User manual

Barrett Technology, Inc.
BA4-310 System User Manual Version 1.1
29
Table 8 – Wrist Cable Specifications
Qty. Cable
Type
Termination
Type
Length
[mm(in)]
Stage Motor
Axis
Notes
4 2019 401-B-1 965 (38) 1
st
4 & 5 -
4 2024 401-B-1 610 (24) 2
nd
4 & 5 -
4 2047 401-B-3 559 (22) 3
rd
4 & 5 -
1 2054 401-B-3* 96±5 (3.8) Differential N/A level #1 (smallest diameter)
1 2054 401-B-3* 106±5 (4.2) Differential N/A level #2 (next largest diameter)
1 2054 401-B-3* 132±5 (5.2) Differential N/A level #3 (next largest diameter)
1 2054 401-B-3
*
152±5 (6.0) Differential N/A level #4 (largest diameter)
Table 9 – Wrist Cable Details
Cable Type
2019 2024 2047 2054
Cable Outside Diameter [mm (in)] .457 (.018) .610 (.024) 1.12 (.044) 1.37 (.054)
Rated (Unfatigued) Breaking Strength [kgf (lbf)] 18.1 (40) 31.8 (70) 77.1 (170) 113 (250)
Fiber Construction 7x19 7x19 7x49 7x49
Termination Type 401-B-1 401-B-1 401-B-3 405-B-3*
Uncrimped Termination ID [mm (in)] .79 (.031) .79 (.031) 1.32 (.052) 1.4 (.055)*
Uncrimped Termination Length [mm (in)] 3.97 (.156) 3.97 (.156) 3.97 (.375) 3.97 (.375)
Max. Crimped OD of Termination [mm (in)] 2.29 (.090) 2.29 (.090) 3.56 (.140) 3.56 (.140)
Crimping Tool #T-185 #T-185 #T-185 #T-185
Cable Cutter #C-7 #C-7 #C-7 #C-7
Table 10 – Simple Tools for Making Cables
Propane or Butane Torch (for annealing)
C-7 Cable Cutter
T-185 Crimping Tool
T-188 Crimping Tool (for 415-B terminations only)
Steel File or Grinder
Length Measuring Device (
ex.
tape measure)
Black Felt-tip Pen
IMPORTANT – always wear eye protection when making cables
*
Inner diameter enlarged to
∅
1.4 (.055) prior to crimping