# Turret assembly

The order to build the turret in, from cad/turret_assembly.py (which draws the pictures from the CAD: the new
parts of each step in colour, lifted along the way they go in; what is already fitted in grey). Tools (the
order sheets list them): a soldering iron with heat-set insert tips (M3, M4, M5); metric hex keys 1.5-4 mm;
external circlip pliers for a 50 mm ring; the IWISS IWD-1620 for the DT contacts and a ratcheting open-barrel
crimper for the Micro-Fit ones; a 5 mm reamer in a tap wrench (the flywheel hubs); a dial indicator on a magnetic
base (the hub runout); the Waveshare bus servo adapter (set each servo's ID first: 1 pan, 2 tilt, 3 feed); the
AM32 USB linker (the ESC settings, firmware/turret/am32_settings.md); cyanoacrylate gel; double-sided foam tape.

## 1. The pan base and its inserts

![step 1](../exports/turret/assembly/step-01.png)

Heat-set inserts first, with the base on its foot: 5 x M3 in the clamp ears, 3 x M3 in the carrier bosses (from below), 4 x M3 in the base-board bosses, 4 x M4 in the DT pad. The bumper tabs' 5 short M3 wait for the robot (no bumper on the bench, D42).

## 2. The pan servo, its pinion and the DT12 receptacle

![step 2](../exports/turret/assembly/step-02.png)

The STS3215 drops into its pocket, bus plugs down, on its four posts: 4 x M2 x 20 up through the foot. The pinion on its horn: 4 x M3 x 16 (heads sunk). The DT04-12PA on the pad: 4 x M4 x 10; its 12 pins and the W12P wedge with the harness to the base board.

## 3. The base board and the index magnet

![step 3](../exports/turret/assembly/step-03.png)

The base board (the 555, the 12 V pan regulator, the 10 A main fuse, the ring's stator plug) on its four bosses: 4 x M3 x 6. The 3/16 in magnet glued on the housing's top at pan 0 (the clamp ring has its hole).

## 4. The pan bearing and its clamp

![step 4](../exports/turret/assembly/step-04.png)

The 6810-2RS pressed into its seat onto the Ø62 shoulder; the aluminium clamp ring (SendCutSend) over it: 5 x M3 x 8.

## 5. The turntable, its spacer and the circlip

![step 5](../exports/turret/assembly/step-05.png)

Before it goes in: 4 x M4 inserts in its top, the hall switch glued in the pocket underneath (leads up its hole). Its journal down through the inner race, the gear in mesh with the pinion; from below, through the foot's Ø65 opening, the spacer and the DIN 471-50 circlip in its groove (circlip pliers).

## 6. The ring driver and the slip ring on its carrier

![step 6](../exports/turret/assembly/step-06.png)

The driver pressed into the top of the turntable's bore (three crush ribs and a drop of CA). The ring screwed to its carrier (3 x M3 x 8 with washers), a 25 mm length of the 5/16 in tube on its rotor stub, its rotor leads gathered; from below, the ring goes up the bore, the tube into the driver's socket and the leads out through the driver's crescent; the carrier's tabs into their pockets: 3 x M3 x 10 flat heads.

## 7. The tilt yoke and the turret-board bay

![step 7](../exports/turret/assembly/step-07.png)

The rotor leads through the yoke's slot, the yoke on the turntable: 4 x M4 x 10. 4 x M3 inserts in the -y arm, the bay on them: 4 x M3 x 8 flat heads; the three boards on their standoffs (12 and 14 mm); the ring's rotor plug and the hall into level 2.

## 8. The tilt servo and the cradle

![step 8](../exports/turret/assembly/step-08.png)

The STS3215 into its pocket on the +y arm, 4 x M2 x 10 from the arm's inner face. The MR126 into the -y arm's seat. The cradle: its hub onto the servo's horn (4 x M3 x 12), the ISO 7379 shoulder screw through the -y arm and the bearing into the cradle's M5 insert. Check the 0 and -25 deg stops by hand before anything else.

## 9. The laser

![step 9](../exports/turret/assembly/step-09.png)

The mount on the cradle's tab: 2 x M3 x 10 up through it; the laser in the mount on three nylon-tip M3 set screws (boresight them on the bench).

