contents Can be set in units of 1 mm/s. It is the speed between the fingers. Can be set in units of.1 mm. It is the position between the fingers. (During pushing: Pushing start position) Can be set in units of 1 mm/s 2. It is the Acc/Dec between the fingers. Can be set in units of 1% from % to 1%. Positioning operation: Set to %. Trigger LV of target force during pushing operation: Can be set in units of 1% from % to 1%. Can be set in units of 1 mm/s. It is the pushing speed between the fingers. PC: Controller setting software TB : Teaching box Easy mode Normal mode Positioning force Can be set in units of 1% from % to 1%. Positioning force should be set to 1% when detaching. In position During positioning operation: Width to the target position. It should be set to. or more. During pushing operation: How much it moves during pushing Stroke (+) + side limit of position (Unit:.1 mm) Parameter Stroke ( ) side limit of position (Unit:.1 mm) setting (Excerpt) ORIG speed Speed when returning to the original position can be set. ORIG ACC Acceleration when returning to the original position can be set. JOG Continuous operation at the set speed can be tested while the switch is being pressed. MOVE Operation at the set distance and speed from the current position can be tested. Test Return to ORIG Returning to the original position can be tested. Test drive Operation of the specified step data can be tested. (Continuous operation) Compulsory output ON/OFF of the output terminal can be tested. Monitor DRV mon Current position, current speed, current force and the specified step data No. can be monitored. In/Out mon Current ON/OFF status of the input and output terminal can be monitored. ALM Active ALM Alarm currently being generated can be confirmed. ALM Log record Alarm generated in the past can be confirmed. File Save/Load Step data and parameter of the objective controller can be saved, forwarded and deleted. Other Language Can be changed to Japanese or English , 3 1 Every parameter is set to the recommended condition before shipment from the factory. Please change the setting of the items which require adjustment. 2 Teaching box: In the normal mode, the teaching box can be set to work in English or Japanese. 3 Controller setting software: Can be installed by selecting English or Japanese version. PC TB PC, TB Features

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9 Electric Gripper 2-Finger Type/Series LEHZ/LEHF Electric Gripper 3-Finger Type/Series LEHS Series Variations 2-Finger Type Series Body size Photo Opening and closing stroke/ both sides (mm) Gripping force [N] Basic Compact Opening and closing speed (mm/s) Weight [g] Basic Compact Reference page LEHZ 1 1 to 1 2 to 3 to 8 to LEHZ to 2 to 13 8 to to 28 to 1 to P. 2 LEHF Series Body size Photo Opening and closing stroke/ both sides (mm) Gripping force [N] Opening and closing speed (mm/s) Weight [g] Reference page LEHF (32) 2 (8) 32 () 3 to 7 11 to 28 8 to 1 to 8 to 1 3 (37) 1 (7) 12 (197) P. 19 LEHS ( ): Long stroke 3-Finger Type Series LEHS Body size 1 32 Photo (8) Opening and closing stroke/ diameter (mm) 8 12 Gripping force [N] Basic 2.2 to. 9 to 22 3 to 9 2 to to 18 Compact 1. to 3. 7 to 17 Opening and closing speed (mm/s) to 7 to 8 to 1 to (2) Weight [g] Basic Compact Reference page P. 3 LECP Step Motor Controller (Servo/2 VDC) Series LECP Photo Rated power supply 2 VDC ±1% Input 11 inputs (Photo-coupler isolation) Parallel I/O Output 13 outputs (Photo-coupler isolation) Positioning pattern points points Reference page P. 9 1

10 Series LEHZ Model Selection Model Selection Selection Procedure Step 1 Confirm gripping force. Confirm gripping point/ Step 2 Step 3 overhang. Confirm external force on fingers. Step 1 Confirmation of gripping force Confirmation of conditions Calculation of required gripping force Selection of model from gripping force graph Selection of pushing speed Example Workpiece mass:.1 kg Guidelines for the selection of the gripper with respect to workpiece mass Although conditions differ according to the workpiece shape and the coefficient of friction between the attachments and the workpiece, select a model that can provide a gripping force of 1 to times Note) the workpiece weight, or more. Note) For further details, refer to the calculation of required gripping force. If high acceleration or impact forces are encountered during motion, a further margin of safety should be considered. Example) When it is desired to set the gripping force at times or more above the workpiece weight. Required gripping force =.1 kg x x 9.8 m/s N or more Pushing force: 7% Pushing force is one of the values of step data that is input into the controller. Gripping point distance: 3 mm LEHZ Gripping force F [N] Pushing force 1% 7% % In the case of selecting LEHZ 1 1 A gripping force of 27 N is obtained from the intersection point of gripping point distance L = 3 mm and pushing force of 7%. Gripping force is 27. times greater than the workpiece weight, and therefore satisfies a gripping force setting value of times or more. Pushing speed: 3 mm/sec LEHZ Pushing force/trigger level [%] 11 Pushing force and trigger level range Pushing speed [mm/sec] Pushing speed is satisfied at the point where 7% of the pushing force and 3 mm/sec of the pushing speed cross. 2

