Electric Grippers. New. New RoHS. Series LEH. Offering 2 types of controller. 2-finger type with dust cover is added to electric grippers!

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1 Electric Grippers New RoHS 2-finger type with dust cover is added to electric grippers! Sealed-construction dust cover (Equivalent to IP) Prevents machining chips, dust, etc., from getting inside Prevents spattering of grease, etc. New 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. (4 points) Z Type (2 fingers) Compact and light, various gripping forces Series EHZ Size Stroke/ both sides [mm] Gripping force [lbf] Basic Compact.4 to to to to to to 47.2 Series EHF Stroke/ Size both sides [mm] 1 1 (32) 24 (48) (4) 4 4 (8) ( ): ong stroke 2.47 to.29 F Type (2 fingers) ong stroke, can hold various types of work pieces. Gripping force [lbf].7 to to to to 4. New ZJ Type (2 fingers) With dust cover (Equivalent to IP) Three types of cover material (Finger portion only) Series EHZJ Stroke/ Gripping force [lbf] Size both sides [mm] Basic Compact to to to to to S Type (3 fingers) Can hold round work pieces. Series EHS Stroke/ Size diameter [mm] Gripping force [lbf] Basic Compact.49 to to to to to to 29.2 Offering 2 types of controller Series EH Step Data Input Type Series ECP 4 positioning points Teaching box, controller setting kit input New Programless Type Series ECP1 14 positioning points Control panel setting CAT.NAS1-77D

2 Electric Gripper 2-Finger Type Series EHZ / Size: 1, 1,, 2, 32, 4 Series EHZJ / Size: 1, 1,, 2 Series EHF / Size: 1,, 32, 4 Compact and lightweight Various gripping forces Weight: 1 g (EHZ1) Compact Weight: 13 g (EHZ1) Sealed-construction dust cover (Equivalent to IP) Prevents machining chips, dust, etc., from getting inside Prevents spattering of grease, etc. Three types of cover material (Finger portion only) Chloroprene rubber (black): Standard Fluorine rubber (black): Option Silicone rubber (white): Option Encoder dust cover Silicone rubber 3 mm 14 mm 3 mm 87 mm Cover designed with no protrusions Inward-folding design creates no protrusions when the cover is opened and closed, preventing interference with other devices operations. Finger options Series EHZ Manual override adjustment screw For opening and closing the fingers (when power supply is turned off) Series EHZJ Manual override adjustment screw For opening and closing the fingers (when power supply is turned off) Encoder dust cover Side tapped mounting Through-hole in opening/ closing direction Slide screw Friction resistance reduced by special treatment Slide screw Friction resistance reduced by special treatment Dust cover Flat fingers Mounting Variations Series EHZ/EHZJ inear guide inear guide misalignment prevention Misalignment of the linear guide is prevented with 2 positioning pins. Series EHF inear guide misalignment prevention 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 inear guide Positioning pin Positioning pin Positioning pin Mounting direction Mounting direction Mounting direction Mounting direction Mounting direction Positioning pin Positioning pin Features 1

3 ong stroke, can hold various types of work pieces. Stroke: Max. 4 mm ong stroke Stroke: Max. 8 mm Electric Gripper 3-Finger Type Series EHS / Size: 1,, 32, 4 Applicable to round work pieces Weight: 18 g (EHS1) Compact Weight: 1 g (EHS1) 92.1 mm 7. mm 29. mm 29. mm Series EHF Manual override adjustment screw/both sides Slide screw For opening and closing the fingers Friction resistance (when power supply is turned off) reduced by special treatment Series EHS Manual override adjustment screw For opening and closing the fingers (when power supply is turned off) Slide screw Friction resistance reduced by special treatment inear guide inear guide misalignment prevention Misalignment of the linear guide is prevented with 2 positioning pins. Wedge cam structure is employed Compact and large gripping force can be obtained due to the wedge cam structure. Motor cable mounting direction can be selected. Series EHZ/EHZJ Entry on the left side Series EHS Entry on the left side Entry on the right side Series EHS A When using the thread on the mounting plate B When using the thread on the back of the body Motor cable Connector cover Entry on the front side Entry on the front side Mounting direction Positioning pin Positioning pin Mounting direction Series EHF Entry on the left side Entry on the right side Motor cable Features 2

4 Series EH 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 Supplied by customer PC Power supply for I/O signal 24 VDC I/O cable Pages 1, 9 Controller type ECP ECP1 (Programless) Part No. EC-CN- EC-CK4- Controller Supplied by customer Controller power supply 24 VDC Step data input type Programless type ECP ECP1 Page Page Controller setting kit (Option) Page 2 Controller setting kit (Communication cable, conversion unit and USB cable are included.) Part No.: EC-W1 Communication cable (3 m) Power supply connection Controller type ECP (Step data input type) ECP1 (Programless type) Actuator cable Pages 1, 7 Controller type ECP (Step data input type) ECP1 (Programless type) Pages 8, 8 Connection Power supply plug (accessory) Power supply cable (1.m) (accessory) Standard cable E-CP--S E-CP--S Robotic cable E-CP- E-CP- Conversion unit USB cable (A-mini B type) Electric gripper Motor cable (Fixed) PC Teaching box (Option) Page 3 Or Series EHZ Series EHZJ Series EHF Series EHS Page 7 Page 21 Page 31 Page 43 Part No.: EC-T1-3JG with 3 m cable Features 4

