\version "2.19.21"

upper = \relative c {
  \clef bass

  e \grace { d16 } c4
}

lower = \relative c {
  \clef bass

  c
}

\score {
  \new PianoStaff <<
    \set PianoStaff.instrumentName = #"Piano"
    \new Staff = "upper" \upper
    \new Staff = "lower" \lower
  >>
}