11 Electric Gripper/2-Finger Type Series LEHZ Calculation of required gripping force Attachment F µf µf mg Finger F Workpiece Gripping force at least 1 to times the workpiece weight The 1 to times or more of the workpiece weight recommended by SMC is calculated with a safety margin of a =, which allows for impacts that occur during normal transportation, etc. F = When µ =.2 When µ =.1 mg 2 x.2 x = 1 x mg F = mg 2 x.1 x = x mg 1 x Workpiece weight x Workpiece weight When gripping a workpiece as in the figure to the left, and with the following definitions, F: Gripping force (N) µ: Coefficient of friction between the attachments and the workpiece m: Workpiece mass (kg) g: Gravitational acceleration (= 9.8 m/s 2 ) mg: Workpiece weight (N) the conditions under which the workpiece will not drop are 2 x µf > mg Number of fingers mg and therefore, F > 2 x µ With a representing the extra margin, F is determined by the following formula: F = mg 2 x µ x a (Reference) Coefficient of friction µ (depends on the operating environment, contact pressure, etc.) Coefficient of friction µ Attachment Material of work pieces (guideline).1 Metal (surface roughness Rz3.2 or less).2 Metal.2 or more Rubber, Resin, etc. Note) Even in cases where the coefficient of friction is greater than µ =.2, for reasons of safety, select a gripping force which is at least 1 to times greater than the workpiece weight, as recommended by SMC. If high acceleration or impact forces are encountered during motion, a further margin of safety should be considered. LEHS LEHF LEHZ LECP 3

12 Series LEHZ Model Selection Step 1 Confirmation of gripping force: Series LEHZ Indication of gripping force The gripping force shown in the below graphs is expressed as F, which is the thrust of one finger, when both fingers and attachments are in full contact with the workpiece as shown in the below figure. External Gripping State Set the workpiece gripping point L so that it is within the range shown in the below figure. Internal Gripping State Finger Finger Attachment Attachment L L L: Gripping F F F F point Workpiece F: Gripping Workpiece force L: Gripping point F: Gripping force Basic Pushing force is one of the values of step data that is input into the controller. Compact Pushing force is one of the values of step data that is input into the controller. LEHZ1 Gripping force accuracy: ±3% (F.S.) LEHZ1L 8 Gripping force accuracy: ±3% (F.S.) Gripping force F [N] Pushing force 1% 7% % Gripping force F [N] 2 Pushing force 1% 7% % LEHZ1 8 Gripping force accuracy: ±3% (F.S.) 8 1 Gripping force accuracy: ±3% (F.S.) 1 LEHZ1L Gripping force F [N] Pushing force 1% 7% % Gripping force F [N] 8 2 Pushing force 1% 7% %

13 Electric Gripper/2-Finger Type Series LEHZ Basic LEHZ Gripping force F [N] 3 1 LEHZ2 Gripping force F [N] LEHZL LEHZ32 Gripping force F [N] LEHZ Gripping force F [N] Pushing force is one of the values of step data that is input into the controller. Gripping force accuracy: ±2% (F.S.) Pushing force 1% 7% % Gripping force accuracy: ±2% (F.S.) Pushing force 1% 7% % Gripping force accuracy: ±% (F.S.) Pushing force 1% 7% % Gripping force accuracy: ±% (F.S.) Pushing force 1% 7% % Compact Gripping force F [N] LEHZ2L Gripping force F [N] Pushing force/trigger level [%] Pushing force/trigger level [%] Pushing force is one of the values of step data that is input into the controller. Gripping force accuracy: ±2% (F.S.) Pushing force 1% 7% % 3 Gripping force accuracy: ±2% (F.S.) 3 2 Pushing force 1% 7% 1 1 % Selection of Pushing Speed Set the [Pushing force] and the [Trigger LV] within the range shown in the below figure. Basic 11 1 Pushing force and trigger level range Pushing speed [mm/sec] Compact 11 1 Pushing force and trigger level range Pushing speed [mm/sec] LEHS LEHF LEHZ LECP

14 Series LEHZ Model Selection Step 2 Confirmation of 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 below figure. If the gripping position is out of the limit, it may shorten the life expectancy of the electric gripper. External Gripping State Internal Gripping State H H Gripping position L H: Overhang L: Gripping point Gripping position L H: Overhang L: Gripping point Basic Pushing force is one of the values of step data that is input into the controller. Compact Pushing force is one of the values of step data that is input into the controller. LEHZ1 LEHZ1L 1 1 Overhang H [mm] 8 Pushing force 7% % Overhang H [mm] 8 7%, % Pushing force 1% 1% LEHZ1 Overhang H [mm] %, % Pushing force 1% LEHZ1L Overhang H [mm] Pushing force 1%, 7%, % LEHZ Overhang H [mm] Pushing force 1% 7% % LEHZL Overhang H [mm] % 7% Pushing force 1%

15 Electric Gripper/2-Finger Type Series LEHZ Basic LEHZ2 Pushing force is one of the values of step data that is input into the controller. Compact LEHZ2L Pushing force is one of the values of step data that is input into the controller. LEHZ 2 2 Overhang H [mm] 1 1 Pushing force 1% 7% % Overhang H [mm] 1 1 7%, % Pushing force 1% LEHF LEHZ32 2 Overhang H [mm] 1 1 % Pushing force 1% 7% LEHS LEHZ Overhang H [mm] % 7% Pushing force 1% LECP 7