6 Offering 2 Types of Controller Step Data Input Type Series ECP Simple Setting to Use Straight Away Simple Setting Easy Mode If you want to use it right away, select Easy Mode. <When a PC is used> Controller setting software Step data setting, test operation, move jog and move for the constant rate can be set and operated on one screen. Setting of jog and speed of the constant rate Step Motor (Servo/24 VDC) ECP Move jog Start testing Step data setting Move for the constant rate <When a TB (teaching box) is used> The simple screen without scrolling promotes ease of setting and operating. Pick up an icon from the first screen and select a function. Set up the step data and check the monitor on the second screen. Teaching box screen Data can be set with position and speed. (Other conditions are already set.) Example of setting the step data 1st screen 2nd screen Data Axis 1 Step No. Position mm Speed 1 mm/s It can be registered by SET after entering the values. Data Axis 1 Step No. Position. mm Speed mm/s Example of checking the monitor 1st screen 2nd screen Monitor Axis 1 Step No. 1 Position mm Speed 1 mm/s Operation status can be checked. Data Axis 1 Step No. 1 Position 8. mm Speed 1 mm/s Programless Type Series ECP1 No programming Capable of setting up an electric actuator operation without using a PC or teaching box 1 Setting position number 2 Setting a stop position 3 Registration Setting a registered number for the stop position Maximum 14 points Moving the actuator to a stop position using FORWARD and REVERSE buttons Step Motor (Servo/24 VDC) ECP1 Registering the stop position using SET button Speed/acceleration 1-level adjustment Position number display Position selecting switch FOWARD and REVERSE buttons SET button Speed adjustment switches Acceleration adjustment switches Features

7 Detail Setting Normal Mode Select normal mode when detail 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 compulsory 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> Multiple step data can be stored in the teaching box, and transferred to the controller. Continuous test operation by up to step data. Teaching box screen Each function (step data setting, test, monitor, etc.) can be selected from the main menu. Menu Axis 1 Step data Parameter Menu Axis 1 Test Step No. Menu Axis 1 Main menu screen Operation type Step No. 1 Step data setup screen Position mm Stop Output monitor Axis 1 Test screen BUSY[ ] SVRE[ ] SETON[ ] Monitoring screen 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 that actuator label for model number. This matches the controller. w Check Parallel I/O configuration matches (NPN or PNP). Actuator Controller q q w Features

8 Series ECP/ECP1 Item Step data and parameter setting Step data position setting Number of step data Operation command (I/O signal) Completion signal Function Input the numerical value from controller setting software (PC) Input the numerical value from teaching box Input the numerical value from controller setting software (PC) Input the numerical value from teaching box Direct teaching JOG teaching 4 points Step No. [IN ] input [DRIVE] input [INP] output Step data input type ECP Setting Items Programless type ECP1 Select using controller operation buttons Direct teaching JOG teaching 14 points Step No. [IN ] input only [OUT ] output TB: Teaching box PC: Controller setting software Item Movement MOD Speed Contents Selection of absolute position and relative position Transfer speed Step data input type ECP Set at ABS/INC. Set in units of 1 mm/s. Easy mode TB PC Normal mode TB, PC Programless type ECP1 Fixed value (ABS) Select from 1-level Step data setting (Excerpt) Position Acceleration/Deceleration Pushing force Trigger V Pushing speed Positioning force Area output [Position]: Target position [Pushing]: Pushing start position Acceleration/deceleration during movement Rate of force during pushing operation Target force during pushing operation Speed during pushing operation Force during positioning operation Conditions for area output signal to turn ON Set in units of.1 mm. Set in units of 1 mm/s 2. Set in units of 1%. Set in units of 1%. Set in units of 1 mm/s. Set to 1%. Set in units of.1 mm. Direct teaching JOG teaching Select from 1-level Select from 3-level (weak, medium, strong) No setting required (same value as pushing force) Fixed value Fixed value Parameter setting (Excerpt) Test In position Stroke (+) Stroke ( ) ORIG direction ORIG speed ORIG ACC JOG MOVE Return to ORIG Test drive Compulsory output [Position]: Width to the target position Set to. mm or more. [Pushing]: How much it moves during pushing (Units:.1 mm) + side limit of position Set in units of.1 mm. side limit of position Set in units of.1 mm. Direction of the return to the original position can be set. Compatible Speed when returning to the original position Set in units of 1 mm/s. Acceleration when returning to the original position Set in units of 1 mm/s 2. Continuous operation at the set speed can be tested while the switch is being pressed. Operation at the set distance and speed from the current position can be tested. Compatible Operation of the specified step data ON/OFF of the output terminal can be tested. Compatible Compatible Fixed value Fixed value Fixed value Compatible Fixed value Fixed value Hold down MANUA button ( ) for uniform sending (speed is specified value) Press MANUA button ( ) once forsizing operation (speed, sizing amount are specified values) Compatible (Continuous Compatible operation) Monitor DRV mon In/Out mon Current position, speed, force and the specified step data can be monitored. Current ON/OFF status of the input and output terminal can be monitored. Compatible Compatible AM Active AM AM og record Alarm currently being generated can be confirmed. Alarm generated in the past can be confirmed. Compatible Compatible Compatible (display alarm group) File Save/oad Step data and parameter can be saved, forwarded and deleted. Compatible Other anguage Can be changed to Japanese or English. Compatible Features 7

