User manual

Barrett Technology, Inc.
BA4-310 System User Manual Version 1.1
52
Figure 27 - 1
st
-Stage Elbow Cables Through Arm Link
[ ] 7. Using a rubber-tipped spring clamp, secure the pulley/pinions together to prevent
unwanted rotations while the Joint 4 motor pinion is being cabled.
[ ] 8. Still facing the arm from the right hand side, rotate joint 2 clockwise until it comes to
rest on its stop.
CAUTION !!!: Be sure that the free cable ends that were dropped through the internal
guide are not damaged when joint 2 is rotated.
This rotation will increase access to the motor pinion of joint 4 via the circular hole on
the bottom of the differential shown in Figure 28.