irb 940 product reference 3hac022034-001_references_rev-_en

8/11/2019 IRB 940 Product Reference 3HAC022034-001_references_rev-_en

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Product manual (part 2 of 2), reference information

Parallel robot

IRB 940 TriceptM2000, M2004


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Product manual (part 2 of 2), reference information

IRB 940 Tricept

M2000

M2004

Document ID: 3HAC 022034-001

Revision: -


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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 thatmay appear in this manual.

Except as may be expressly stated anywhere in this manual, nothing herein shall be

construed as any kind of guarantee or warranty by ABB for losses, damages to persons

or property, fitness for a specific purpose or the like.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 ABBs writtenpermission, and contents thereof must not be imparted to a third party nor be used forany unauthorized purpose. Contravention will be prosecuted.

Additional copies of this manual may be obtained from ABB at its then current charge.

Copyright 2005 ABB All right reserved.

ABB Automation Technologies AB

RoboticsSE-721 68 Vsters

Sweden


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Table of Contents

3

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Product documentation, M2000/M2000A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Product documentation, M2004 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

1 Reference information 111.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

1.2 Applicable Safety Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

1.3 Unit conversion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

1.4 Screw joints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

1.5 Weight specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

1.6 Document references . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

1.7 Toolkits. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

1.8 Lifting equipment and lifting instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

2 Spare part list 23

2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

2.2 Spare part list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

3 Exploded views 27

3.1 Wrist unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

4 Circuit Diagram 29

4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

4.2 =M1/2, Potentials from control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

4.3 =M1/3, Axis 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

4.4 =M1/4, Axis 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

4.5 =M1/5, Axis 3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

4.6 =M1/6, Axis 4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

4.7 =M1/7, Axis 5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 354.8 =M1/8, Axis 6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

4.9 =M1/9, Serial Measure board, Earth connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

4.10 =M1/10, Brake release unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

Index 39
http://0.0.0.0/http://0.0.0.0/


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Table of Contents

4


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Overview

53HAC 022034-001 Revision: -

Overview

About this manual

This manual contains reference information for all procedures in part 1: Product manual,

procedures.

Usage

This manual should be used during:

installation

maintenance work

repair work.

Who should read this manual?

This manual is intended for:

installation personnel

maintenance personnel

repair personnel.

Prerequisites

The reader should...

be a trained maintenance/repair craftsman

have the required knowledge of mechanical and electrical installation/repair/

maintenance work.

Organization of chapters

The manual is organized in the following chapters:

Chapter Contents

Reference information Useful information when performing installation, maintenance

or repair works. Includes lists of necessary tools, additionaldocuments, safety standards, etc.

Spare part / Part list Complete spare part lists and complete lists of robotcomponents, shown in the exploded views.

Exploded views / Foldouts Detailed illustrations of the robot with reference numbers to thepart list.

Circuit diagram Circuit diagram for the robot.

Continues on next page


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Overview

3HAC 022034-001 Revision: -6

Revisions

Revision Description- First edition.

Replaces the previous manuals:

Installation and commissioning manual

Maintenance manual

Repair manual, part 1

Repair manual, part 2

Changes made in the material from the previous manuals:

New format (A4)

Information about the controller is moved to separate controller

product manuals.

Documentation is completed with illustrations and instructions.

Various corrections and editing made in text and figures due to

technincal revisions, changes in the toolkit, etc.

Continued


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Product documentation, M2000/M2000A

73HAC 022034-001 Revision: -

Product documentation, M2000/M2000A

General

The complete product documentation kit for the M2000 robot system, including controller,

robot and any hardware option, consists of the manuals listed below:

Hardware manuals

All hardware, robots and controller cabinets, will be delivered with a Product manualwhich

is divided into two parts:

Product manual, procedures

Safety information

Installation and commissioning (descriptions of mechanical installation, electrical

connections and loading system software)

Maintenance (descriptions of all required preventive maintenance procedures

including intervals)

Repair (descriptions of all recommended repair procedures including spare parts)

Additional procedures, if any (calibration, decommissioning)

Product manual, reference information

Reference information (article numbers for documentation referred to in Product

manual, procedures, lists of tools, safety standards)

Part list

Foldouts or exploded views

Circuit diagrams

Software manuals

The software documentation consists of a wide range of manuals, ranging from manuals for

basic understanding of the operating system to manuals for entering parameters during

operation.

