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Product manual, reference information IRB 340

Document ID: 3HAC 022546-001
Revision -

The information in this manual is subject to change without notice and should not be construed as a commitment by ABB. ABB assumes no responsibility for any errors that may appear in this manual. In no event shall ABB be liable for incidental or consequential damages arising from use of this manual and products described herein. This manual and parts thereof must not be reproduced or copied without ABB's written permission, and contents thereof must not be imparted to a third party nor be used for any unauthorized purpose. Contravention will be prosecuted. Additional copies of this manual may be obtained from ABB at its then current charge.

Copyright 2003 ABB All rights reserved. ABB Automation Technology Products AB Robotics SE-721 68 Vsters Sweden

1 Spare Parts
1.1 Manipulator
Item numbers in spare parts list below, refer to item numbers on the foldouts. Articles written in bold and underlined text (Ex. Qty.2), under Remark, are specially designed as spare parts for Collision Maintenance. See also 1.1.7 Collision Maintenance Parts in this chapter!
Different robot versions

Pay load
1 kg 2 kg

Standard
IRB 340 IRB 340/2

WashDown
IRB 340SA IRB 340 SA/2

WashDown Stainless
IRB 340 SAS IRB 340 SAS/2

1.1.1 Arm System and External Details Foldouts 1 and 2.

Item
1 2 3 4 6 7 8 9 10 11 12 13 16 17 18 19 22 23

Qty
6 12 6 24 12 4x3ml 1 1 1 1 4 2 1 1 1 8 1 3

Name
Bar Wear-ring Spring unit Roller Joint ball Loctite 243 Movable plate with swivel Telescopic shaft, WashDown Seal ring (V-ring) Telescopic shaft Set screw, dog point Universal Joint Dust cap Dust cap Cover Hexagon bolt with flange Labels IRB 340 Parallel arms

Art. No.
3HAC2090-1 3HAC2091-1 3HAC3958-1 3HAC3062-1 3HAC5176-1 3HAC7181-1 3HAC6913-1 3HAC11477-3 3HAB3732-16 3HAC5115-2 3HAC12846-1 3HAC17400-1 5217649-9 3HAA1001-630 3HAC16406-1 9ADA181-12 3HAC3919-1 3HAC5234-1

Remark Qty. 2 Qty. 12 Qty. 24 Qty. 1

IRB340SA &SAS (incl. item 12, 13) V-20S (incl. item 12, 13) M5x16

Qty. 6 Qty. 1
opt. 218-5 opt. 218-5 If not = opt. 218-5 or opt 218-9 M6x16, 8.8 Incl. items 1,2,3,4

Product Manual IRB 340

1.1.2

Movable plate

Item
24 25 26 27 28 29 30 31 34

Qty
1 1 1 1 1 2 1 1 1

Name
Movable plate Parallel pin Swivel cup Swivel axis Lock nut Grove ball bearing Seal Spring washer Retaining ring bore

Art. No.
3HAC6921-1 3HAC6912-1 3HAC6922-1 3HAC020806-001 3HAC6925-1 3HAB3643-19 3HAC3296-4 3HAC2864-14 3HAC5215-2

Remark

1.1.3 Manipulator Base Foldouts 3, 4 and 5.

Item
1 2 2 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 16 17

Qty
1 3 3 3 6 18 18 6 3 1 30 ml 1 1 1 1 1 7 3 3 3

Name
Basebox Motor axes 1-3 Motor axes 1-3 Gear axes 1-3 Parallel pin, hardened Plain washer Hex socket head cap screw Distance screw Distance screw Sealing strip Loctite 406 Transmission cover axes 1-3 Push-button Bracket Membrane Lamp unit Hexagon bolt with flange Flange cover Flange axis 1-3 Sealing ring

Art. No.
3HAC5354-1 3HAC9494-1 3HAC023938-001 3HAC5228-1 3HAC3785-3 9ADA312-8 3HAB3402-51 3HAC3030-11 3HAC3030-12 3HAC2989-1 12341919-37 3HAC5153-1 1SFA616100R1006 SK616013-F SK615503-2 3HAC16738-1 9ADA181-11 3HAC4250-1 3HAC021118-001 3HAC3934-1

