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Product manual, reference informationIRB 340

Document ID: 3HAC 022546-001Revision -

The information in this manual is subject to change without notice and should not be construed as a commitment by ABB. ABB assumes no re-sponsibility 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 ABRobotics

SE-721 68 VästeråsSweden

Product Manual IRB 340 2

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 Main-

tenance.

See also 1.1.7 Collision Maintenance Parts in this chapter!

Different robot versions

1.1.1 Arm System and External Details

Foldouts 1 and 2.

Item Qty Name Art. No. Remark

1 6 Bar 3HAC2090-1 Qty. 2

2 12 Wear-ring 3HAC2091-1 Qty. 12

3 6 Spring unit 3HAC3958-1

4 24 Roller 3HAC3062-1 Qty. 24

6 12 Joint ball 3HAC5176-1

7 4x3ml Loctite 243 3HAC7181-1 Qty. 1

8 1 Movable plate with swivel 3HAC6913-1

9 1 Telescopic shaft, WashDown 3HAC11477-3 IRB340SA &SAS

(incl. item 12, 13)

10 1 Seal ring (V-ring) 3HAB3732-16 V-20S

11 1 Telescopic shaft 3HAC5115-2 (incl. item 12, 13)

12 4 Set screw, dog point 3HAC12846-1 M5x16

Qty. 6

13 2 Universal Joint 3HAC17400-1 Qty. 1

16 1 Dust cap 5217649-9 opt. 218-5

17 1 Dust cap 3HAA1001-630 opt. 218-5

18 1 Cover 3HAC16406-1 If not = opt. 218-5 or

opt 218-9

19 8 Hexagon bolt with flange 9ADA181-12 M6x16, 8.8

22 1 Labels IRB 340 3HAC3919-1

23 3 Parallel arms 3HAC5234-1 Incl. items 1,2,3,4

Pay load Standard WashDown WashDown Stainless

1 kg IRB 340 IRB 340SA IRB 340 SAS

2 kg IRB 340/2 IRB 340 SA/2 IRB 340 SAS/2

Product Manual IRB 340 3

1.1.2 Movable plate

Item Qty Name Art. No. Remark

24 1 Movable plate 3HAC6921-1

25 1 Parallel pin 3HAC6912-1

26 1 Swivel cup 3HAC6922-1

27 1 Swivel axis 3HAC020806-001

28 1 Lock nut 3HAC6925-1

29 2 Grove ball bearing 3HAB3643-19

30 1 Seal 3HAC3296-4

31 1 Spring washer 3HAC2864-14

34 1 Retaining ring bore 3HAC5215-2

1.1.3 Manipulator Base

Foldouts 3, 4 and 5.

