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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

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

1.1.1 Arm System and External Details

Foldouts 1 and 2.

Item

Qty

Name

Art. No.

1
2
3
4
6
7
8
9

6
12
6
24
12
4x3ml
1
1

Bar
Wear-ring
Spring unit
Roller
Joint ball
Loctite 243
Movable plate with swivel
Telescopic shaft, WashDown

3HAC2090-1
3HAC2091-1
3HAC3958-1
3HAC3062-1
3HAC5176-1
3HAC7181-1
3HAC6913-1
3HAC11477-3

10
11
12

1
1
4

Seal ring (V-ring)

Telescopic shaft
Set screw, dog point

3HAB3732-16
3HAC5115-2
3HAC12846-1

13
16
17
18

2
1
1
1

Universal Joint
Dust cap
Dust cap
Cover

3HAC17400-1
5217649-9
3HAA1001-630
3HAC16406-1

19
22
23

8
1
3

Hexagon bolt with flange

Labels IRB 340
Parallel arms

9ADA181-12
3HAC3919-1
3HAC5234-1

Product Manual IRB 340

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

1.1.2

Movable plate

Item

Qty

Name

Art. No.

24
25
26
27
28
29
30
31
34

1
1
1
1
1
2
1
1
1

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

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

Qty

Name

Art. No.

Remark

Basebox

3HAC5354-1

White

2
2
2
3
4
5

3
3
3
6
18
18

Motor axes 1-3

Motor axes 1-3
Gear axes 1-3
Parallel pin, hardened
Plain washer
Hex socket head cap screw

3HAC9494-1
3HAC023938-001
3HAC5228-1
3HAC3785-3
9ADA312-8
3HAB3402-51

Siemens
Yaskawa
White

6
7
8
9
10
11
12
13
14
15
16
16
17

6
3
1
30 ml
1
1
1
1
1
7
3
3
3

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

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

Product Manual IRB 340

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

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

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

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

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

42
43
44
45
46
47
48
49
50
51
52
53

3
1
1
1
1
1
2
17
1
1
3
3

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

3HAA2166-21
3HAC3400-1
3HAC3401-1
3HAB7957-1
3HAC16405-1
3HAC4426-1
3HAC4428-1
21662055-3
3HAB5617-1
SK615503-2
3HAC2094-1
9ADA183-34

Product Manual IRB 340

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

54
55

1
10 ml

Label
Grease

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

1
1
6
3
18
1
2
1
7
1
1
1
1
1
1

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

Art. No.

Remark

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

3HAC4236-1
3HAC022922-001
3HAC16410
3HAC4788-1
3HAC16411-1
3HAC4169-1
3HAC3718-1
9ADA123-11
9ADA120-21
9ADA299-4
3HAC4927-1

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

Hose holder, medium

Product Manual IRB 340

3HAC3150-1
5

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

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

Name

Art. No.

Remark

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

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

M6
M6x16, 8.8

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

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

Product Manual IRB 340

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

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

1.1.6 Ventilation Hose Parts

1
Ventilation hose parts

1
2
3
4
5

1
1
550 mm
1
1

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

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

3HAC15475-1

Contains parts below

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

1310 1/4RX3/8
13.3x18
15.5/10
4.8x208
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.

Collision maintenance parts

3HAC18244-1

Product Manual IRB 340

Remark

19

Axis 3

22
Axis 1

Axis 3

Axis 1

2
Telescopic Shaft
Wash Down

4
3
23

11

12

Tightening torgue 4Nm

B
8

25

27

31

29

7
34
26

30

B-B

10
28

24

12 13

Foldout 1

Axis 3

Axis 2

17

16
18

m
cuu

tch

swi

Va
(m
p ly

ax

ar)

6b

CS

R1.

Ai

p
r su

uum

Vac

t Ai

us
xha

Axis 1

Foldout 2

74

Ax.1
10
7

Ax.2

9 Nm

55

18

16

Ax.3

19 9 Nm

Ax.1

17

A-A

73

20

41 61

40

Ax.3-4

42

11 Nm

Ax.2

F
D
E

70

9 Nm 59

F-F See foldout 4

D-D See foldout 5

E-E See foldout 6

Ax.2
4

22

9 Nm

23 24

15

9 Nm

Ax.1

5
6

33 Nm

Ax.3

14 Nm
Lay out for cables see foldout 5

Foldout 3

36
46 47 48
45

39

65

4 Nm

37

35

33

34

54

R4. Fan

Ax.3

Ax.2
Ax.3

43

Ax.2

Ax.2
Ax.1

Ax.1

14 Nm
38

B-B

9 Nm 60

Ax.3
10
8
44

32

33
72

52 53 55

22

9 Nm 19
57
58
55

Ax.1

26

F-F from foldout 3

25

Foldout 4

R3. FB2
( R3. FB1 )
( R3. FB3 )
( R3. FB4 )

Ax.3-4
35
49

R3.MP4

31

15

9 Nm

Signal cables.item 31, are located under

connector brackets, item 21.

C-C from foldout 3

R3.FB4

20

21

29
50

S1

R3.FB2

R4.FAN

28

12

R3.MP2

71

R3.FB3

11

R3.MP3

66
Placed under item 62
R2.FB4-6

49

R1.H1

62

R1.MP1-3
R1.MP4-6

R2.SMB

63

RM

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

R1.H
1

64

No cables in this area

D-D from foldout 3

13

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

14

Ax.1
120

Ax.2
95

E-E from foldout 3

Foldout 5
30

51

23

Push the Cable Strap through the

holes before mounting of item 2.
12

21 22

Air Supply

20

24

10

Length= 800mm

Twisted 3/4 turn

10
Length=1450mm

1 50

17

13

eng

th o

A-A

ht l

10

Stra
ig

16

f Ho

12

15

300

11

se =

Tube of Composit

11 12

150

10

Mount the filter

in the direction of
the arrow.

19

14

Item 2 will be mounted by this screws

Foldout 6

12

23

24

250

70

26

33
25

10

14

11

Twisted 3/4 turn

0
5

28

34

15

Hose length between clamps: 510

0
10

22
19

20

21

Large Hose

Ho
of
gth

5010

ht

Str
aig

0
5
15

16

len

0
16

se=
30

Hose length between clamps: 460

Item 3 shall be mounted by this screws.

18

19

Medium Hose

34

5
8

B-B

Foldout 7

12

Sheet Number of sheets

1
9

Revision
01

Circuit Diagram 3HAC2105-3

Content

Circuit Diagram 3HAC2105-3

Connection Point Location

Sheet
2

Number of sheets
9

Revision
01

Sheet Number of sheets Revision

3
01
9

Circuit Diagram 3HAC2105-3

Serial Measurement Board

Sheet Number of sheets Revision

4
9
01

Circuit Diagram 3HAC2105-3

Motor Axes 1-3

Sheet Number of sheets Revision

5
9
01

Circuit Diagram 3HAC2105-3

Axis 4

Sheet Number of sheets Revision

6
9
01

Circuit Diagram 3HAC2105-3

Feed-Back Axes 1-4

Sheet Number of sheets Revision

7
9
01

Circuit Diagram 3HAC2105-3

Customer Connection: Option

Vacuum

Blow Release

Pressure Switch

Sheet Number of sheets Revision

8
9
01

Circuit Diagram 3HAC2105-3

Ejector Unit: Option

Sheet Number of sheets Revision

9
01
9

Circuit Diagram 3HAC2105-3

External Connections: Options