9 SMC Electric Actuators Rod Type Servo Motor (24 VDC) AC Servo Motor (1/ W) CAT.NAS1-83 Basic Type Series EY Size Stroke 3 to 3 3 to 4 3 to In-line Motor Type Series EYD Size Stroke 3 to 3 3 to 4 3 to Guide Rod Type Series EYG Size Stroke 3 to 3 to 3 3 to 3 In-line Motor Type /Guide Rod Type Series EYGD Size Stroke 3 to 3 to 3 3 to 3 Basic Type Series EY Size 2 32 Stroke 3 to 4 3 to In-line Motor Type Series EYD Size 2 32 Stroke 3 to 4 3 to Slider Type Servo Motor (24 VDC) AC Servo Motor (1//4 W) CAT.NAS1-87 Ball Screw Drive Series EFS Size Stroke Size Stroke to 4 1 to 1 to 8 to 1 Belt Drive Series EFB to 1 3 to 3 to Ball Screw Drive Series EFS Size Stroke to 1 to 8 to 1 Rotary Table Slide Table Servo Motor (24 VDC) Basic Type Series ER High Precision Type Series ERH Basic Type (R Type) Series ESHR Symmetrical Type ( Type) Series ESH In-line Motor Type (D Type) Series ESHD CAT.NAS1-94 Size 1 3 Rotation angle ( ) 31, 18, 9 3, 18, 9 Size 1 3 Rotation angle ( ) 31, 18, 9 3, 18, 9 CAT.NAS1-78 Size Stroke, 7, 1, 1, 1 Size Stroke, 7, 1, 1, 1 Size Stroke, 7, 1, 1, 1 Gripper Z Type (2 Fingers) Series EHZ With Dust Cover Series EHZJ F Type (2 Fingers) Series EHF S Type (3 Fingers) Series EHS CAT.NAS1-77 Size Opening/closing stroke Size Opening/closing stroke Size Opening/closing stroke 1 (32) 24 (48) 32 (4) 4 (8) Size Opening/closing stroke Controller Step Data Input Type For Step Motor Series ECP Step Data Input Type For Servo Motor Series ECA Programless Type Series ECP1 AC Servo Motor Controller Incremental Type Series ECSA AC Servo Motor Controller Absolute Type Series ECSB Control motor Control motor Control motor Control motor Control motor Step motor (Servo/24 VDC) Servo motor (24 VDC) Step motor (Servo/24 VDC) AC servo motor (1/ VAC) AC servo motor (1/ VAC) Features 8

10 Series Variations Electric Gripper 2-Finger Type Series EHZ/EHZJ/EHF Series Size Opening/closing stroke both sides (mm) Gripping force [N] Basic Compact Opening/closing speed (mm/s) Controller series Page EHZ EHZJ With Dust Cover EHF EHZ EHZJ EHF (32) Note) 24 (48) Note) 32 (4) Note) 4 (8) Note) 2 to to 14 3 to 8 1 to 4 11 to 28 2 to to 21 3 to to 14 4 to 8 1 to 4 11 to 28 3 to 7 11 to to 1 72 to 18 to 8 to 1 to 1 to 8 to 1 to 8 to 1 Series ECP Series ECP1 Page 1 Page 1 Page 27 Note) ( ): ong stroke Electric Gripper 3-Finger Type Series EHS Series Size Opening/closing stroke both sides (mm) Gripping force [N] Basic Compact Opening/closing speed (mm/s) Controller series Page EHS to. 9 to 22 3 to 9 2 to to 3. 7 to 17 to 7 to 8 to 1 to 1 Series ECP Series ECP1 Page 4 Controller EC Type Series Compatible motor Power supply voltage Parallel input/output Input Output Number of positioning pattern points Page ECP Teaching Box Step data input type ECP Step motor (Servo/24 VDC) 24 VDC ±1% 11 inputs (Photo-coupler isolation) 13 outputs (Photo-coupler isolation) 4 Page Programless type ECP1 Step motor (Servo/24 VDC) 24 VDC ±1% inputs (Photo-coupler isolation) outputs (Photo-coupler isolation) 14 Page ECP1 Front matter 1

11 Model Selection Type Electric Gripper 2-Finger Type Series EHZ Model Selection Page 1 How to Order Page 7 Specifications Page 9 Construction Page 1 Dimensions Page 11 Finger Option Page 14 Electric Gripper 2-Finger Type/With Dust Cover Series EHZJ Model Selection Page 1 How to Order Page 21 Specifications Page 23 Construction Page 24 Dimensions Page 2 Electric Gripper 2-Finger Type Series EHF Model Selection Page 27 How to Order Page 31 Specifications Page 33 Construction Page 34 Dimensions Page 3 Electric Gripper 3-Finger Type Series EHS Model Selection Page 4 How to Order Page 43 Specifications Page 4 Construction Page 4 Dimensions Page 47 Specific Product Precautions Page 49 Controller Step Data Input Type/Series ECP Page Controller Setting Kit/EC-W1 Page 2 Teaching Box/EC-T1 Page 3 Programless Controller/Series ECP1 Page Specific Product Precautions Front matter 2

