User manual
Barrett Technology, Inc.
BA4-310 System User Manual Version 1.1
64
6.4.2.2 2
nd
Stage
[ ] 1.
Begin with a 610mm 2
nd
-stage cable. Attach one end to the top termination of the right
2
nd
-stage pulley.
[ ] 2.
Wrap the cable around the pulley 2 times, using tape to hold the wraps if necessary.
[ ] 3.
Transition over to the right 2
nd
-stage pinion using an open-wrap. Attach the free end of
the cable to the bottom termination of the pinion. Slowly and evenly wind on the cable
by rotating the pinion until the cable is tight.
[ ] 4.
Immobilize the bottom segment of the pinion with tape to prevent unwinding of both
the 2
nd
and 3
rd
stages.
[ ] 5.
Attach one end of another 610mm 2
nd
-stage cable to the bottom termination in the right
2
nd
-stage pulley.
[ ] 6.
Wrap the cable around the pulley 5 times using tape to hold the wraps if necessary.
[ ] 7.
Transition over to the right 2
nd
-stage pinion using an open-wrap. Attach the remaining
free end of the cable to the top termination 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. Rotate the pinion until the cable is tight.
[ ] 8.
Immobilize the top of the pinion with tape to prevent unwinding of both the 2
nd
and 3
rd
stages.
6.4.2.3 1
st
Stage
[ ] 1.
Remove the tensioner worm from the outer motor pinion on the left side of the wrist.
[ ] 2.
Begin with a 965mm 1
st
-stage cable. Attach one end to the top termination of the right
1
st
-stage pulley.
[ ] 3.
Wrap the cable around the pulley 2 times, using tape to hold the wraps if necessary.
[ ] 4.
Transition over to the right 1
st
-stage pinion (motor pinion) using an open-wrap. Attach
the free end of the cable to the bottom termination of the pinion. Slowly and evenly
wind on the cable by rotating the pinion until the cable is tight.
[ ] 5.
Immobilize the bottom (inner) segment of the pinion with tape to prevent unwinding of
all circuit stages.
[ ] 6.
Attach one end of another 965mm 1
st
-stage cable to the bottom termination in the right
1
st
-stage pulley.