A complete listing of all available software manuals is available from ABB.

Controller hardware option manual

Each hardware option for the controller is supplied with its own documentation. Each

document set contains the types of information specified below:

Installation information

Repair information

Maintenance information

In addition, spare part information is supplied for the entire option.


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Product documentation, M2004

3HAC 022034-001 Revision: -8


General

The robot documentation may be divided into a number of categories. This listing is based on

the type of information contained within the documents, regardless of whether the products

are standard or optional. This means that any given delivery of robot products will not contain

alldocuments listed, only the ones pertaining to the equipment delivered.

However, all documents listed may be ordered from ABB. The documents listed are valid for

M2004 robot systems.

Hardware manuals

All hardware, robots and controller cabinets, will be delivered with a Product manualwhich

is divided into two parts:

Product manual, procedures

Safety information

Installation and commissioning (descriptions of mechanical installation, electrical

connections and loading system software)

Maintenance (descriptions of all required preventive maintenance procedures

including intervals)

Repair (descriptions of all recommended repair procedures including spare parts)

Additional procedures, if any (calibration, decommissioning)

Product manual, reference information

Reference information (article numbers for documentation referred to in Productmanual, procedures, lists of tools, safety standards)

Part list

Foldouts or exploded views

Circuit diagrams

RobotWare manuals

The following manuals describe the robot software in general and contain relevant reference

information:

RAPID Overview: An overview of the RAPID programming language.

RAPID reference manual part 1: Description of all RAPID instructions.

RAPID reference manual part 2: Description of all RAPID functions and data types.

Technical reference manual - System parameters: Description of system

parameters and configuration workflows.



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93HAC 022034-001 Revision: -

Application manuals

Specific applications (e.g. software or hardware options) are described in Application

manuals. An application manual can describe one or several applications.

An application manual generally contains information about:

The purpose of the application (what it does and when it is useful)

What is included (e.g. cables, I/O boards, RAPID instructions, system parameters)

How to use the application

Examples of how to use the application

Operators manuals

This group of manuals is aimed at those having first hand operational contact with the robot,

i.e. production cell operators, programmers and trouble shooters. The group of manuals

includes: Getting started - IRC5 and RobotStudio Online

Operators manual - IRC5 with FlexPendant

Operators manual - RobotStudio Online

Trouble shooting manualfor the controller and robot

Continued


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3HAC 022034-001 Revision: -10


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1 Reference information

1.1. Introduction

113HAC 022034-001 Revision: -


1.1. Introduction

General

This chapter includes general information, complementing the more specific information in

the Product manual (part 1 of 2), procedures.


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1.2. Applicable Safety Standards

3HAC 022034-001 Revision: -12

1.2. Appl icable Safety Standards

Standards

The robot is designed in accordance with the requirements of:

EN 292-1, Safety of macheniry, basic terminology

EN 292-2, Safety of machinery, technical principles/specifications, emergency stop

EN 418, Safety of machinery, emergency stop equipment

EN 563, Safety of machinery, temperatures of surfaces

EN 614-1, Safety of machinery, ergonomic design principles

EN ISO 10218-1:2006, Robots for industrial environment - Safety requirements - Part

1 Robot

EN ISO 60204-1:2005, Safety of machines - Electrical equipment for machines - Part

1 General requirements

EN 50081-2EMC, Generic emission standard. Part 2: Industrial environment

(EN 55011 Class ARadiated emission enclosure)

(EN 55011 Class AConducted emission AC Mains)

EN 61000-6-2EMC, Generic standards - Immunity for Industrial environments

(EN 61000-4-2Electrostatic discharge immunity test)

(EN 61000-4-3Radiated, radio-frequency, electromagnetic field immunity test)

(EN 61000-4-4Electrical fast transient/burst immunity test)

(EN 61000-4-5Surge immunity test)

(EN 61000-4-6Immunity to conducted disturbances, induced by radio-frequency

fields)

(EN 61000-4-11Voltage dips, short interruptions and voltage variations immunity test)


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1.3. Unit conversion

133HAC 022034-001 Revision: -

1.3. Unit conversion

Converter table

Use the table below to convert units used in this manual.