12 Selection Procedure Electric Gripper 2-Finger Type Series EHZ Model Selection Step 1 Confirm the gripping force. Confirm the gripping Step 2 Step 3 point/overhang. Confirm the external force on fingers. Step 1 Confirmation of gripping force Confirmation of conditions Calculation of necessary gripping force Selection of model from gripping force graph Selection of pushing speed Example Workpiece mass:.22 lbs (.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 necessary 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. Necessary gripping force =.22 lbs (.1 kg) x x 9.8 m/s lbf (19. 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 EHZ Gripping force F [lbf] Pushing force 1% 7% 4% In the case of selecting EHZ 1 14 A gripping force of.7 lbf (27 N) is obtained from the intersection point of gripping point distance = 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. 1 Pushing speed: 3 mm/sec Calculation of necessary gripping force 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 Finger will not drop are 2 x µf > mg Attachment Number of fingers mg and therefore, F > 2 x µ F F With a representing the extra margin, Workpiece F is determined by the following formula: µf µf mg F = x a mg 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 = 4, which allows for impacts that occur during normal transportation, etc. F = When µ =.2 When µ =.1 mg mg x 4 = 1 x mg F = x 4 = x mg 2 x.2 2 x.1 1 x Workpiece weight x Workpiece weight EHZ 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. Note) Confirm the pushing speed range from the determined pushing force [%]. Pushing force/trigger level [%] <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.

13 Selection Procedure Step 1 Confirmation of gripping force: Series EHZ Indication of gripping force The gripping force shown in the graphs below 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 figure below. External Gripping State Model Selection Series EHZ Set the workpiece gripping point so that it is within the range shown in the figure below. Internal Gripping State Model Selection Attachment Finger Attachment Finger : Gripping F F point F F Workpiece F: Gripping Workpiece force : 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. EHZ1 4. Gripping force accuracy: ±3% (F.S.) EHZ1 1.8 Gripping force accuracy: ±3% (F.S.) Gripping force F [lbf] Pushing force 1% 7% 4% Gripping force F [lbf] Pushing force 1% 7% 4% EHZ1 4 8 Gripping force accuracy: ±3% (F.S.) Gripping force accuracy: ±3% (F.S.) 2.2 EHZ1 Gripping force F [lbf] 3. Pushing force 1% %.9 4% Gripping force F [lbf] Pushing force 1%.9 7%.4 4% Specific Product Precautions 2

14 Series EHZ Selection Procedure Step 1 Basic EHZ Gripping force F [lbf] EHZ2 Gripping force F [lbf] 11.2 Compact EHZ Confirmation of gripping force: Series EHZ 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% 4% Gripping force accuracy: ±2% (F.S.) Pushing force 1% 7% 4% Gripping force F [lbf] EHZ2 Gripping force F [lbf] 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% 4% Gripping force accuracy: ±2% (F.S.) Pushing force 1% 7% 4% EHZ32 Gripping force F [lbf] EHZ4 Gripping force F [lbf] Gripping force accuracy: ±% (F.S.) Pushing force 1% % 4% Gripping force accuracy: ±% (F.S.) Pushing force 1% 7% 22. 4% Pushing force/trigger level [%] Set the [Pushing force] and the [Trigger V] within the range shown in the figure below. 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] Pushing force/trigger level [%] Selection of Pushing Speed

15 Model Selection Series EHZ Step 2 Confirmation of gripping point and overhang: Series EHZ 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 expectancy of the electric gripper. External Gripping State Internal Gripping State H Model Selection H Gripping position H : Overhang : Gripping point Gripping position H : Overhang : 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. EHZ1 Overhang H [mm] % Pushing force 7% 4% EHZ1 Overhang H [mm] %, 4% Pushing force 1% EHZ1 Overhang H [mm] %, 4% Pushing force 1% EHZ1 Overhang H [mm] Pushing force 1%, 7%, 4% EHZ Overhang H [mm] Pushing force 1% 7% 4% EHZ Overhang H [mm] % 4% Pushing force 1% Specific Product Precautions

16 Series EHZ Selection Procedure Step 2 Confirmation of gripping point and overhang: Series EHZ 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. EHZ2 EHZ2 2 2 Overhang H [mm] 1 1 4% Pushing force 1% 7% Overhang H [mm] 1 1 7%, 4% Pushing force 1% EHZ32 2 Overhang H [mm] 1 1 7% 4% Pushing force 1% EHZ Overhang H [mm] 1 1 4% 7% Pushing force 1% 1 1 2