16 Series LEHZ Model Selection Step 3 Confirmation of external force on fingers: Series LEHZ Mp My: Yaw moment Mr Fv My Fv: Allowable vertical load Mp: Pitch moment Mr: Roll moment H L L Model Allowable vertical load Static allowable moment Fv (N) Pitch moment: Mp (N m) Yaw moment: My (N m) Roll moment: Mr (N m) LEHZ1(L)K2-8 LEHZ1(L)K2-98 LEHZ(L)K LEHZ2(L)K2-1 2 LEHZ32(L)K LEHZ(L)K2-3 9 Note) Values for load in the table indicate static values H, L: Distance to the point at which the load is applied (mm) Calculation of allowable external force (when moment load is applied) Allowable load F (N) = M (Static allowable moment) (N m) L x 1 3 ( Constant for unit conversion) Calculation example When a static load of f = 1 N is operating, which applies pitch moment to point L = 3 mm from the LEHZ1K2- guide. Therefore, it can be used..8 Allowable load F = 3 x 1 3 = 22.7 (N) Load f = 1 (N) < 22.7 (N) 8

17 Electric Gripper 2-Finger Type Series LEHZ LEHZ1, 1,, 2, 32, How to Order LEHZ Body size Finger options Nil L Note) Nil: Basic (Tapped in the direction of opening/closing) A: Side tapped mounting B: Through-hole in opening/ closing direction C: Flat fingers LEHZ 1 K 2 Motor size Basic Compact Note) Body size: 1, 1,, 2 only K Nil A B C Lead Basic 2-finger type Stroke/both sides (mm) Stroke Body size Finger option Basic (Tapped in the direction of opening/closing) Side tapped mounting Through-hole in opening/closing direction Flat fingers Nil F R Nil 1 3 Nil N P Motor cable entry Basic (Entry on the left side) Entry on the front side Nil D Note) Without controller With controller (NPN) With controller (PNP) Without cable 1. m 3 m m 8 A B C Controller mounting Note) Refer to page for the detailed specifications of the controller itself. Actuator cable length Screw mounting DIN rail mounting Note) DIN rail is not included. Order it separately. (Refer to page 1.) I/O cable length Controller type Note) Note) Produced upon receipt of order Actuator cable type Nil R 1 N 1 Without cable Robotic cable (Flexible cable) Motor cable Connector cover Nil m Note) 1 m Note) 1 m Note) m Note) Mounting reference plane Mounting reference plane Mounting reference plane Mounting reference plane Motor cable Connector cover Without cable 1. m 3 m m LEHF LEHS LECP The actuator and controller are sold as a package. (Controller Page ) Confirm that the combination of the controller and the actuator is compatible. <Be sure to check the following before use.> 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. 9

18 Series LEHZ Specifications How to Mount Actuator specifications Electric specifications Model LEHZ1 LEHZ1 LEHZ LEHZ2 LEHZ32 LEHZ Stroke/both sides (mm) Gripping force Basic to 1 1 to 2 to 13 8 to 21 (N) Note 1) Compact 2 to 3 to 8 11 to 28 Opening and closing speed/ Pushing speed (mm/s) Note 2) to 8/ to to 1/ to to 1/ to Drive method Slide screw + Slide cam Finger guide type Linear guide (No circulation) Repeatability (mm) Note 3) ±.2 Repeated length determination accuracy (mm) Note ) ±. Finger backlash/ both sides (mm) Note ). or less 1. or less Impact resistance/ Vibration resistance (m/s 2 ) Note ) 1/3 Max. operating frequency (C.P.M) Operating temperature range ( C) to (No condensation and freezing) Operating humidity range (%) 3 to 8 (No condensation and freezing) Weight (g) Basic Compact Motor size Motor type Encoder Rated voltage (V) Power consumption/ Standby power consumption when operating (W) Note 7) Momentary max. power consumption (W) Note 8) Basic Compact Basic Compact 28 Step motor (Servo 2 VDC) 2 Incremental A/B phase (8 pulse/rotation) 2 VDC ±1% 11/7 8/ /1 22/ /13 7 3/13 1 Controller weight (g) 1 (Screw mounting) Note 1) Gripping force should be from 1 to times the weight of the object to be conveyed. Positioning force should be 1% when releasing the workpiece. Gripping force accuracy should be ±3% (F.S.) for LEHZ1/1 ±2% (F.S.) for LEHZ/2 ±% (F.S.) for LEHZ32/ Note 2) Pushing speed should be set within the range during pushing (gripping) operation. Otherwise, it may cause malfunction. Note 3) 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 ) Repeated length determination accuracy means dispersion (value on the controller monitor) when the workpiece is repeatedly held in the same position. Note ) There will be no influence of backlash during pushing (gripping) operation. Make the stroke longer for the amount of backlash when opening. Note ) 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 to 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 7) Power consumption (including the controller) is for when the actuator is operating. Standby power consumption when operating is for when the actuator is stopped in the set position during operation, including the energy saving mode when gripping. Note 8) Momentary max. power consumption (including the controller) is for when the actuator is operating. This value can be used for the selection of the power supply. a) When using the thread on the side of the body b) When using the thread on the mounting plate c) When using the thread on the back of the body Positioning pin Mounting direction Mounting direction Mounting direction 1 Positioning pin Positioning pin