Quantity Units

Length 1 m 3.28 ft 39.37 in

Weight 1 kg 2.21 lb

Pressure 1 bar 100 kPa 14.5 psi

Force 1 N 0.738 lbf

Moment 1 Nm 0.738 lbf-tn

Volume 1 L 0.264 US gal


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1.4. Screw joints

3HAC 022034-001 Revision: -14

1.4. Screw joints

General

This section details how to tighten the various types of screw joints on the robot and the

controller.

The instructions and torque values are valid for screw joints comprised of metallic materials

and do not apply to soft or brittle materials.

UNBRAKO screws

UNBRAKO is a special type of screw recommended by ABB for certain screw joints. It

features special surface treatment (Gleitmo as described below), and is extremely resistant to

fatigue.

Whenever used, this is specified in the instructions, and in such cases, no other type of

replacement screw is allowed! Using other types of screws will void any warranty and may

potentially cause serious damage or injury!

Gleitmo treated screws

Gleitmo is a special surface treatment to reduce the friction when tightening the screw joint.

Screws treated with Gleitmo may be reused 3-4 times before the coating disappears. After

this the screw must be discarded and replaced with a new one.

When handling screws treated with Gleitmo, protective gloves of nitrile rubber type should

be used.

Screws lubricated in other waysScrews lubricated with Molycote 1000 should only be used when specified in the repair,

maintenance or installation procedure descriptions.

In such cases, proceed as follows:

1. Apply lubricant to the screw thread.

2. Apply lubricant between the plain washer and screw head.

3. Tighten to the torque specified in section Tightening torquebelow. Screw dimensions

of M8 or larger must be tightened with a torque wrench. Screw dimensions of M6 or

smaller may be tightened without a torque wrench if this is done by trained and

qualified personnel.

Lubricant Art. no.

Molycote 1000 (molybdenum disulphide grease) 1171 2016-618



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1.4. Screw joints

153HAC 022034-001 Revision: -

Tightening torque

Before tightening any screw, note the following:

Determine whether a standard tightening torque or special torque is to be applied. The

standard torques are specified in the tables below. Any special torques are specified in

the Repair, Maintenance or Installation procedure description. Any special torque

specified overrides the standard value.

Use the correct tightening torquefor each type of screw joint.

Only use correctly calibratedtorque keys.

Always tighten the joint by hand,and never use pneumatical tools.

Use the correct tightening technique, i.e. do notjerk. Tighten the screw in a slow,

flowing motion.

Maximum allowed total deviation from the specified value is 10%!

The table below specifies the recommended standard tightening torque for oil-lubricated

screwswith slotted or cross-recess head screws.

The table below specifies the recommended standard tightening torque for oil-lubricated

screwswithAllen head screws.

DimensionTightening torque (Nm)Class 4.8, oil-lubricated

M2.5 0.25

M3 0.5

M4 1.2

M5 2.5

M6 5.0

Dimension

Tightening torque(Nm)Class 8.8, oil-lubri-cated



M5 6 - -

M6 10 - -

M8 24 34 40

M10 47 67 80

M12 82 115 140

M16 200 290 340

Continued



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1.4. Screw joints

3HAC 022034-001 Revision: -16

The table below specifies the recommended standard tightening torque forMolycote-

lubricated screwswithAllen head screws.

The table below specifies the recommended standard tightening torque for water and air

connectors when oneor bothconnectors are made of brass.

DimensionTightening torque (Nm)Class 10.9, Molycote-lubricated

Tightening torque (Nm)Class 12.9, Molycote-lubricated

M8 28 34

M10 55 66

M12 96 115

M16 235 280

DimensionTightening torqueNm - Nominal

Tightening torqueNm - Min.

Tightening torqueNm - Max.

1/8 12 8 15

1/4 15 10 20

3/8 20 15 25

1/2 40 30 50

3/4 70 55 90

Continued


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1.5. Weight specifications

173HAC 022034-001 Revision: -

1.5. Weight specifications

Definition

In all repair and maintenance procedures, weights of the components handled are sometimes

specified. All components exceeding 22 kg (50 lbs) are high-lighted in this way.

To avoid injury, ABB recommends the use of lifting equipment when handling components

with a weight exceeding 22 kg. A wide range of lifting tools and devices are available for

each manipulator model.

Example

Below is an example of how a weight specification is presented:

CAUTION!

Caution!

The motor weighs 32 kg! All lifting equipment used must be sized accordingly!


