User manual

Barrett Technology, Inc.
BA4-310 System User Manual Version 1.1
60
Figure 32 - Left Side 3
rd
-Stage Cabling
[ ] 1. Begin with a 559mm 3
rd
-stage cable. Attach one end to the top termination in the upper
3
rd
-stage pulley.
[ ] 2. Wrap the cable around the pulley 2 times using tape to hold the wraps if necessary.
[ ] 3. Transition over to the left side pinion using a cross-wrap (the split in the surface of the
left side pinion is closer to the top of the wrist that that on the right side). Attach the
free end of the cable to the bottom termination of the pinion. Wind on the cable by
rotating the pinion. The first turn should track directly up to the pin in the pinion
surface, and all other turns should lie on the pinion surface above the pin but below the
pinion split. Rotate the pinion until the cable is tight.
[ ] 4. Immobilize the bottom of the pinion with tape to prevent cable unwinding.
[ ] 5. Attach one end of another 559mm 3
rd
-stage cable to the lower termination hole in the
upper 3
rd
-stage pulley. Wrap the cable up the pulley 3 times using tape to hold each
wrap as necessary. This cable will transition above the first cable, so it must wrap
between the wraps of the first. To avoid scrubbing of one cable against the other, two
wraps should lie between the transition points.
[ ] 6. Cross over to the pinion using a cross-wrap. Attach the free end of the cable to the
termination hole in the top of the pinion and rotate the top segment of the pinion only.
Guide the cable carefully to ensure that the cable winds on smoothly and evenly above
the pinion split. Rotate the pinion until the cable is tight.
[ ] 7. Immobilize the top of the pinion with tape to prevent cable unwinding.