November 14, 2024 - Aaron Tam w/ Chad Fisher 

Following ID: 2716   
"Nov. 8, 2024 - Aaron Tam 
Tong cable snapped when attempting to remove multipin connector bracket"

Repair went as follows:

• weighted clip attached to tong return side to tension/keep tapes on pulleys
• Manipulator was pinned from both sides (Pinning from master side first makes it easier to position slave side)
• clamps were used to suspend all tapes and cables near the relay bracket 
• extension tube limit clamps were moved to the top to stop it from dropping when Z motion tapes disconnected
• Z motion tapes/tension adjusting screws taken off master carriage and suspended with equalizing weight ~10+ lbs)
• Extension tube limit clamps and extension tube lowered give space to expose multiplier later 
• Wrist joint and handle removed as a unit 
• extension tube to multiplier screws taken out
• Extension tube raised to expose multiplier - using extension tube to wrist joint positioning clamp to keep it in place 
• Old cable removed
• new cable installed

installation in reverse with spare master handle 

Notes:

Spare master wrist joint was missing gears that connect wrist drums 

• this had to be disassembled and installed with gears from old wrist joint

Handle ratcheting pawl spring was not oriented properly, so this had to be disassembled and reinstalled properly (in the process one spring was lost Part#: A-5800)