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1.6. Document references

3HAC 022034-001 Revision: -18


General

The contents of this manual may include references to additional documentation necessary to

perform certain procedures. This section specifies the article numbers for the referenced

documentation.

Product specification, robot

The product specification includes generic technical data. The specification listed below is

the English version.

Product manuals, controller

The product manuals include information about installation and service activities. The table

below specifies the article numbers of the product manuals for all controller models. The part

number -001 is the English version.

Operators manual

The operators manual contains instructions for daily operation of robot systems. The table

below specifies the article numbers of the operators manuals for different robot systems.

Calibration manuals

Document name Document ID

Product specification 3HAC 17143-1 (M2000)3HAC 025578-001 (M2004)

Document name Document ID

Product manual, S4Cplus M2000 3HAC 021333-001Product manual, S4Cplus M2000A 3HAC 022419-001

Product manual, IRC5 M2004 3HAC 021313-001

Document name Document ID Note

Users guide (S4Cplus) 3HAC 7793-1 Contains instructions for daily operationof S4Cplus based robot systems.

Operators manual (IRC5) 3HAC 16590-1

Document name Document ID Note

Instructions for Levelmetercalibration (alternative method)

3HAC 022907-001

Enclosed with the Levelmeter 2000.

CalibWare 2.0 Users Guide 3HAC 16090-1 Manual for Absolute Accuracy calibration.



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193HAC 022034-001 Revision: -

Additional documentation

Document name Document ID NoteInstallation and servicemanual, SpotPack andDressPack

3HAC 17667-1 (S4Cplus M2000/M2000A)

3HAC 025058-001 (IRC5 M2004)

External axes 3HAC 9299-1 S4Cplus based robot system.

Additional axes 3HAC 021395-001 IRC5 based robot systems.

Continued


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1.7. Toolkits

3HAC 022034-001 Revision: -20

1.7. Toolkits

General

This section details specific toolkits, necessary when performing service procedures.

Lubrication toolkit, 3HAC 020925-001

The lubrication toolkit, 3HAC 020925-001, includes following parts:

Calibration toolkit, 3HAC 020886-001

The calibration toolkit, 3HAC 020886-001, includes following parts:

Service toolkit, 3HAC 022232-001

The service toolkit, 3HAC 022232-001, includes following parts:

Tool Qty Usage

Grease gun Flexigun K32 S33 2

Quick reversing nozzle 2

Grease nozzle-angel, 6 mm 2

Grease: Klberlub M61-502 orKlberplex BEM 34-132

- Lubrication of actuators.

Grease: Klber Isoflex NBU-15 - Lubrication of linear bearings.

Material safety data sheet 1

Material safety data sheet 1

Tool Qty UsageDigital indicator 1

Magnetic stand 1

Calibration tool for wrist 1

Calibration tool for actuator 1

Tool case 1

Tool Qty Usage

Clamp 2

Ball ended hexagon key wrench 1

Loctite 243 10 ml

Loctite 574 50 ml

Extractor 160 mm 1

Allen key 14 special 1

Anchoring tool 1

Mounting tool for crossed roller bearing 1

MC6S 6x30 12.9 2



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1.7. Toolkits

213HAC 022034-001 Revision: -

MC6S 6x40 12.9 2

Punch tool for crossed roller bearing 1 Repair of cross roller bearing.

Ring to crossed roller bearing 10 Holds together the cross rollerbearing.

Hook wrench 2

Extractor plate 1

Screw MC6S 8x50 2

Tool kit bag 1

Tool Qty Usage

Continued


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1.8. Lifting equipment and lifting instructions

3HAC 022034-001 Revision: -22

1.8. Lifting equipment and lifting instructions

General

Many repair and maintenance activities require different pieces of lifting equipment, which

are specified in each procedure.

The use of each piece of lifting equipment is notdetailed in the activity procedure, but in

the instruction delivered with each piece of lifting equipment.

This implies that the instructions delivered with the lifting equipment should be stored for

later reference.


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2 Spare part list

2.1. Introduction

233HAC 022034-001 Revision: -

2 Spare part list

2.1. Introduction

Definitions

This chapter specifies all spare parts and replacement articles of the robot.


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2 Spare part list

2.2. Spare part list

3HAC 022034-001 Revision: -24


General

The article numbers in this section are also listed in the procedures that describe how the

article is replaced on the robot.