19 Electric Gripper/2-Finger Type Series LEHZ Construction Series LEHZ LEHZ e! w q u t r y LEHF i o LEHS Component Parts No. Description Material Note Body Motor plate Guide ring Slide nut Slide bolt Needle roller Needle roller Finger assembly Lever Step motor (Servo/2 VDC) Aluminum alloy Aluminum alloy Aluminum alloy Stainless steel Stainless steel High carbon chromium bearing steel High carbon chromium bearing steel Special stainless steel Anodized Anodized Heat treatment + Special treatment Heat treatment + Special treatment Replacement Parts i Finger Assembly Basic (Nil) Side tapped mounting (A) Through-hole in opening/ closing direction (B) Flat fingers (C) LECP Body size MHZ-A12 MHZ-A12 MHZ-A2 MHZ-A22 MHZ-A32 MHZ-A2 MHZ-A12-1 MHZ-A12-1 MHZ-A2-1 MHZ-A22-1 MHZ-A32-1 MHZ-A2-1 MHZ-A12-2 MHZ-A12-2 MHZ-A2-2 MHZ-A22-2 MHZ-A32-2 MHZ-A2-2 MHZ-A12-3 MHZ-A12-3 MHZ-A2-3 MHZ-A22-3 MHZ-A32-3 MHZ-A2-3 11

20 Series LEHZ Dimensions LEHZ1(L)K2- Model LEHZ1K2- LEHZ1LK2- L (L1) (9.7) (3.1) Motor cable entry: Entry on the front side Manual override adjustment screw x ø Mounting reference plane +.2 ø2.h9 ( ) depth 2. Mounting reference plane Motor cable length 3 (Motor cable entry: Basic) H9 ( ) depth ø2.h9 ( ) depth L.1 (L1) H9 ( ) depth x M3 x. x x M2. x. Reference position of the gripping point 2 x M x.7 x 2 x ø3.3 through When closed: When opened: 1. 12

21 Electric Gripper/2-Finger Type Series LEHZ Dimensions LEHZ1(L)K2- Model LEHZ1K2- LEHZ1LK2- L (L1) (9.7) (3.1) Motor cable entry: Entry on the front side Manual override adjustment screw LEHZ x ø Mounting reference plane 3 LEHS H9 ( ) depth 2. LEHF +.2 ø2.h9 ( ) depth 2. 2 x M x.7 x +.2 ø2.h9 ( ) depth 2. Mounting reference plane L 3.1 (L1) H9 ( ) depth Motor cable length 3 (Motor cable entry: Basic) LECP 8. 1 x M3 x. Reference position of the gripping point x M x.7 x 2 x ø3.3 through +.3 When closed: 1.. When opened:

22 Series LEHZ Dimensions LEHZ(L)K2-1 Motor cable entry: Entry on the front side Model LEHZK2-1 LEHZLK2-1 L (L1) (1.8) (7.8) Manual override adjustment screw x ø Mounting reference plane ø3h9 ( ) depth 3 Motor cable length 3 (Motor cable entry: Basic) +.2 3H9 ( ) depth ø3h9 ( ) depth L 7.8 (L1) Mounting reference plane +.2 3H9 ( ) depth 3 2 x M x.8 x x M x Reference position of the gripping point When closed: 1. When opened: x M x.8 x 8 2 x ø.2 through 1

23 Electric Gripper/2-Finger Type Series LEHZ Dimensions LEHZ2(L)K2-1 Motor cable entry: Entry on the front side Model LEHZ2K2-1 LEHZ2LK2-1 L (L1) (1.8) (7.8) Manual override adjustment screw 28 L (L1) LEHZ Mounting reference plane 2 LEHS 2 x ø +.3 H9 ( ) depth 3 LEHF +.3 øh9 ( ) depth øh9 ( ) depth 3 Mounting reference plane Motor cable length 3 (Motor cable entry: Basic) +.3 H9 ( ) depth 3 LECP x M x.8 2 x M x 1. x Reference position of the gripping point When closed: 19. When opened: x M x 1. x 1 2 x ø.2 through 1

24 Series LEHZ Dimensions LEHZ32K2-22 Motor cable entry: Entry on the front side Manual override adjustment screw x ø Mounting reference plane øh9 ( ) depth 3 Motor cable length 3 (Motor cable entry: Basic) +.3 H9 ( ) depth øh9 ( ) depth x M x 1. x (3.) Mounting reference plane H9 ( ) depth Reference position of the gripping point x M x When closed: 2. When opened: x M x 1. x 1 2 x ø.2 through 1

25 Electric Gripper/2-Finger Type Series LEHZ Dimensions LEHZK2-3 Motor cable entry: Entry on the front side Manual override adjustment screw x ø 2 LEHF LEHZ Mounting reference plane Motor cable length 3 (Motor cable entry: Basic) LEHS +.3 H9 ( ) depth +.3 øh9 ( ) depth (7.) 1. Mounting reference plane øh9 ( ) depth +.3 H9 ( ) depth LECP x M8 x 1.2 x x M8 x Reference position 28 of the gripping point 1 3 When closed: 3. When opened: x M8 x 1.2 x 1 2 x ø.8 through 17