17 Step 3 Confirmation of external force on fingers: Series EHZ Model Selection Series EHZ Model Selection Mp My: Yaw moment Mr Fv My Fv: Allowable vertical load Mp: Pitch moment Mr: Roll moment H H, : Distance to the point at which the load is applied (mm) Model Allowable vertical load Static allowable moment Fv lbf [N] Pitch moment: Mp lbf ft [N m] Yaw moment: My lbf ft [N m] Roll moment: Mr lbf ft [N m] EHZ1()K2-4 EHZ1()K2- EHZ()K2-1 EHZ2()K2-14 EHZ32()K2-22 EHZ4()K [8] [98] [147] [2] [343] [49] [.2] [.8] [1.32] [1.94] [3] [4.] [.2] [.8] [1.32] [1.94] [3] [4.] [.3] [1.3] [2.] [3.88] [] [9] Note) Values for load in the table indicate static values. Calculation of allowable external force (when moment load is applied) M (Static allowable moment) N m (lbf ft) Allowable load F lbf (N) = x 1 3 ( Constant for unit conversion) Calculation example When a static load of f = 2.2 lbs (1 N) is operating, which applies pitch moment to point = 3 mm from the EHZ1K2- guide. Therefore, it can be used.. lbf (.8 N) Allowable load F = 3 x 1 3 = 1.7 lbf (22.7 N) oad f = 2.2 lbf (1N) < 1.7 lbf (22.7 N) Specific Product Precautions

18 EHZ Electric Gripper 2-Finger Type Series EHZ EHZ1, 1,, 2, 32, 4 1 K 2 How to Order 4 S 1 N q w e r t y u i o!!1!2 1 RoHS q Size y Finger option Nil A B C Basic (Tapped in the direction of opening/closing) Side tapped mounting Through-hole in opening/closing direction Flat fingers Finger options Nil: Basic (Tapped in the direction of opening/closing) w Motor size Nil Note) Note) Size: 1, 1,, 2 only e ead K r 2-finger type t Stroke [mm] Stroke/both sides Basic Compact Basic Size u Motor cable entry Basic (Entry on the left side) Nil F Motor cable Connector cover Entry on the front side Mounting reference plane Mounting reference plane Mounting reference plane Mounting reference plane Motor cable Connector cover A: Side tapped mounting B: Through-hole in opening/ closing direction C: Flat fingers Caution Note) CE-compliant products EMC compliance was tested by combining the electric actuator EH series and the controller EC series. 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 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. The actuator and controller are sold as a package. (Controller Pages and ) Confirm that the combination of the controller and the actuator is correct. <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 the operation manual for using the products. Please download it via our website. 7 q w

19 Electric Gripper 2-Finger Type Series EHZ Model Selection i Actuator cable type Nil Without cable S Standard cable R Robotic cable (Flexible cable) The standard cable should be used on fixed parts. For using on moving parts, select the robotic cable. o Actuator cable length [m] Nil Without cable A 1 B 1 C Produced upon receipt of order (Robotic cable only) Refer to the specifications Note 3) on page 9.! Controller type Nil N P 1N 1P Without controller ECP (Step data input type) ECP1 (Programless type)!1 I/O cable length [m] Nil Without cable NPN PNP NPN PNP For details of controllers and compatible motors, refer to the compatible controllers below. If Without controller is selected for controller types, I/O cable is not included. Refer to page 1 (ECP) or page 71 (ECP1) if I/O cable is required.!2 Controller mounting Nil Screw mounting D DIN rail mounting Only available for the controller types N and P. DIN rail is not included. Order it separately. (Refer to page.) Compatible controllers Step data input type Programless type Type Series Feature(s) ECP Value input Standard controller ECP1 Capable of setting up operation without using a PC or teaching box Compatible motor Maximum number of step data Power supply voltage Reference page 4 points Step motor (Servo/24 VDC) 24 VDC 14 points Page Page 8 Specific Product Precautions

20 Series EHZ Specifications How to Mount Actuator specifications Electric specifications Model EHZ1 EHZ1 EHZ EHZ2 EHZ32 EHZ4 Stroke/both sides [mm] Gripping force Basic 1.3 to to to to 47.2 [lbf] Note 1) Note 3) Compact.4 to to to.29 Opening and closing speed/ Pushing speed [mm/s] Note 2) Note 3) to 8/ to to 1/ to to 1/ to Drive method Finger guide type Repeatability [mm] Note 4) Repeated length determination accuracy [mm] Note ) Slide screw + Slide cam inear guide (No circulation) ±.2 ±. Finger backlash/ both sides [mm] Note ). or less 1. or less Impact/Vibration resistance [m/s 2 ] Note 7) 1/3 Max. operating frequency [C.P.M] Operating temperature range Operating humidity range [%RH] 41 to 14 F ( to 4 C) 9 or less (No condensation) Weight [lb] Basic Compact Motor size Motor type Step motor (Servo 24 VDC) Encoder Rated voltage [V] Incremental A/B phase (8 pulse/rotation) 24 VDC ±1% Power consumption/ Standby power consumption when operating [W] Note 8) Momentary max. power consumption [W] Note 9) Basic Compact Basic Compact 11/7 8/ /1 22/ /13 7 3/13 1 Controller weight.33 lbs (1 g) (Screw mounting) Note 1) Gripping force should be from 1 to times the workpiece weight. Positioning force should be 1% when releasing the workpiece. Gripping force accuracy should be ±3% (F.S.) for EHZ1/1 ±2% (F.S.) for EHZ/2 ±% (F.S.) for EHZ32/4 Note 2) Pushing speed should be set within the range during pushing (gripping) operation. Otherwise, it may cause malfunction. Note 3) The speed and force may change depending on the cable length, load and mounting conditions. Furthermore, if the cable length exceeds m then it will decrease by up to 1% for each m. (At 1 m: Reduced by up to %) 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 ) 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 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 4 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 8) 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 9) 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 9 Positioning pin Positioning pin

