User manual

Barrett Technology, Inc.
BA4-310 System User Manual Version 1.1
58
Vertical steps
Differential Top
Differential Bottom
Level #1 Cable
Level #2 Cable
Level #3 Cable
Level #4 Cable
Horizontal Steps
Figure 31 - Wrist Differential Cable Circuits
[ ] 1. Remove both worms (set screws) from the worm gear tensioners, which are integrated
into two of the vertical steps. Set them aside.
[ ] 2. Begin with the Level #1 cable (the shortest length cable). Insert one end of the cable to
the termination in the smallest diameter horizontal step in the differential top.
[ ] 3. Bring the cable around ½ turn, then cross onto the smallest vertical step by either
rotating the wrist pitch or threading the cable through the gap between the steps. Secure
the free end of the cable in the vertical step’s termination.
[ ] 4. Put one end of the Level #2 cable in the termination in the second smallest horizontal
step in the differential top.
[ ] 5. Bring the cable around ½ turn, then cross over to the vertical step of the same diameter.
Rotate the vertical step (the tensioner worm is not yet installed) as necessary to allow
the second brass lug to be inserted into the termination on the second step, then rotate it
back to take up any slack.
[ ] 6. Insert a tensioner worm into the worm hole in the Level #2 vertical step and tighten
with the torque-driver to 0.23 N-m (32 oz-in). Remove any tape used as an aid in the
preceding steps.
[ ] 7. Insert one end of the Level #3 cable into the termination on the third smallest diameter
horizontal step in the differential bottom.