Step 5: Slide the finger assembly up slightly (Figure 17a), then pivot it out (Figure 17b).
Figure 17: Gently lift and rotate finger off
If the joint-torque sensor option is installed, BE CAREFUL not to damage the
gold-plated electrical contact pins when disengaging the teeth. Do not twist or
rock the finger when removing or attaching it.
Step 6: Slowly pull finger away from the motor body.
Figure 18: Slowly pull finger away from motor body.
Step 7: Take the replacement finger and verify that the inner link is driven into its stop. Using a
2 mm hex wrench, insert it into the right-hand hole and rotate counter-clockwise until the
finger stops moving. See Figure 19.
Figure 19: Adjust angle of 2nd link.
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