User manual

Barrett Technology, Inc.

BA4-310 System User Manual Version 1.1

pinion, hold each wrap with your fingers to keep the cable from unwinding. At the end of each

cabling step, one or two pieces of masking tape keep cables temporarily in place. Other helpful

tools are listed in Table 11.

Table 11 – Arm Cabling Tools

Tool Use

½-inch masking tape Temporarily secure cable wraps

Blunt tweezers Manipulating cables in small spaces

1-2 Rubber-tipped mild spring clamps Temporarily securing Joint 4 parts during cabling

5/32” hex torque-driver Pre-tensioning cable circuits

5.3 Base Joint (J1 & M0)

First remove the cover around the base by unclipping the four silver draw-latches. Then,

disconnect all circular connectors from the connector plate at the back of the Arm. Next,

remove the single screw in the top-center of the connector plate. The drive cables for this axis

are made accessible by tilting this connector panel down. Visible behind the connector plate,

as shown in Figure 15, are the base-motor pinion, left and right pulley/pinions, and the larger-

diameter second-stage pulley.

Figure 15 - Base Cable Circuits