21 Construction Series EHZ Electric Gripper/2-Finger Type Series EHZ Model Selection e! w t q u i r y o Component Parts No. Description Material Note Body Motor plate Guide ring Slide nut Slide bolt Needle roller Needle roller Finger assembly ever Step motor (Servo/24 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) Size MHZ-A12 MHZ-A12 MHZ-A2 MHZ-A22 MHZ-A32 MHZ-A42 MHZ-A12-1 MHZ-A12-1 MHZ-A2-1 MHZ-A22-1 MHZ-A32-1 MHZ-A42-1 MHZ-A12-2 MHZ-A12-2 MHZ-A2-2 MHZ-A22-2 MHZ-A32-2 MHZ-A42-2 MHZ-A12-3 MHZ-A12-3 MHZ-A2-3 MHZ-A22-3 MHZ-A32-3 MHZ-A42-3 Specific Product Precautions 1

22 3 Series EHZ Dimensions EHZ1()K2-4 Model EHZ1K2-4 EHZ1K [mm] (1) (9.7) (43.1) Manual override adjustment screw Motor cable entry: Entry on the front side x ø Mounting reference plane +.2 ø2.h9 ( ) depth 2. Mounting reference plane Motor cable length 3 (Motor cable entry: Basic) H9 ( ) depth EHZ1()K ø2.h9 ( ) depth 2. 2 x M3 x. x 4 x M2. x (1) Reference position of the gripping point H9 ( ) depth x M4 x.7 x 2 x ø3.3 through +.2 When closed: 11. (Finger operating When opened: range: 11 to 1) Note) Note) Range within which the finger can move when it returns to origin. Make sure a workpiece mounted on the finger does not interfere with the work pieces and facilities around the finger. Model EHZ1K2- EHZ1K [mm] (1) (9.7) (43.1) Manual override adjustment screw Motor cable entry: Entry on the front side x ø Mounting reference plane +.2 ø2.h9 ( ) depth 2. Mounting reference plane 3 Motor cable length 3 (Motor cable entry: Basic) H9 ( ) depth ø2.h9 ( ) depth x M4 x.7 x 4 x M3 x. 3.1 (1) Reference position of the gripping point H9 ( ) depth x M4 x.7 x 2 x ø3.3 through +.3 When closed: When opened: (Finger operating range: 14. to 21.) Note) Note) Range within which the finger can move when it returns to origin. Make sure a workpiece mounted on the finger does not interfere with the work pieces and facilities around the finger.

23 Electric Gripper/2-Finger Type Series EHZ Dimensions EHZ()K2-1 Model EHZK2-1 EHZK [mm] (1) (1.8) (47.8) Manual override adjustment screw Motor cable entry: Entry on the front side 28 2 x ø 14. Model Selection 28. Mounting reference plane +.2 ø3h9 ( ) depth Motor cable length 3 (Motor cable entry: Basic) +.2 3H9 ( ) depth ø3h9 ( ) depth x M x.8 x 8 4 x M4 x (1) Mounting reference plane Reference position of the gripping point When closed: When opened: H9 ( ) depth 3 2 x M x.8 x 8 2 x ø4.2 through (Finger operating range: 1 to 28) Note) Note) Range within which the finger can move when it returns to origin. Make sure a workpiece mounted on the finger does not interfere with the work pieces and facilities around the finger. EHZ2()K2-14 Model EHZ2K2-14 EHZ2K [mm] (1) (1.8) (47.8) Manual override adjustment screw Motor cable entry: Entry on the front side x ø Mounting reference plane ø4h9 ( ) depth 3 Motor cable length 3 (Motor cable entry: Basic) +.3 4H9 ( ) depth ø4h9 ( ) depth 3 (1) Mounting reference plane x M x 1. x 1 4 x M x.8 78 Reference position of the gripping point When closed: When opened: H9 ( ) depth 3 2 x M x 1. x 1 2 x ø.2 through (Finger operating range: 19 to 34.) Note) Note) Range within which the finger can move when it returns to origin. Make sure a workpiece mounted on the finger does not interfere with the work pieces and facilities around the finger. Specific Product Precautions 12

24 Series EHZ Dimensions EHZ32K2-22 Motor cable entry: Entry on the front side Manual override adjustment screw 42 2 x ø Mounting reference plane +.3 ø4h9 ( ) depth Motor cable length 3 (Motor cable entry: Basic) +.3 4H9 ( ) depth ø4h9 ( ) depth x M x 1. x (3.4) Mounting reference plane H9 ( ) depth EHZ4K x M x Reference position of the gripping point 12.1 When closed: 2. When opened: x M x 1. x 1 2 x ø.2 through (Finger operating range: 2 to 49.) Note) Motor cable entry: Entry on the front side Note) Range within which the finger can move when it returns to origin. Make sure a workpiece mounted on the finger does not interfere with the work pieces and facilities around the finger. Manual override adjustment screw x ø Mounting reference plane 42 8 Motor cable length 3 (Motor cable entry: Basic) +.3 H9 ( ) depth øh9 ( ) depth (7.4) +.3 øh9 ( ) depth 4 Mounting reference plane x M8 x 1.2 x x M8 x 1.2 Reference position of the gripping point When closed: 3. When opened: H9 ( ) depth 4 2 x M8 x 1.2 x 14 2 x ø.8 through (Finger operating range: 3 to 2.) Note) Note) Range within which the finger can move when it returns to origin. Make sure a workpiece mounted on the finger does not interfere with the work pieces and facilities around the finger.

