WAM™ Wrist – Cable Maintenance Guide [email protected]
www.barrett.com
© 2008 Barrett Technology®, Inc.
Document: D1004, Version: AG.00
Page 11 of 13
6 M5 and M6 Stages 1 and 2
6.1 Tools and Tips
•
Cabling Stages 1 and 2 is a virtually identical process for both the M5 and the M6 cable circuits.
•
All pictures in this section are pictures of the M6 circuit; however, they should also approximate the appearance of the M5
circuit.
•
In this section, any quantities that differ between the M5 circuit and the M6 circuit will appear in the form: (<M5
quantity>/<M6 quantity>)
Figure 15 – Stage-1 Preinstallation
Figure 16 – Stage-2 Cabling
Figure 17 – Taping the Stage-2 Lower-
Pinion
6.2 M5/M6 Stage-1 Preinstallation
□
1.
Insert the Stage-1 Cable (B3477) into the lower anchor of the Stage-1
pulley.
□
2.
Wrap all of the cable onto the section of the pulley below the split by
turning the pulley clockwise, while keeping tension on the cable.
□
3.
Tape the cable to the pulley to prevent the cable from unraveling (see
Figure 15).
6.3 M5/M6
Stage-2
The cabling circuit for the second stage is represented in Figure 16.
□
1.
Begin with a 2nd-stage cable (B3478). Attach one end to the top anchor of
the 2nd-stage pulley.
□
2.
Wrap the cable around the pulley (1.75/2) times, using tape to hold the
wraps.
□
3.
Transition over to the 2nd-stage pinion using an open-wrap. Attach the free
end of the cable to the bottom anchor of the pinion. Slowly and evenly wind
on the cable by rotating the pinion until the cable is tight (after
approximately ½ of a turn the cable should pass over the flat section of the
anchor-separator).
□
4.
Immobilize the bottom segment of the pinion with tape to prevent Stage-2
from unwinding (see Figure 17).
□
5.
Attach one end of another 2nd-stage cable (B3478) to the bottom anchor of
the 2nd-stage pulley.
□
6.
Wrap the cable around the pulley (5/5.5) times using tape to hold the wraps
if necessary.
□
7.
Transition over to the 2nd-stage pinion using an open-wrap. Attach the
remaining free end of the cable to the top anchor of the pinion and rotate
the top segment of the pinion only (after approximately ½ of a turn the
cable should pass over the flat section of the anchor-separator). 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 Stage-2 from
unraveling. Stage-2 should now look like Figure 18.
Figure 18 – Stage-2 Final Configuration
