User manual

Barrett Technology, Inc.

BA4-310 System User Manual Version 1.1

which 2

-stage pinion termination was used first). Be careful not to cross or kink the

cable. While wrapping each turn, keep previous turns tight and in position with a finger

or tape. Temporarily tape the cable wraps in place when done.

[ ] 2.

Take the free end of cable and connect its brass lug to one of the two terminations on

the inner motor pinion.

By rotating the motor pinion, wind the cable ½ turn through the second (unused)

termination on the inner motor pinion. Then tightly and smoothly wind the cable into

the motor pinion grooves until no loose cable remains. Temporarily tape the cable on

the inner motor pinion firmly so that it will not unwind.

[ ] 3.

Attach one brass lug of a second 1829mm 1

-stage cable to the bottom termination in

the pulley portion of the left pulley/pinion.

While this pulley/pinion remains immobilized by the tape, thread the cable 7-½ to 8-½

turns around the pulley. Be careful not to cross or kink the cable. While making each

turn, keep previous turns tight and in position with a finger or tape. Temporarily tape

the cable wraps in place when done.

[ ] 4.

Remove the pre-tensioning worm from the outer motor pinion.

[ ] 5.

Place the brass lug at the free end of the cable into the termination slot on the outer

motor pinion. Make sure the lug is fully seated in the termination, then, keeping the

inner pinion stationary, wind the free cable onto the outer pinion with a right-hand pitch

by rotating only the outer pinion. Maintain a slight axial force on the outer pinion

during this step so that the seam between it and the inner pinion does not open.

[ ] 6.

Lubricate (lightly) the pre-tensioning worm with appropriate grease. Barrett

Technology, Inc. recommends Mobil-1 synthetic grease.

Insert the worm into the outer

motor pinion and turn it with the hex wrench (thereby rotating the tensioner

mechanism) until the last brass lug is fully seated in the outer motor pinion termination

and any slack in the free cable length has been taken up on the motor pinion.

[ ] 7.

If wrapped correctly, the last cable should not wind off of the outer motor pinion onto

the grooved inner motor pinion. If the cable does wind across the seam between the

outer and inner motor pinions: unwrap the outer motor pinion, add another wrap to the

left pulley, and repeat steps 4 through 6.

[ ] 8.

Very slowly and carefully rotate the base joint while guiding the cables from all pulleys

surfaces onto all grooved pinions. Rotate the joint slowly to one base stop and back to

the other. This step adjusts the wide pitches on the pulley surfaces to match the

corresponding tight pitches of the pinion grooves.