Remark
White Siemens Yaskawa White 10.5x20x2 M10x30, 8.8 Gleitmo 610 M8 M6 EDPM rubber Flexlogo Black

opt. 213-1 M6x12, 8.8 Without mech. stop Incl. m echanical stop D=60/70 B=10

Product Manual IRB 340

18 19 20 21 22 22 23 24 25 26 28 29 30 31 32 33 34 35 36 37 38 39 40 40 41 42 43 44 45 46 47 48 49 50 51 52 53

3 9 1 4 1 1 3 3 1 1 1 5 1 1 1 1 1 1 2 1 6 3 3 3 18 3 1 1 1 1 1 2 17 1 1 3 3

Flange gasket, axes 1-3 Hexagon bolt with flange Console Connector bracket Gearbox with motors Gearbox with motors Plain washer Hex socket head cap screw Back-up washer Flange gasket axis 4 Serial measurement board Torx pan head screw Power cable Signal cable Base cover gasket Base cover Fan Fan cable Torx counters roll screw Fan cover Hexagon bolt with flange Lifting eye Upper arm Upper arm Hex socket head cap screw VK-cover Ventilation gasket Top cover gasket Gasket External Air connection Ventilation hose Hose clip Cable straps, outdoors Earth symbol Membrane Sync. cover Hex socket head cap screw

3HAC4309-1 9ADA181-12 3HAC4272-1 3HAC4232-1 3HAC17374-2 3HAC2641-6 9ADA312-6 9ADA183-25 3HAC0110-1 3HAC5329-1 3HAC17396-1 9ADA618-44 3HAC1761-1 3HAC1762-1 3HAC3399-1 3HAC5356-1 3HAB7311-1 3HAC3196-1 9ADA633-37 3HAC3029-1 9ADA181-29 3HAC16404-1 3HAC2078-1 3HAC021121-001 3HAB3409-29 3HAA2166-21 3HAC3400-1 3HAC3401-1 3HAB7957-1 3HAC16405-1 3HAC4426-1 3HAC4428-1 21662055-3 3HAB5617-1 SK615503-2 3HAC2094-1 9ADA183-34

M6x16, 8.8

Siemens Yaskawa 6.4x12x1.6 M6x20, 8.8 82x40, H=2

M5x12, 8.8

White

M4x25, 8.8 M8x50,8.8 90x60, T = 5 Without mech. stops Incl. mechanical stop M6x40, 12.9 Gleitmo 610 D=68, B=8

D=73-83 4.8x208

M8x12, 8.8

Product Manual IRB 340

54 55 57 58 59 60 61 62 63 64 65 66 70 71 72 73 74

1 10 ml 1 1 6 3 18 1 2 1 7 1 1 1 1 1 1

Label Grease Flange cover axis 4 Sealing ring with dust lip Hexagon bolt with flange Hexagon bolt with flange Plain washer Battery pack Cable straps, outdoors Instruction plate Hexagon bolt with flange Internal air tube VK-cover Signal cable Basecover, Stainless Basebox, Stainless Gearbox ax 1-3 with motor and hosekit

3HAC2151-1 Resolver values 3HAC3262-1 Qty 1 Approved for consumer goods industry 3HAC5328-1 3HAB3701-27 D = 12/28, B =7 9ADA181-11 M6x12, 8.8 9ADA181-11 M6x12, 8.8 9ADA312-6 6.4x12x1.6 4944026-4 Ni-Ca 7.2V, 4Ah 21662055-6 7.6x368 3HAC2589-1 9ADA181-11 M6x12, 8.8 3HAC7095-1 IRB340SA & SAS 3HAA2166-22 D = 110, B = 12 3HAC9880-1 3HAC16403-1 IRB 340 SAS 3HAC16402-1 IRB 340 SAS 3HAC7093-1

1.1.4 Vacuum System Foldout 6.

Item
1 2 3 4 5 6 7 8 9 10

Qty
1 1 1 2 1 1 1 4 4 4 2800 mm

Name
Vacuum system, complete Ejector unit Air filter plate Hose nipple Angle bracket for hose Hose grommet Air filter Hexagon head screw Hexagon head screw Prev. torque nut, non-metallic Hose

