Disassembled the master side of the right manipulator this morning to check the wrist cable. The cable on the master side shows no sign of wear or fraying suggesting that the slave side cable may be the item that is wearing. during disassembly of the master I did notice some loose parts that could have been the source of the audible concern but should not have contributed to the slippage felt in the gripper. I will try and schedule Tuesday for entry into the hot cell to address the slave cable.