25 Series EHZ Finger Options Side Tapped Mounting (A) Through-hole in Opening/Closing Direction (B) Model Selection 4 x MM through Thread for attachment mounting EHZ1()K2-4A EHZ1()K2-A EHZ()K2-1A EHZ2()K2-14A EHZ32K2-22A EHZ4K2-3A A B C Model A B C MM Flat Fingers (C) C M2. x.4 M3 x. M4 x.7 M x.8 M x 1 M8 x 1.2 [mm] B A 4 x øh through Hole for attachment mounting [mm] Model A B H EHZ1()K2-4B EHZ1()K2-B EHZ()K2-1B EHZ2()K2-14B EHZ32K2-22B EHZ4K2-3B C W F 4 x MM thread length Thread for attachment mounting K D J G G Model A B C D F J K MM When opened When closed M2. x.4 EHZ1K2-4C EHZ1K2-4C EHZ1K2-C EHZ1K2-C EHZK2-1C EHZK2-1C EHZ2K2-14C EHZ2K2-14C EHZ32K2-22C EHZ4K2-3C B A H9 2.H9 3H9 4H9 H9 H M3 x. M4 x.7 M x.8 M x 1 M8 x W [mm] Weight oz Specific Product Precautions 14

26 Selection Procedure Electric Gripper 2-Finger Type/With Dust Cover Series EHZJ Model Selection Step 1 Confirm the gripping force. Confirm the gripping Step 2 Step 3 point/overhang. Confirm the external force on fingers. Step 1 Confirmation of gripping force Confirmation of conditions Calculation of necessary gripping force Selection of model from gripping force graph Selection of pushing speed Example Workpiece mass:.22 lbs (.1 kg) Pushing force: 7% Pushing force is one of the values of step data that is input into the controller. Gripping point distance: 3 mm Pushing speed: 3 mm/sec Attachment F µf µf mg 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 necessary 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. Necessary gripping force =.22 lbs (.1 kg) x x 9.8 m/s lbf (19. N) or more Calculation of necessary gripping force Finger Number of fingers mg and therefore, F > 2 x µ F With a representing the extra margin, Workpiece 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 = 4, which allows for impacts that occur during normal transportation, etc. F = 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 When µ =.2 When µ =.1 mg mg x 4 = 1 x mg F = x 4 = x mg 2 x.2 2 x.1 1 x Workpiece weight x Workpiece weight EHZJ Gripping force F [lbf] In the case of selecting EHZJ A gripping force of.7 lbf (27 N) is obtained from the intersection point of gripping point distance = 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. EHZJ Pushing force/trigger level [%] Pushing force 1% 7% 4% Pushing speed is satisfied at the point where 7% of the pushing force and 3 mm/sec of the pushing speed cross. Note) Confirm the pushing speed range from the determined pushing force [%] Pushing force and trigger level range Pushing speed [mm/sec] <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. 14 1

27 Selection Procedure Step 1 Confirmation of gripping force: Series EHZJ Indication of gripping force The gripping force shown in the graphs below is expressed as F, which is th e thrust of one finger, when both fingers and attachments are in full contact with the workpiece as shown in the figure below. External Gripping State Model Selection Series EHZJ Set the workpiece gripping point so that it is within the range shown in the figure below. Internal Gripping State Model Selection Attachment Finger Attachment Finger : Gripping F F point F F F: Gripping Workpiece Workpiece force : Gripping po int 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. EHZJ1 4. Gripping force accuracy: ±3% (F.S.) EHZJ1 1.8 Gripping force accuracy: ±3% (F.S.) Gripping force F [lbf] Pushing force 1% 7% 4% Gripping force F [lbf] Pushing force 1% 7% % EHZJ1 4 8 Gripping force accuracy: ±3% (F.S.) EHZJ1 Gripping force accuracy: ±3% (F.S.) 2.2 Gripping force F [lbf] 3. Pushing force 1% % 4% Gripping force F [lbf] Pushing force 1% 7% % Specific Product Precautions 1

28 Series EHZJ Selection Procedure Step 1 Basic EHZJ Gripping force F [lbf] EHZJ Gripping force accuracy: ±2% (F.S.) Pushing force 1% Gripping force accuracy: ±2% (F.S.) Pushing force 1%.7 7% 4. 7% % 2.2 4% EHZJ2 Gripping force F [lbf] Confirmation of gripping force: Series EHZJ 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% 4% Compact Gripping force F [lbf] EHZJ2 Gripping force F [lbf] 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% 4% Selection of Pushing Speed When setting pushing force and trigger level, set within the proper range as shown below. Basic Compact Pushing force/trigger level [%] Pushing force and trigger level range Pushing speed [mm/sec] EHZJ1, EHZJ1 Pushing force/trigger level [%] 11 1 Pushing force and trigger level range Pushing speed [mm/sec] EHZJ, EHZJ2 Pushing force/trigger level [%] 11 1 Pushing force and trigger level range Pushing speed [mm/sec]