Item Qty Name Art. No. Remark

1 1 Basebox 3HAC5354-1 White

2 3 Motor axes 1-3 3HAC9494-1 Siemens

2 3 Motor axes 1-3 3HAC023938-001 Yaskawa

2 3 Gear axes 1-3 3HAC5228-1 White

3 6 Parallel pin, hardened 3HAC3785-3

4 18 Plain washer 9ADA312-8 10.5x20x2

5 18 Hex socket head cap screw 3HAB3402-51 M10x30, 8.8

Gleitmo 610

6 6 Distance screw 3HAC3030-11 M8

7 3 Distance screw 3HAC3030-12 M6

8 1 Sealing strip 3HAC2989-1 EDPM rubber

9 30 ml Loctite 406 12341919-37

10 1 Transmission cover axes 1-3 3HAC5153-1 Flexlogo

11 1 Push-button 1SFA616100R1006 Black

12 1 Bracket SK616013-F

13 1 Membrane SK615503-2

14 1 Lamp unit 3HAC16738-1 opt. 213-1

15 7 Hexagon bolt with flange 9ADA181-11 M6x12, 8.8

16 3 Flange cover 3HAC4250-1 Without mech. stop

16 3 Flange axis 1-3 3HAC021118-001 Incl. m echanical stop

17 3 Sealing ring 3HAC3934-1 D=60/70 B=10

Product Manual IRB 340 4

18 3 Flange gasket, axes 1-3 3HAC4309-1

19 9 Hexagon bolt with flange 9ADA181-12 M6x16, 8.8

20 1 Console 3HAC4272-1

21 4 Connector bracket 3HAC4232-1

22 1 Gearbox with motors 3HAC17374-2 Siemens

22 1 Gearbox with motors 3HAC2641-6 Yaskawa

23 3 Plain washer 9ADA312-6 6.4x12x1.6

24 3 Hex socket head cap screw 9ADA183-25 M6x20, 8.8

25 1 Back-up washer 3HAC0110-1 82x40, H=2

26 1 Flange gasket axis 4 3HAC5329-1

28 1 Serial measurement board 3HAC17396-1

29 5 Torx pan head screw 9ADA618-44 M5x12, 8.8

30 1 Power cable 3HAC1761-1

31 1 Signal cable 3HAC1762-1

32 1 Base cover gasket 3HAC3399-1

33 1 Base cover 3HAC5356-1 White

34 1 Fan 3HAB7311-1

35 1 Fan cable 3HAC3196-1

36 2 Torx counters roll screw 9ADA633-37 M4x25, 8.8

37 1 Fan cover 3HAC3029-1

38 6 Hexagon bolt with flange 9ADA181-29 M8x50,8.8

39 3 Lifting eye 3HAC16404-1 90x60, T = 5

40 3 Upper arm 3HAC2078-1 Without mech. stops

40 3 Upper arm 3HAC021121-001 Incl. mechanical stop

41 18 Hex socket head cap screw 3HAB3409-29 M6x40, 12.9

Gleitmo 610

42 3 VK-cover 3HAA2166-21 D=68, B=8

43 1 Ventilation gasket 3HAC3400-1

44 1 Top cover gasket 3HAC3401-1

45 1 Gasket 3HAB7957-1

46 1 External Air connection 3HAC16405-1

47 1 Ventilation hose 3HAC4426-1

48 2 Hose clip 3HAC4428-1 D=73-83

49 17 Cable straps, outdoors 21662055-3 4.8x208

50 1 Earth symbol 3HAB5617-1

51 1 Membrane SK615503-2

52 3 Sync. cover 3HAC2094-1

53 3 Hex socket head cap screw 9ADA183-34 M8x12, 8.8

Product Manual IRB 340 5

54 1 Label 3HAC2151-1 Resolver values

55 10 ml Grease 3HAC3262-1 Qty 1

Approved for consumer goods industry

57 1 Flange cover axis 4 3HAC5328-1

58 1 Sealing ring with dust lip 3HAB3701-27 D = 12/28, B =7

59 6 Hexagon bolt with flange 9ADA181-11 M6x12, 8.8

60 3 Hexagon bolt with flange 9ADA181-11 M6x12, 8.8

61 18 Plain washer 9ADA312-6 6.4x12x1.6

62 1 Battery pack 4944026-4 Ni-Ca 7.2V, 4Ah

63 2 Cable straps, outdoors 21662055-6 7.6x368

64 1 Instruction plate 3HAC2589-1

65 7 Hexagon bolt with flange 9ADA181-11 M6x12, 8.8

66 1 Internal air tube 3HAC7095-1 IRB340SA & SAS

70 1 VK-cover 3HAA2166-22 D = 110, B = 12

71 1 Signal cable 3HAC9880-1

72 1 Basecover, Stainless 3HAC16403-1 IRB 340 SAS

73 1 Basebox, Stainless 3HAC16402-1 IRB 340 SAS

74 1 Gearbox ax 1-3 with motor 3HAC7093-1

and hosekit

1.1.4 Vacuum System

Foldout 6.

