WAM™ Wrist – Cable Maintenance Guide [email protected]
www.barrett.com
© 2008 Barrett Technology®, Inc.
Document: D1004, Version: AG.00
Page 8 of 13
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8.
Insert a tensioner worm into the worm slot in the Level 2 vertical step and tighten until the cable is taut enough not to fall
off of its level (the worm can keep turning once it has reached the bottom of its slot and will continue tightening while it
turns).
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9.
Move J6 slowly through its full range and allow the cables to find their preferred locations. Retighten the screw to remove
any remaining slack and move J6 through its full range again to verify the cables are working properly.
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10.
Rotate J6 into roughly the zero position (pointing straight up). Insert one end of the Level 3 cable (B1218) into the anchor
on the Level 3 vertical step in the differential.
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11.
Bring the Level 3 cable around roughly 3/4 turn on its vertical step and under the pulley, crossing over to the lower
horizontal step (Level 3). The upper 3
rd
stage pulley is fixed to the 2 lower horizontal steps (Levels 3 & 4). Rotate the
upper 3
rd
stage pulley as necessary and insert the free end of the Level 3 cable into the anchor on the horizontal pulley, and
rotate back to tighten.
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12.
Rotate J6 slightly in the negative direction, while keeping tension on the Level 3 cable, so that the Level 4 horizontal
termination is visible and accessible. Insert one termination of the Level 4 cable (B1219) into the anchor in the horizontal
step. Wrap the cable around approximately ½ turn, under the differential shield, then under and around the Level 4 vertical
pulley.
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13.
Rotate the Level 4 vertical step (the second tensioner worm is not yet installed) until the free termination can be put into
the last anchor. Then, rotate it back to tighten the cables.
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14.
Insert the second tensioner worm into the wormhole in the Level 4 vertical step and tighten until the cable is taut enough
not to fall off of its level.
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15.
Slowly move Joint 6 through its full motion ranges to confirm that the 2 new differential cables are properly installed. If
new slack propagates through the cables during this step, again tighten both worms until the cable is taut enough not to fall
off of its level; do not tighten it more.
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16.
Replace the missing wiring shield assembly and blue RTV shrouds. Make sure the plastic pins in the shrouds align properly
with each other.
