WAM™ Wrist – Cable Maintenance Guide [email protected]
www.barrett.com
© 2008 Barrett Technology®, Inc.
Document: D1004, Version: AG.00
Page 13 of 13
Manually run the Wrist through six cycles of J5 and J6 so that the stage 1 cables track up and down the motor shafts over their
entire range. The Wrist circuits, with their three stages of reduction, require more attention than any other WAM circuits during
pre-tensioning. The third stage cables must be carefully placed to prevent both scrubbing between cables placed too close
together, pulling at odd angles, or falling into termination slots if cables are too far apart. Cables placed with a large angle relative
to the horizontal will eventually reorient themselves, but not necessarily in the proper arrangement.
Once the cables have been repositioned as shown in Figure 22, retension again by inserting the Wrist Tension Tool into the clutch
lock (to keep the motor shaft from turning) and pushing on the clutch housing with the push-pull hook. Repeat the process of
running the wrist through its range of motion and re-tensioning until all the stage 1 and 2 cables are tight.
Remove the tape across the stage 3 pinions splits (M5 and M6) and repeat the tensioning procedure:
1)
Tension.
2)
Run J5 and J6 through full ranges of motion so both M5 and M6 cables track up and down over entire length of
black motor shafts.
3)
Repeat step 2 six times.
4)
Repeat steps 1-3 six times minimum until cables are reasonable taught.
7 Autotensioning
Full instructions for using the Wrist’s autotensioning mechanism are coming soon. Contact Barrett Technology for assistance.