Item Qty Name Art. No. Remark

1 Vacuum system, complete 3HAC4236-1 opt. 218-9

1 1 Ejector unit 3HAC022922-001

2 1 Air filter plate 3HAC16410 372x322, T=2

3 2 Hose nipple 3HAC4788-1

4 1 Angle bracket for hose 3HAC16411-1 181x101, T=2

5 1 Hose grommet 3HAC4169-1 Di=16

6 1 Air filter 3HAC3718-1

7 4 Hexagon head screw 9ADA123-11 M5x12,Steel A4-80

8 4 Hexagon head screw 9ADA120-21 M6x16,Steel 8.8-A2F

9 4 Prev. torque nut, non-metallic 9ADA299-4 M6,Steel A2-70

10 2800 mm Hose 3HAC4927-1 PVC 15.5/10

1450+800+550

Qty. 1

11 3 Hose holder, medium 3HAC3150-1

Product Manual IRB 340 6

12 5 Releasable cable straps 3HAB7711-1 Qty. 3

13 1 Sealing plug 3HAC7953-1

14 1 Hose nipple 3HAC6927-1 R1/4”

15 3 Hexagon head screw 9ADA123-5 M4x20,Steel A4-80

16 6 Plain washer, large 3HAC5022-1 4.3x12x1,Steel A4

17 3 Prev. torque nut, non-metallic 9ADA299-2 M4,Steel A2-70

19 1 ml Loctite 542 12690014-412

20 1 Dust cap 5217649-9

21 1 Valve unit 3HAC8030-4 With cable

22 1 Vacuum switch 3HAC8030-3

23 2 Pump unit 3HAC8030-2

24 1 Sealing ring 3HAC4133-1 13,3 x 18

25 1 ml Loctite 243 3HAB7116-1

2 Hose nipple 3HAC4788-2

1 Air filter 3HAC023025-001

4 Hexagon head screw 9ADA123-2 M4x10,Steel A4-80

1.1.5 Hoses and Spare Parts

Foldout 7.

Item Qty Name Art. No. Remark

1 7 Prev. torque nut, non.metallic 9ADA298-4 M6

2 5 Hexagon head screw 9ADA120-21 M6x16, 8.8

3 1 Air filter plate 3HAC4114-1

4 6 Hexagon head screw 9ADA120-5 M4x20, 8.8

5 6 Plain washer, large 3HAC5022-1 4.3x12x1

6 6 Prev. torque nut, non-metallic 9ADA298-2 M4

8 3 Releasable cable straps 3HAB7711-1 250 x 4,8

9 4 Prev. torque nut, non-metallic 9ADA298-3 M5

10 4 Hexagon head screw 9ADA120-11 M5x12, 8.8

11 1 Releasable cable straps 3HAB7711-1 250 x 4,8

12 1 Angle bracket for hose 3HAC3717-1

14 1 Hose grommet 3HAC4169-1 Di=16

16 1 ml Loctite 243, (3 ml tube) 3HAC7181-1

18 1 Sealing plug 3HAC7953-1 R1/4”

19 2 Hose nipple 3HAC6927-1 R1/4”, hose diam. 10

20 300 mm Hose 3HAC4927-1 15.5/10

Product Manual IRB 340 7

21 390 mm Hose 3HAC4927-1 15.5/10

22 3 Hose holder, large 3HAC4518-1

23 1800 mm Hose 3HAC7136-1 Di=19, Dy=27

24 1 Hose holder, Upper Arm 3HAC4516-1

25 1 Hexagon head screw 9ADA56-12 M6x35

26 2 Hex socket head cap screw 9ADA183-31 M6x50

33 1450 mm Hose 3HAC4927-1 15.5/10

34 3 Hose holder, medium 3HAC3150-1

1.1.6 Ventilation Hose Parts

1 Ventilation hose parts 3HAC15475-1 Contains parts below

1 1 Hose Nipple 3HAC4769-1 1310 1/4”RX3/8”

2 1 Sealing ring 3HAC4133-1 13.3x18

3 550 mm Hose 3HAC4927-1 15.5/10

4 1 Cable straps, outdoors 21662055-3 4.8x208

5 1 VK-Cover 3HAA2166-21 D=68, B=8

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 Qty Name Art. No. Remark

1 1 Collision maintenance parts 3HAC18244-1

Tightening torgue 4Nm

A

Axis 3

Axis 3

Axis 1 Axis 1

1

23

2

3

4

7 6

87

24

12 13

11 9

Telescopic ShaftWash Down

A

12 7

22

19

10

25

B-B26

27

28

29

30

B

B 31

34

Foldout 1

16

17

18

Foldout 2

Axis 3

Axis 1

Axis 2

Vacuum switch

Air supply (max 6 bar)