Art. No.
3HAC4236-1 3HAC022922-001 3HAC16410 3HAC4788-1 3HAC16411-1 3HAC4169-1 3HAC3718-1 9ADA123-11 9ADA120-21 9ADA299-4 3HAC4927-1

Remark
opt. 218-9 372x322, T=2 181x101, T=2 Di=16 M5x12,Steel A4-80 M6x16,Steel 8.8-A2F M6,Steel A2-70 PVC 15.5/10 1450+800+550

Qty. 1
11 3 Hose holder, medium 3HAC3150-1
5 Product Manual IRB 340

12 13 14 15 16 17 19 20 21 22 23 24 25

5 1 1 3 6 3 1 ml 1 1 1 2 1 1 ml 2 1 4

Releasable cable straps Sealing plug Hose nipple Hexagon head screw Plain washer, large Prev. torque nut, non-metallic Loctite 542 Dust cap Valve unit Vacuum switch Pump unit Sealing ring Loctite 243 Hose nipple Air filter Hexagon head screw

3HAB7711-1 3HAC7953-1 3HAC6927-1 9ADA123-5 3HAC5022-1 9ADA299-2 12690014-412 5217649-9 3HAC8030-4 3HAC8030-3 3HAC8030-2 3HAC4133-1 3HAB7116-1 3HAC4788-2 3HAC023025-001 9ADA123-2

Qty. 3
R1/4 M4x20,Steel A4-80 4.3x12x1,Steel A4 M4,Steel A2-70

With cable

13,3 x 18

M4x10,Steel A4-80

1.1.5 Hoses and Spare Parts Foldout 7.

Item
1 2 3 4 5 6 8 9 10 11 12 14 16 18 19 20

Qty
7 5 1 6 6 6 3 4 4 1 1 1 1 ml 1 2 300 mm

Name
Prev. torque nut, non.metallic Hexagon head screw Air filter plate Hexagon head screw Plain washer, large Prev. torque nut, non-metallic Releasable cable straps Prev. torque nut, non-metallic Hexagon head screw Releasable cable straps Angle bracket for hose Hose grommet Loctite 243, (3 ml tube) Sealing plug Hose nipple Hose

Art. No.
9ADA298-4 9ADA120-21 3HAC4114-1 9ADA120-5 3HAC5022-1 9ADA298-2 3HAB7711-1 9ADA298-3 9ADA120-11 3HAB7711-1 3HAC3717-1 3HAC4169-1 3HAC7181-1 3HAC7953-1 3HAC6927-1 3HAC4927-1

Remark
M6 M6x16, 8.8 M4x20, 8.8 4.3x12x1 M4 250 x 4,8 M5 M5x12, 8.8 250 x 4,8 Di=16 R1/4 R1/4, hose diam. 10 15.5/10

Product Manual IRB 340

21 22 23 24 25 26 33 34

390 mm 3 1800 mm 1 1 2 1450 mm 3

Hose Hose holder, large Hose Hose holder, Upper Arm Hexagon head screw Hex socket head cap screw Hose Hose holder, medium

3HAC4927-1 3HAC4518-1 3HAC7136-1 3HAC4516-1 9ADA56-12 9ADA183-31 3HAC4927-1 3HAC3150-1

15.5/10 Di=19, Dy=27 M6x35 M6x50 15.5/10

1.1.6 Ventilation Hose Parts 1 Ventilation hose parts

3HAC15475-1 3HAC4769-1 3HAC4133-1 3HAC4927-1 21662055-3 3HAA2166-21

Contains parts below 1310 1/4RX3/8 13.3x18 15.5/10 4.8x208 D=68, B=8

1 2 3 4 5

1 1 550 mm 1 1

Hose Nipple Sealing ring Hose Cable straps, outdoors VK-Cover

1.1.7 Collision Maintenance Parts Articles in the spare parts list above, written in bold and underlined text under Remark (ex. Qty. 2) are specially designed as spare parts for Collision Maintenance. These parts can be ordered as Collision maintenance parts.

Item
1

Qty
1

Name
Collision maintenance parts

Art. No.
3HAC18244-1

Remark

Product Manual IRB 340

19

Axis 3

22
Axis 3 Axis 1 Axis 1

2 4 3 23 1 11 9
Telescopic Shaft Wash Down

A B
8 25 27 31 29 7 6

12

Tightening torgue 4Nm

B
34 26 30

12 13

B-B

10 28

24

Foldout 1

Axis 2

Axis 3

17

16 18
tch

Va
(m p ly ax 6b ar)

m cuu

swi

Ai

p r su

R1.

