= WAM Auto-Tensioning Procedure (bt-wam-autotension)= As of Libbarrett-1.2.0, an automated WAM tensioning procedure has been introduced. This procedure is advised to be run at every ~80 hours of WAM usage, elongating cable life by eliminating cable slack from being introduced over prolonged usage. This procedure is capable of tensioning the WAMs joints 1-4 (4-DOF) or joints 1-6 (7-DOF). It will tension multiple joints simultaneously whenever possible. **Note:** WAMs with serial numbers < 5 and WAM wrists with serial numbers < 9 are not eligible for autotensioning. Before running the application, please make sure the WAM's power is turned on and the controllers are powered on by pressing Shift-Idle on the control pendant. == Tensioning all available joints == The default options for the autotensioning procedure (no arguments) is to tension all of the available joints. {{{ bt-wam-autotension }}} Please follow the on-screen instructions to complete the autotensioning procedure. == Tension specified joints == Arguments describing the joints you would like to be tensioned can be provided as arguments. {{{ bt-wam-autotension 1 4 }}} Will tension joints 1 & 4 only. Please follow the on-screen instructions to complete the autotensioning procedure.