WAM™ Wrist – Cable Maintenance Guide [email protected]
www.barrett.com
© 2008 Barrett Technology®, Inc.
Document: D1004, Version: AG.00
Page 12 of 13
Figure 19 – Stage-1 Cabling
Figure 20 – Taping Stage-1 Lower-Pinion
6.4 M5 and M6 Stage-1
The cabling circuit for the first stage is represented in Figure 19.
□
1.
Begin with a 1st-stage cable (B3477). Attach one end to the top anchor of
the 1st-stage pulley.
□
2.
Wrap the cable around the pulley about (1.75/1.25) times, using tape to
hold the wraps. Make sure that the cable does not wrap above the pin on
the upper pulley.
□
3.
Transition over to the 1st-stage pinion (motor 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.
□
4.
Immobilize the bottom (inner) segment of the pinion with tape to prevent
Stage-1 from unwinding (see Figure 20).
□
5.
Unwrap approximately ½ of a turn of the cable that was pre-installed in
Section 6.2 while keeping the rest of the cable taped in place on the pulley
(about 7 turns).
□
6.
Transition over to the M6-Side 1st-stage pinion using an open-wrap. Attach
the remaining free end of the cable to the anchor on the Clutch Housing
(which houses the one-way clutch) and rotate the Clutch Housing to take
up the slack. Guide the cable carefully to ensure that the cable winds on
smoothly and evenly. Rotate the Clutch Housing until the cable is tight. It
is normal that the Clutch Housing may be a bit difficult to rotate. The stage
should now look like Figure 21.
□
7.
Remove all tape except for the tape across the stage 3 pinion split.
Figure 21 – Stage-1 Final Setup
6.5 Pre-tensioning M5/M6 Circuit
Before pre-tensioning a particular cable circuit, the cables on every stage of a transmission should be positioned on the pulley and
pinion, as shown in Figure 22. All of one cable should be completely above the split in the pulley and below the split in the pinion
while the other cable is completely below the split in the pulley and above the split in the pinion (make sure to check both cables
that are attached between each pinion and pulley). To achieve the required cable positions, slowly back-drive the wrist until the
cables properly align relative to the split lines. When the cables are located correctly, insert the Wrist Tension Tool into the clutch
lock and push on the groove in the Clutch Housing with the push-pull hook to tension the entire cable circuit.
CORRECT INCORRECT
..
Cables do not wrap over splits
Cables cross splits before transition
Figure 22 -- Proper Position of Wrist Cables for Pre-Tensioning