26 Series LEHZ Finger Options Side Tapped Mounting (A) Through-hole in Opening/Closing Direction (B) x MM through Thread for attachment mounting A B Unit: mm Model A B C MM LEHZ1(L)K2-A LEHZ1(L)K2-A LEHZ(L)K2-1A LEHZ2(L)K2-1A LEHZ32K2-22A LEHZK2-3A M2. x. M3 x. M x.7 M x.8 M x 1 M8 x 1.2 C C B A x øh through Hole for attachment mounting Unit: mm Model A B H LEHZ1(L)K2-B LEHZ1(L)K2-B LEHZ(L)K2-1B LEHZ2(L)K2-1B LEHZ32K2-22B LEHZK2-3B Flat Fingers (C) C W F K D J G x MM thread length L Thread for attachment mounting B A G Model A B C D F J K MM When opened When closed LEHZ1K2-C LEHZ1LK2-C LEHZ1K2-C LEHZ1LK2-C LEHZK2-1C LEHZLK2-1C LEHZ2K2-1C LEHZ2LK2-1C LEHZ32K2-22C LEHZK2-3C H9 2.H9 3H9 H9 H9 H M2. x. M3 x. M x.7 M x.8 M x 1 M8 x 1.2 L W Unit: mm Weight (g)

27 Series LEHF Model Selection Model Selection Selection Procedure Step 1 Confirm gripping force. Confirm gripping point/ Step 2 Step 3 overhang. Confirm external force on fingers. LEHZ Step 1 Confirmation of gripping force Confirmation of conditions Calculation of required gripping force Selection of model from gripping force graph Selection of pushing speed Example Workpiece mass:.1 kg Pushing force: 1% Gripping point distance: 3 mm Pushing speed: mm/sec Calculation of required gripping force F Attachment Guidelines for the selection of the gripper with respect to workpiece mass Although conditions differ according to the workpiece shape and the coefficient of friction between the attachments and the workpiece, select a model that can provide a gripping force of 1 to times Note) the workpiece weight, or more. Note) For further details, refer to the model selection illustration. If high acceleration or impact forces are encountered during motion, a further margin of safety should be considered. Example) When it is desired to set the gripping force at times or more above the workpiece weight. Required gripping force =.1 kg x x 9.8 m/s N or more When gripping a workpiece as in the figure to the left, and with the following definitions, F: Gripping force (N) µ: Coefficient of friction between the attachments and the workpiece m: Workpiece mass (kg) g: Gravitational acceleration (= 9.8 m/s 2 ) mg: Workpiece weight (N) the conditions under which the workpiece will not drop are 2 x µf > mg Number of fingers mg and therefore, F > 2 x µ With a representing the extra margin, F is determined by the following formula: mg F = x a 2 x µ Gripping force at least 1 to times the workpiece weight The 1 to times or more of the workpiece weight recommended by SMC is calculated with a safety margin of a =, which allows for impacts that occur during normal transportation, etc. F = µf µf mg F Finger Workpiece When µ =.2 When µ =.1 mg 2 x.2 x = 1 x mg F = mg 2 x.1 x = x mg 1 x Workpiece weight x Workpiece weight Note) LEHF Gripping force F [N] Pushing force 1% 7% % 3 1 In the case of selecting LEHF A gripping force of 2 N is obtained from the intersection point of gripping point distance L = 3 mm and pushing force of 1%. Gripping force is 2. times greater than the workpiece weight, and therefore satisfies a gripping force setting value of times or more. LEHF Pushing force/trigger level [%] Pushing speed is satisfied at the point where 1% of the pushing force and mm/sec of the pushing speed cross. (Reference) Coefficient of friction µ (depends on the operating environment, contact pressure, etc.) Coefficient of friction µ Attachment Material of work pieces (guideline).1 Metal (surface roughness Rz3.2 or less).2 Metal.2 or more Rubber, Resin, etc. Even in cases where the coefficient of friction is greater than µ =.2, for reasons of safety, select a gripping force which is at least 1 to times greater than the workpiece weight, as recommended by SMC. If high acceleration or impact forces are encountered during motion, a further margin of safety should be considered Pushing force and trigger level range Pushing speed [mm/sec] 19 LEHS LEHF LECP

28 Series LEHF Model Selection Step 1 Confirmation of gripping force: Series LEHF Indication of gripping force Gripping force shown in the below graphs is expressed as F, which is the thrust of one finger, when both fingers and attachments are in full contact with the workpiece as shown in the below figure. Set the workpiece gripping point L so that it is within the range shown in the below figure. External Gripping State Finger Internal Gripping State Finger L F Attachment Workpiece F L: Gripping point F: Gripping force F Attachment F Workpiece L L: Gripping point F: Gripping force LEHF1 Gripping force F [N] Gripping force accuracy: ±3% (F.S.) Pushing force 1% 7% % LEHF Gripping force F [N] Gripping force accuracy: ±% (F.S.) Pushing force 1% 7% % LEHF Gripping force F [N] LEHF Gripping force accuracy: ±2% (F.S.) 3 Pushing force 1% 2 7% 1 1 % 8 1 Gripping force accuracy: ±% (F.S.) 1 Pushing force/trigger level [%] Selection of Pushing Speed Set the [Pushing force] and the [Trigger LV] within the range shown in the below figure. Pushing force and trigger level range Gripping force F [N] Pushing force 1% 7% % Pushing speed [mm/sec] 8 1 Pushing force is one of the values of step data that is input into the controller.