Illustration, spare parts

xx0400000848



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2 Spare part list


253HAC 022034-001 Revision: -

Spare part list

Item Description Spare part no. Note

1 Actuator with motor 3HAC 020886-001 Labels included for

fitting on site.

2 Actuator 3HAC 17734-1

3 Lower joint 3HAC 17154-1

4 Motor axes 1-2-3 3HAC 17152-1 Label included forfitting on site.

5 Wrist 3HAC 17155-1

6 Motor axis 4 3HAC 17153-1

8 Cross roller bearing 3HAC 17744-1

9 Linear bearing kit 3HAC 17745-1

11 Cable chain 3HAC 17750-1

12 Coupling axes 1-2-3 3HAC 17751-1

13 Distribution box -

14 Center unit 3HAC 17156-1

15 Over pressure system 3HAC 17753-1

16 Filter, over pressure system 3HAC 17158-1

17 Lamp with cabling, over

pressure system

3HAC 17755-1

18.1 Cable axis 1, power 7m 3HAC 17756-1


18.3 Cable axis 3, power 7m 3HAC 17756-318.4 Cable axis 4, power 10m 3HAC 17756-4



19.1 Cable axis 1, signal 7m 3HAC 17757-1






21 Cable axis 4 internal 3HAC 17746-122 Cable, internal axes 5, 6 3HAC 17746-2

23 Spiral cable, axes 5-6 3HAC 17157-1

Battery 3HAC 16831-1

Serial measurement board 3HAC 16014-1

Continued


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2 Spare part list


3HAC 022034-001 Revision: -26


29/44

3 Exploded views


273HAC 022034-001 Revision: -

3 Exploded views


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3 Exploded views

3.1. Wrist unit

3HAC 022034-001 Revision: -28

3.1. Wrist unit

Exploded wiew

xx0400001035

Parts

Item Qty Description Art. no. Spare part Dimension

A 1 Cross roller bearing 3HAC 17744-1

B 1 Ring -

C 1 O-ring - 129.5 x 3

D 1 Wrist unit 3HAC 17155-1 XE 12 Screw - MC6S 6 x 20

12.9


31/44

4 Circuit Diagram

4.1. Introduction

293HAC 022034-001 Revision: -

4 Circuit Diagram

4.1. Introduction

Definitions

This chapter contains all the circuit diagrams for the IRB 940 Tricept.


32/44

4 Circuit Diagram

4.2. =M1/2, Potentials from control

3HAC 022034-001 Revision: -30

4.2. =M1/2, Potentials from control

en0200000410


33/44

4 Circuit Diagram

4.3. =M1/3, Axis 1

313HAC 022034-001 Revision: -

4.3. =M1/3, Axis 1

en0200000411


34/44

4 Circuit Diagram

4.4. =M1/4, Axis 2

3HAC 022034-001 Revision: -32

4.4. =M1/4, Axis 2

en0200000412


35/44

4 Circuit Diagram

4.5. =M1/5, Axis 3

333HAC 022034-001 Revision: -

4.5. =M1/5, Axis 3

en0200000414


36/44

4 Circuit Diagram

4.6. =M1/6, Axis 4

3HAC 022034-001 Revision: -34

4.6. =M1/6, Axis 4

en0200000415


37/44

4 Circuit Diagram

4.7. =M1/7, Axis 5

353HAC 022034-001 Revision: -

4.7. =M1/7, Axis 5

en0200000416


38/44

4 Circuit Diagram

4.8. =M1/8, Axis 6

3HAC 022034-001 Revision: -36

4.8. =M1/8, Axis 6

en0200000417


39/44

4 Circuit Diagram

4.9. =M1/9, Serial Measure board, Earth connections

373HAC 022034-001 Revision: -

4.9. =M1/9, Serial Measure board, Earth connections

en0200000418


40/44

4 Circuit Diagram

4.10. =M1/10, Brake release unit

3HAC 022034-001 Revision: -38

4.10. =M1/10, Brake release unit

en0200000419


41/44

Index

39

C

calibration manual, article number18

D

documentationarticle numbers, other manuals18calibration18controller18robot system18

O

operators manual, article number18

P

product manual, controller, article number18product specification, article number18


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Index

40


43/44


44/44

3HAC0

22034-001,

Revision-,en

irb 940 product reference 3hac022034-001_references_rev-_en

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