User manual

Barrett Technology, Inc.
BA4-310 System User Manual Version 1.1
43
[ ] 13. Next, attach the shorter end of the inboard cable into the remaining outboard
termination slot of the left pinion. It is important that the cables NEVER cross during
their track through the circuit. Check that the outer-most single cable of the pair on the
pulley remains the outer-most cable on the pinion and that the innermost single cable on
the pulley remains the innermost cable. This will insure proper cable path transitioning
from the pulley to the pinion.
[ ] 14. Slowly wind the pair of cables onto the pinion with a tight pitch, placing a finger over
the cable against the pinion so that slack does not develop as you wind it on. Unlike
the case of the right pinion, be sure that every one of the scalloped grooves is filled.
When all of the cable is wound on the pinion, temporarily secure the cables to the
pinion with a piece of masking tape to maintain organization in the cable pair and tape
the pulley-pinion to the differential supports to prevent inadvertent rotation.
Cable the 1
st
-stage for this cable circuit before proceeding to the other 2
nd
-stage circuit
for the differential.
IMPORTANT: Do not move joints 2 or 3 until the 1
st
-stage is cabled!
5.5.2 1
st
Stage
Note: during 1
st
-stage cable installation, the tapes temporarily holding the pulley/pinions may
be moved to better locations when necessary. Be careful not to let the 2
nd
-stage cables
suddenly unwind.
[ ] 1. Remove the pre-tensioning worm from the outer motor pinion.
[ ] 2. Take one end of a 2286mm 1
st
-stage cable and attach the brass lug to the termination
furthest from the vertical support on the right 1
st
-stage pulley.
[ ] 3. While this pulley/pinion remains immobilized by the tape, wrap the cable 2 turns
around the pulley with a right-handed pitch. Be careful not to cross the wraps or
damage the cable. While wrapping each turn, keep previous turns tight and in position
with your fingers or a piece of tape. Temporarily tape the wraps in place when done.
[ ] 4. Take the remaining end of cable and connect its brass lug to one of the two terminations
on the inner motor pinion (closest to the vertical support).
[ ] 5. Tightly and smoothly wind the remainder of the cable onto the motor pinion by rotating
the pinion and guiding the cable into the surface grooves with your fingers. Temporarily
tape the cable on the inner motor pinion so that it maintains some tension against the
right 1
st
-stage pulley. Be sure that the 2
nd
-stage pinion is still firmly taped so that
tension is not lost in the 2
nd
-stage.