29 L Electric Gripper/2-Finger Type Series LEHF Model Selection Step 2 Confirmation of gripping point and overhang: Series LEHF Decide the gripping position of the workpiece so that the amount of overhang H stays within the range shown in the below figure. If the gripping position is out of the limit, it may shorten the life expectancy of the electric gripper. External Gripping State Internal Gripping State LEHZ H: Overhang L: Gripping point H: Overhang L: Gripping point LEHS L LEHF Gripping position H Gripping position H LEHF1 1 Overhang H [mm] 8 LEHF32 1 7% % Pushing force 1% 8 1 LEHF Overhang H [mm] 1 8 LEHF 1 7%, % Pushing force 1% 8 1 LECP Overhang H [mm] 8 Pushing force 1% 7% % 8 1 Overhang H [mm] 1 8 Pushing force 1% 7% % Pushing force is one of the values of step data that is input into the controller. 21

30 Series LEHF Model Selection Step 3 Confirmation of external force on fingers: Series LEHF L Fv Fv: Allowable vertical load Mp My: Yaw moment My H L Mp: Pitch moment Mr Mr: Roll moment Model H, L: Distance to the point at which the load is applied (mm) Allowable vertical load Static allowable moment Fv (N) Pitch moment: Mp (N m) Yaw moment: My (N m) Roll moment: Mr (N m) LEHF1K LEHFK LEHF32K LEHFK Note) Values for load in the table indicate static values. Calculation of allowable external force (when moment load is applied) Calculation example Allowable load F (N) = M (Static allowable moment) (N m) L x 1 3 ( Constant for unit conversion) When a static load of f = 1 N is operating, which applies pitch moment to point L = 3 mm from the LEHFK2- guide. Therefore, it can be used..8 Allowable load F = 3 x 1 3 = 22.7 (N) Load f = 1 (N) < 22.7 (N) 22

31 Electric Gripper 2-Finger Type Series LEHF LEHF1,, 32, How to Order LEHF 1 K 2 1 R 1 N 1 Body size 1 32 K Lead Basic Nil 1 3 Controller mounting Nil D Note) Screw mounting DIN rail mounting Note) DIN rail is not included. Order it separately. (Refer to page 1.) I/O cable length Without cable 1. m 3 m m LEHZ LEHF Nil L 2-finger type Stroke/both sides (mm) Basic Long stroke Entry on the left side Motor cable Basic (Entry on the right side) Stroke Body size 1 32 Motor cable entry Motor cable Nil 1 3 Controller type Note) Nil N P Actuator cable length Without cable 1. m 3 m m Without controller With controller (NPN) With controller (PNP) Note) Refer to page for the detailed specifications of the controller itself. 8 A B C Note) Produced upon receipt of order Actuator cable type Nil R Without cable Robotic cable (Flexible cable) 8 m Note) 1 m Note) 1 m Note) m Note) LEHS LECP The actuator and controller are sold as a package. (Controller Page ) Confirm that the combination of the controller and the actuator is compatible. <Be sure to check the following before use.> 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. 23

32 Series LEHF Specifications How to Mount Model Stroke/both sides (mm) LEHF1 LEHF LEHF32 LEHF Gripping force (N) Note 1) 3 to 7 11 to 28 8 to 1 72 to 18 Opening and closing speed/ Pushing speed (mm/s) Note 2) to 8/ to to 1/ to 3 Drive method Slide screw + Belt bending Finger guide type Linear guide (No circulation) Repeatability (mm) Note 3) ±. Repeated length determination accuracy (mm) Note ) ±. Finger backlash/both sides (mm) Note ) 1. or less Impact resistance/ Vibration resistance (m/s 2 ) Note ) 1/3 Max. operating frequency (C.P.M) Operating temperature range ( C) to (No condensation and freezing) Operating humidity range (%) 3 to 8 (No condensation and freezing) Weight (g) Basic Long stroke Motor size 28 2 Motor type Step motor (Servo 2 VDC) Encoder Incremental A/B phase (8 pulse/rotation) Rated voltage (V) 2 VDC ±1% Power consumption/standby power consumption when operating (W) Note 7) 11/7 28/1 3/13 3/13 Momentary max. power consumption (W) Note 8) Controller weight (g) 1 (Screw mounting) Note 1) Gripping force should be from 1 to times the weight of the object to be conveyed. Positioning force should be 1% when releasing the workpiece. Gripping force accuracy should be ±3% (F.S.) for LEHF1 ±2% (F.S.) for LEHF ±% (F.S.) for LEHF32/ Note 2) Pushing speed should be set within the range during pushing (gripping) operation. Otherwise, it may cause malfunction. Note 3) 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 ) Repeated length determination accuracy means dispersion (value on the controller monitor) when the workpiece is repeatedly held in the same position. Note ) There will be no influence of backlash during pushing (gripping) operation. Make the stroke longer for the amount of backlash when opening. Note ) 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 to 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 7) Power consumption (including the controller) is for when the actuator is operating. Standby power consumption when operating is for when the actuator is stopped in the set position during operation, including the energy saving mode when gripping. Note 8) Momentary max. power consumption (including the controller) is for when the actuator is operating. This value can be used for the selection of the power supply. Actuator specifications Electric specifications Basic Long stroke a) When using the thread on the body b) When using the thread on the mounting plate c) When using the thread on the back of the body Mounting direction Positioning pin Positioning pin Positioning pin Mounting direction Mounting direction 2

