Barrett WAM Wrist, Руководство по обслуживанию

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WAM™ Wrist – Cable Maintenance Guide support@barrett.com www.barrett.com
© 2008 Barrett Technology®, Inc. Document: D1004, Version: AG.00 Page 6 of 13
2.3 Cables and Cabling Order
Table 1 lists the specifications of each type of cable. The Differential should be cabled first, followed by either the Motor 5 or
Motor 6 circuits (all 3 stages). The motor circuits are independent and should be treated as such. Finish one side (M5 or M6)
completely (all 3 stages) before working on the other motor side.
If a differential cable needs to be replaced, it is possible to replace it without having to remove all other cables. Contact Barrett for
assistance. If a stage 1 cable needs to be replaced, it is generally possible to do this without removing the other cables in the
transmission. If a stage 2 cable needs to be replaced, it is generally possible to do this without removing the stage 3 cables in the
transmission; however, the stage 1 cables will have to be removed. If a stage 3 cable needs to be replaced, all stages on that one
motor side must be removed.
Table 1: Cable Specifications
Barrett
P/N
Barrett
Description
Qty per
Wrist
Qty per
Maintenance
Kit
Length between
terminations
(mm)
B1216 WristCable-Differential-Level1 1 1 97 +/- 2
B1217 WristCable-Differential-Level2 1 1 107 +/- 2
B1218 WristCable-Differential-Level3 1 1 132 +/- 2
B1219 WristCable-Differential-Level4 1 1 152 +/- 2
B3477 WristCable-Stage1 4 2 860 +/- 5
B3478 WristCable-Stage2 4 2 610 +/- 5
B3479 WristCable-Stage3 4 2 560 +/- 5
3 Cabling the Differential
The differential circuits are shown in Figure 5. They consist of four cables riding on four different diameter horizontal steps. The
four cables make up two independent circuits. The top horizontal steps and the 2 smallest vertical steps form one circuit, and the
bottom horizontal steps and the 2 larger vertical steps form the other circuit. Each circuit is tensioned with a worm gear located in
the vertical steps. While cabling the differential, move J6 as necessary to have proper access to the section of the differential you
are working on. Both blue RTV shrouds must be removed (2 screws each). Of the two differential wiring shield assemblies (half-
moon-shaped sheet metal plus triangular machined aluminum piece), one of them must be removed – the one that does NOT
include the hidden Joint 5 stop. Figure 5 shows the correct wiring shield assembly has been removed.
Figure 5 - Differential Pulleys
Level 4
Level 3
Level 2
Level 1
Vertical
Pulleys
Lower Horizontal Pulleys
Upper Horizontal Pulleys