Vacuum

Exhaust Air

R1.CS

1

2

Ax.2

Ax.1

Ax.3

9 Nm

A-A

Lay out for cables see foldout 5

F-F See foldout 4

D-D See foldout 5

E-E See foldout 6

9 Nm 9 Nm

14 Nm

33 Nm

Ax.1

Ax.2

Ax.3-4

9 Nm

11 Nm

9 Nm

Ax.1

Ax.2

Ax.3

3

4 5

6

Foldout 3

7

AA

10

1855

16

19

17

4241 6140

15242322

20

59

73

70

74

F

F

E

E

DD

Foldout 4

7

9

2210

F-F from foldout 3

4 Nm

Ax.2

Ax.2

Ax.3

Ax.3

Ax.1

199 Nm

57

58

55

26

52 53333244

B

B

Ax.1

45 3946 47 48 65

14 Nm

43

38

9 Nm 60

Ax.3

Ax.2

Ax.1

B-B

37 35

36

34 33 54

25

55

8

72

R4. Fan

RM

R2.SMB

95

R4.FAN

R3.FB

4

R3.M

P2

S1R3.H1

R3.MP1R3.H2

R2.FB4-6

R1.MP1-3

R3.FB3

C

R3.F

B2

R1.H1

R3.MP3

R1.H1

R1.MP4-6

R3.M

P4

C

R3.FB1

PTC

120

Foldout 5

D-D from foldout 3

Ax.1

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

E-E from foldout 3

C-C from foldout 3

9 Nm

30

63

62

64 49

Placed under item 62

66

28

50

29

20

31

35

49 21 15

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

12

11

13

14

51

R3.

FB2

( R3.

FB1

)( R

3. F

B3 )

( R3.

FB4

)

S171

No cables in this area

Ax.2

Ax.3-4

Tube of Composit

A-A

Length=1450mm

Twisted 3/4 turn

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

the arrow.in the direction of Mount the filter

Air Supply

Item 2 will be mounted by this screws

Straight

length

of Hose

=300±5A

A

Length= 800mm

Foldout 6

13

16

17

6 7

2

12 8 9

1 21 22 20

10

11 12

3 19 5 12 4

15

11

12

10

14

150±10

2423

150±5

10

Foldout 7

22

4

6

3

1

26

1 2

19 20 21

8

1 25

24

23 1 2

3

344

5

68

19 18

834

33 9 10 14 11 12

B-B

Hose length between clamps: 510

Hose length between clamps: 460

Large Hose Medium Hose

Twisted 3/4 turn

Item 3 shall be mounted by this screws.

50±10

150±

10

Straig

ht len

gth of

Hos

e=30

0±5

150±

5

B

280

160

160 B

BB

70

250

Content Sheet1

Number of sheets9

Revision01

Circuit D

iagram 3H

AC2105-3

Connection Point Location

Revision01

Number of sheets9

Sheet2

Circuit D

iagram 3H

AC

2105-3

Revision01

Number of sheets9

Sheet3

Serial Measurement Board

Circuit D

iagram 3H

AC

2105-3

Motor Axes 1-3

Circuit D

iagram 3H

AC

2105-3Revision01

Number of sheets9

Sheet4

Axis 4

Circuit D

iagram 3H

AC

2105-3Revision01

Number of sheets9

Sheet5

Revision01

Number of sheets9

Sheet6

Feed-Back Axes 1-4

Circuit D

iagram 3H

AC

2105-3

Circuit D

iagram 3H

AC

2105-3

Customer Connection: OptionRevision

01Number of sheets

9Sheet

7

Revision01

Number of sheets9

Sheet8

Ejector Unit: Option

Circuit D

iagram 3H

AC

2105-3

Vacuum

Blow Release

Pressure Switch

External Connections: Options

Circuit D

iagram 3H

AC

2105-3Revision01

Number of sheets9

Sheet9