33 Electric Gripper/2-Finger Type Series LEHF Construction Series LEHF!3 o LEHZ!!8!!!1 i y LEHF!!2 w u t r q!7 e LEHS Component Parts No. Description Material Note Body Side plate A Side plate B Slide shaft Slide bushing Slide nut Slide nut Fixed plate Motor plate Pulley A Pulley B Bearing stopper Rubber bushing Bearing Belt Flange Finger assembly Step motor (Servo/2 VDC) Aluminum alloy Aluminum alloy Aluminum alloy Stainless steel Stainless steel Stainless steel Stainless steel Stainless steel Carbon steel Aluminum alloy Aluminum alloy Aluminum alloy NBR Anodized Anodized Anodized Heat treatment + Special treatment Heat treatment + Special treatment Heat treatment + Special treatment LECP 2

34 Series LEHF Dimensions LEHF1K2-1/Basic x M x.7 x H9 ( ) depth 3 29 (Motor cable entry: Basic) 2 23 (Motor cable entry: Entry on the left side) (37) 2 x ø ø3h9 ( ) depth 3 Mounting reference plane H9 ( ) depth (38.2) ø3h9 ( ) depth 3 Manual override adjustment screw (both sides) 17 2 x M x.8 x 1 2 x ø.2 through +.1 When closed: When opened: 1 ±1 x M2. x. x x ø2h9 ( ) depth ±. 2

35 Electric Gripper/2-Finger Type Series LEHF Dimensions LEHF1K2-32/Long Stroke x M x.7 x H9 ( ) depth 3 28 (Motor cable entry: Basic) 2 23 (Motor cable entry: Entry on the left side) 2 x ø 17 LEHZ +.2 ø3h9 ( ) depth 3 LEHF Mounting reference plane 27 2 x M x.8 x 1 2 x ø.2 through 8 x M2. x. x (37.) (37) ø3h9 ( ) depth When closed: When opened: 32 ±1 1.7 Manual override adjustment screw (both sides) H9 ( ) depth 3 LEHS LECP x ø2h9 ( ) depth ±. 27

36 Series LEHF Dimensions LEHFK2-2/Basic x M x.8 x H9 ( ) depth 3 27 (Motor cable entry: Basic) 3 23 (Motor cable entry: Entry on the left side) 2 x ø øh9 ( ) depth 3 Mounting reference plane 3 2 x M x 1 x 12 2 x ø.2 through () (3.8) øh9 ( ) depth H9 ( ) depth When closed: When opened: 2 ±1 Manual override adjustment screw (both sides) 8 x M3 x. x x ø2.h9 ( ) depth ±. 28

37 Electric Gripper/2-Finger Type Series LEHF Dimensions LEHFK2-8/Long Stroke x M x.8 x H9 ( ) depth 3 LEHZ 2 (Motor cable entry: Basic) 3 23 (Motor cable entry: Entry on the left side) 2 x ø øh9 ( ) depth 3 LEHF Mounting reference plane 3 2 x M x 1 x 12 2 x ø.2 through () H9 ( ) depth 3 (3.8) LEHS +.1 When closed: When opened: 8 ±1 +.3 øh9 ( ) depth 3 Manual override adjustment screw (both sides) 8 x M3 x. x LECP x ø2.h9 ( ) depth ±. 29

38 Series LEHF Dimensions LEHF32K2-32/Basic x M x 1 x H9 ( ) depth 2 (Motor cable entry: Basic) 2 (Motor cable entry: Entry on the left side) 7 2 x ø øh9 ( ) depth Mounting reference plane 1 2 x M8 x 1.2 x 1 2 x ø. through (9) 2. (9.) øh9 ( ) depth H9 ( ) depth +.1 When closed: When opened: 32 ±1 Manual override adjustment screw (both sides) 27 8 x M x.7 x x ø3h9 ( ) depth ±. 3

39 Electric Gripper/2-Finger Type Series LEHF Dimensions LEHF32K2-/Long Stroke x M x 1 x H9 ( ) depth LEHZ 19 (Motor cable entry: Basic) 7 2 (Motor cable entry: Entry on the left side) 2 x ø øh9 ( ) depth LEHF Mounting reference plane 1 2 x M8 x 1.2 x 1 2 x ø. through (9) LEHS +.3 H9 ( ) depth 2. (72.) øh9 ( ) depth When closed: When opened: ±1 Manual override adjustment screw (both sides) 27 8 x M x.7 x LECP x ø3h9 ( ) depth ±. 31

40 Series LEHF Dimensions LEHFK2-/Basic x M x 1 x H9 ( ) depth 2 (Motor cable entry: Basic) 8 21 (Motor cable entry: Entry on the left side) 2 x ø øh9 ( ) depth Mounting reference plane 1 2 x M8 x 1.2 x 1 2 x ø. through (9) () øh9 ( ) depth H9 ( ) depth +.1 When closed: When opened: ±1 Manual override adjustment screw (both sides) 32 8 x M x.7 x x ø3h9 ( ) depth ±. 32