CS

Vac

uum E us xha t Ai r

Axis 1

Foldout 2

74

Ax.1
10

Ax.2
2

9 Nm

55

18

Ax.3

16 19 9 Nm 17

Ax.1

A-A
20

73

Ax.3-4

40

41 61

42

11 Nm

Ax.2

F D E

70

F
F-F See foldout 4 D-D See foldout 5 E-E See foldout 6

9 Nm 59
3

Ax.2
4 6 5

33 Nm

Ax.3

14 Nm Lay out for cables see foldout 5

22

9 Nm

23 24

15

9 Nm

Ax.1

Foldout 3

36 46 47 48 45 39 65

4 Nm
R4. Fan

37

35

34

33

54

Ax.3 Ax.2
43

Ax.2 Ax.3

Ax.2 Ax.1 B

B
14 Nm 38 9 Nm 60
10 8 44 32 33 72 52 53 55 7 22

Ax.1 B-B

Ax.3
9 Nm 19
57 58 55

Ax.1

26

F-F from foldout 3

25

Foldout 4

Ax.3-4
35 49 21 15
R3. FB2 ( R3. FB1 ) ( R3. FB3 ) ( R3. FB4 )

9 Nm

R3.MP4

31 20 29 50
R3.FB2

C
R3.FB4

Signal cables.item 31, are located under connector brackets, item 21.

C-C from foldout 3

R4.FAN R3.FB3 R3.MP2

71 28 66
Placed under item 62

S1
12 11 13

R3.MP3

64 62 63

49

R2.FB4-6 R1.H1 R1.MP1-3 R2.SMB RM R1.MP4-6

No cables in this area

S1 3.H1 2 R 3.H P1 R 3.M R
PTC B1 R3.F 120

Note Button/lamp must be tightend to transmission cover. This to ensure IP 67.

D-D from foldout 3

R1.H 1

Ax.1

14

Ax.2
95

E-E from foldout 3

51

Foldout 5
30

Push the Cable Strap through the holes before mounting of item 2.
12 2 8 9

23

21 22

20

Air Supply

24

10
Length= 800mm Twisted 3/4 turn

10
Length=1450mm

Mount the filter in the direction of the arrow.

11 12

Tube of Composit

11 12

17

A-A
13 14

Stra ig

10

150

ht l

eng

16

th o

f Ho

se =

15

300

1 50

10

19

12

Item 2 will be mounted by this screws

Foldout 6

2
250

23 24
70

2 33 9 10 14 11 12

26 1
Hose length between clamps: 460

25

Twisted 3/4 turn

15

16

4 22 19 20

B
21 19 18

Str aig

ht

len

gth

16

0 5

of

Ho

se= 30

0 5

28

15

Hose length between clamps: 510

34

0 10

5010

Item 3 shall be mounted by this screws.

Large Hose

Medium Hose

4 5 6

34

B-B

Foldout 7

Circuit Diagram 3HAC2105-3

Content

Sheet Number of sheets 1 9

Revision 01

Circuit Diagram 3HAC2105-3

Connection Point Location

Sheet 2 Number of sheets 9 Revision 01

Circuit Diagram 3HAC2105-3

Serial Measurement Board

Sheet Number of sheets Revision 3 01 9

Circuit Diagram 3HAC2105-3

Motor Axes 1-3

Sheet Number of sheets Revision 4 9 01

Circuit Diagram 3HAC2105-3

Axis 4

Sheet Number of sheets Revision 5 9 01

Circuit Diagram 3HAC2105-3

Feed-Back Axes 1-4

Sheet Number of sheets Revision 6 9 01

Circuit Diagram 3HAC2105-3

Customer Connection: Option

Sheet Number of sheets Revision 7 9 01

Vacuum

Blow Release

Pressure Switch

Circuit Diagram 3HAC2105-3

Ejector Unit: Option

Sheet Number of sheets Revision 8 9 01

Circuit Diagram 3HAC2105-3

External Connections: Options

Sheet Number of sheets Revision 9 01 9