29 Model Selection Series EHZJ Step 2 Confirmation of gripping point and overhang: Series EHZJ 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 expectancy of the electric gripper. Model Selection External Gripping State Internal Gripping State H H Gripping position H : Overhang : Gripping point Gripping position H : Overhang : 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. EHZJ1 Overhang H [mm] Pushing force 1% 7% 4% EHZJ1 Overhang H [mm] %, % Pushing force 1% EHZJ1 Overhang H [mm] EHZJ Overhang H [mm] %, 4% Pushing force 1% Pushing force 1% 7% 4% EHZJ1 Overhang H [mm] EHZJ Overhang H [mm] Pushing force 1%, 7%, % % 7% Pushing force 1% 18 Specific Product Precautions

30 Series EHZJ Selection Procedure Step 2 Confirmation of gripping point and overhang: Series EHZJ 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. EHZJ2 EHZJ2 2 2 Overhang H [mm] 1 1 4% Pushing force 1% 7% Overhang H [mm] 1 1 7%, 4% Pushing force 1%

31 Step 3 Confirmation of external force on fingers: Series EHZJ Model Selection Series EHZJ Model Selection Mp My: Yaw moment Mr Fv My Fv: Allowable vertical load Mp: Pitch moment Mr: Roll moment H Model EHZJ1()K2-4 EHZJ1()K2- EHZJ()K2-1 EHZJ2()K2-14 Note) Values for load in the table indicate static values. H, : Distance to the point at which the load is applied (mm) Allowable vertical load Static allowable moment Fv lbf [N] Pitch moment: Mp lbf ft [N m] Yaw moment: My lbf ft [N m] Roll moment: Mr lbf ft [N m] 13. [8].19 [.2].19 [.2].39 [.3] 22. [98]. [.8]. [.8] 1. [1.3] 33. [147].97 [1.32].97 [1.32] 1.9 [2.] 7.3 [2] 1.43 [1.94] 1.43 [1.94] 2.8 [3.88] Calculation of allowable external force (when moment load is applied) Calculation example When a static load of f = 2.2 lbf (1 N) is operating, which applies pitch moment to point = 3 mm from the EHZJ1K2- guide. Therefore, it can be used. M (Static allowable moment) lbf ft (N m) Allowable load F N (lbf) =. lbf (.8 N) x 1 3 Allowable load F = 3 x 1 3 ( Constant for unit conversion) = 1.7 lbf (22.7 N) oad f = 2.2 lbf (1 N) < 1.7 lbf (22.7 N) Specific Product Precautions

32 Electric Gripper 2-Finger Type/With Dust Cover Series EHZJ EHZJ1, 1,, 2 How to Order RoHS EHZ J 1 K 2 4 S 1 N 1 q Dust cover J w Size With dust cover q w e r t y u i o!!1!2!3 u Dust cover type Nil Chloroprene rubber (CR) K Fluorine rubber (FKM) S Silicone rubber (Si) i Motor cable entry Basic (Entry on the left side) Mounting reference plane e Motor size Nil Basic Compact Nil Mounting reference plane r ead K Basic Motor cable Connector cover Entry on the front side Mounting reference plane t 2-finger type Mounting reference plane y Stroke [mm] Stroke/both sides Size F Motor cable Connector cover Caution Note) CE-compliant products EMC compliance was tested by combining the electric actuator EH series and the controller EC series. 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 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. The actuator and controller are sold as a package. (Controller Pages and ) Confirm that the combination of the controller and the actuator is correct. <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 the operation manual for using the products. Please download it via our website q w

33 Electric Gripper 2-Finger Type/With Dust Cover Series EHZJ Model Selection o Actuator cable type Nil Without cable S Standard cable R Robotic cable (Flexible cable) The standard cable should be used on fixed parts. For using on moving parts, select the robotic cable.! Actuator cable length [m] Nil Without cable A 1 B 1 C Produced upon receipt of order (Robotic cable only) Refer to the specifications Note 3) on page 23.!1 Controller type Nil Without controller N ECP P (Step data input type) 1N ECP1 1P (Programless type) NPN PNP NPN PNP For details of controllers and compatible motors, refer to the compatible controllers below.!2 I/O cable length [m] Nil Without cable If Without controller is selected for controller types, I/O cable is not included. Refer to page 1 (ECP) or page 71 (ECP1) if I/O cable is required.!3 Controller mounting Nil Screw mounting D DIN rail mounting Only available for the controller types N and P. DIN rail is not included. Order it separately. (Refer to page.) Compatible controllers Step data input type Programless type Type Series Feature(s) ECP Value input Standard controller ECP1 Capable of setting up operation without using a PC or teaching box Compatible motor Maximum number of step data Power supply voltage Reference page 4 points Step motor (Servo/24 VDC) 24 VDC 14 points Page Page Specific Product Precautions 22