41 Electric Gripper/2-Finger Type Series LEHF Dimensions LEHFK2-8/Long Stroke x M x 1 x H9 ( ) depth LEHZ 18 (Motor cable entry: Basic) 8 21 (Motor cable entry: Entry on the left side) 1 2 x ø (9) (9) øh9 ( ) depth LEHF Mounting reference plane 2 x M8 x 1.2 x 1 2 x ø. through LEHS +.3 H9 ( ) depth 8 x M x.7 x +.1 When closed: When opened: 8 ± øh9 ( ) depth Manual override adjustment screw (both sides) LECP x ø3h9 ( ) depth ±. 33

42 Series LEHS Model Selection Model Selection Selection Procedure Step Confirmation of gripping force Confirmation of conditions Calculation of required gripping force Selection of model from gripping force graph Selection of pushing speed Example Workpiece mass:.1 kg Pushing force: 7% Gripping point distance: 3 mm Guidelines for the selection of the gripper with respect to workpiece mass Although conditions differ according to the work piece shape and the coefficient of friction between the attachments and the workpiece, select a model that can provide a gripping force of 7 to 13 times Note) the workpiece weight, or more. Note) For further details, refer to the calculation of required gripping force. If high acceleration or impact forces are encountered during motion, a further margin of safety should be considered. Example) When it is desired to set the gripping force at 13 times or more above the workpiece weight. Required gripping force =.1 kg x 13 x 9.8 m/s N or more LEHS Gripping force F [N] Pushing force 1% 7% % 3 1 In the case of selecting LEHS A gripping force of 1 N is obtained from the intersection point of gripping point distance L = 3 mm and pushing force of 7%. Gripping force is 1 times greater than the workpiece weight, and therefore satisfies a gripping force setting value of 13 times or more. 8 Pushing speed: 3 mm/sec Calculation of required gripping force 3 F Attachment When gripping a workpiece as in the figure to the left, and with the following definitions, F: Gripping force (N) µ: Coefficient of friction between the attachments and the workpiece m: Workpiece mass (kg) g: Gravitational acceleration (= 9.8 m/s 2 ) mg: Workpiece weight (N) the conditions under which the workpiece will not drop are 3 x µf > mg Number of fingers mg and therefore, F > 3 x µ With a representing the extra margin, F is determined by the following formula: mg F = x a 3 x µ Gripping force at least 7 to 13 times the workpiece weight The 7 to 13 times or more of the workpiece weight recommended by SMC is calculated with a safety margin of a =, which allows for impacts that occur during normal transportation, etc. F = µf µf mg Finger F Workpiece When µ =.2 When µ =.1 mg 3 x.2 x =.7 x mg F = mg 3 x.1 x = 13.3 x mg 7 x Workpiece weight 13 x Workpiece weight Note) LEHS Pushing force/trigger level [%] 11 Pushing force and trigger level range Pushing speed [mm/sec] Pushing speed is satisfied at the point where 7% of the pushing force and 3 mm/sec of the pushing speed cross. (Reference) Coefficient of friction µ (depends on the operating environment, contact pressure, etc.) Coefficient of friction µ Attachment Material of work pieces (guideline).1 Metal (surface roughness Rz3.2 or less).2 Metal.2 or more Rubber, Resin, etc. Even in cases where the coefficient of friction is greater than µ =.2, for reasons of safety, select a gripping 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 during motion, a further margin of safety should be considered.

43 Electric Gripper/3-Finger Type Series LEHS Model Selection Step Confirmation of gripping force: Series LEHS Indication of gripping force The gripping force shown in the graphs on page 3 is expressed as F, which is the thrust of one finger, when three fingers and attachments are in full contact with the workpiece as shown in the below figure. Set the workpiece gripping point L so that it is within the range shown in the below figure. LEHZ External Gripping State Internal Gripping State Attachment Finger Attachment Finger LEHS L L LEHF F Workpiece L: Gripping point Workpiece F L: Gripping point F F F: Gripping force F F F: Gripping force LECP 3

44 Series LEHS Model Selection Step Confirmation of gripping force: Series LEHS Basic Pushing force is one of the values of step data that is input into the controller. Compact Pushing force is one of the values of step data that is input into the controller. LEHS1 8 Gripping force accuracy: ±3% (F.S.) LEHS1L Gripping force accuracy: ±3% (F.S.) Gripping force F [N] 2 Pushing force 1% 7% % Gripping force F [N] Pushing force 1% 7% % LEHS Gripping force F [N] Gripping force accuracy: ±2% (F.S.) Pushing force 1% 7% % LEHSL Gripping force F [N] 1 1 Gripping force accuracy: ±2% (F.S.) Pushing force 1% 7% % LEHS32 Gripping force F [N] LEHS Gripping force F [N] Gripping force accuracy: ±% (F.S.) Pushing force 1% 8 7% % Gripping force accuracy: ±% (F.S.) Pushing force 1% 1 7% 8 % Pushing force/trigger level [%] Pushing force/trigger level [%] 8 1 Selection of Pushing Speed Set the [Pushing force] and the [Trigger LV] within the range shown in the below figure. Basic 11 1 Pushing force and trigger level range Pushing speed [mm/sec] Compact 11 1 Pushing force and trigger level range Pushing speed [mm/sec]

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