## 10. The cartridge: feed servo, dial, flywheel motors and the cartridge board

![step 10](../exports/turret/assembly/step-10.png)

On the bench, not on the turret. The feed servo (its bus ID set to 3 beforehand) up against the dial floor's underside, its horn through the floor and its length to the rear: 4 x M2 x 6 flat heads from above, flush. The dial onto the horn: 4 x M3 x 8 down through the holes in its cone (the hopper off); set the servo's zero so a pocket is centred over the exit hole and write the count down. Each X2216 with its hub: the prop adapter from its box on the bell (3 x M2), the hub's flat face on the adapter's flange, its bore reamed to 5.00 on the pilot, the washer and an M5 nylon-insert nut (snug plus a quarter turn); turn it by hand with a dial indicator on the rim: under 0.15 mm, or re-seat; then the Ø34 tyre stretched on. Each motor goes up through the opening under its shell to the plate, its leads out through the slot: 4 x M3 x 6 in the radial slots (never longer: the motor has 2.8 mm of thread). The two AM32 ESCs on the cage plate on foam tape, each motor's leads to its ESC; the cartridge board on its four posts over them (4 x M3 x 6), the brake FETs' drains to the phase leads, and the pigtail to the two CT plugs (docs/turret-wiring.md).

## 11. The barrel, the hopper and the lid

![step 11](../exports/turret/assembly/step-11.png)

The barrel into its socket (a nylon-tip M3 set screw through the socket's insert), the gates' emitters and receivers in its bosses; the hopper on the housing (3 x M3 x 8: the front one through the hole in the cage plate); the lid. The fill flap and its spring wait for the dock (v1).

## 12. The cartridge on the cradle, the mount

![step 12](../exports/turret/assembly/step-12.png)

The cartridge down onto the cradle's two dowels, the knurled thumbscrew up into its insert (its O-ring keeps it in the rail); the two CT plugs (2 x 3 power, 2 x 5 signal). Then the turret on its stand: 2 x Ø5 dowels, 4 x M5 x 16, and the DT12 plug. The TPU bumper ring (5 x M3 x 20 and oversized washers on the base's tabs) is for the robot (v1).

## The hardware, all steps

| Line | Part | Part number | Qty |
|---|---|---|---|
| tm screws | Black-Oxide Alloy Steel Socket Head Screw, US Origin, M5 x 0.8 mm Thread Size, 16 mm Long | McMaster-Carr 91290A232 | 4 |
| tm dowels | Dowel Pin, 52100 Alloy Steel, 5 mm Diameter, 16 mm Long | McMaster-Carr 91595A352 | 2 |
| screw m2x10 | Black-Oxide Alloy Steel Socket Head Screw, US Origin, M2 x 0.4 mm Thread Size, 10 mm Long | McMaster-Carr 91290A017 | 4 |
| screw m2x20 | Black-Oxide Alloy Steel Socket Head Screw, M2 x 0.4 mm Thread Size, 20 mm Long | McMaster-Carr 91290A049 | 4 |
| flat m2x6 | 18-8 Stainless Steel Hex-Drive Flat Head Screw, M2 x 0.4 mm Thread Size, 6 mm Long | McMaster-Carr 92125A052 | 4 |
| screw m3x6 | Black-Oxide Alloy Steel Socket Head Screw, US Origin, M3 x 0.5 mm Thread Size, 6 mm Long | McMaster-Carr 91290A111 | 20 |
| screw m3x8 | Black-Oxide Alloy Steel Socket Head Screw, US Origin, M3 x 0.5 mm Thread Size, 8 mm Long | McMaster-Carr 91290A113 | 15 |
| screw m3x10 | Black-Oxide Alloy Steel Socket Head Screw, US Origin, M3 x 0.5 mm Thread Size, 10 mm Long | McMaster-Carr 91290A115 | 2 |
| screw m3x12 | Black-Oxide Alloy Steel Socket Head Screw, US Origin, M3 x 0.5 mm Thread Size, 12 mm Long | McMaster-Carr 91290A117 | 4 |
| screw m3x16 | Black-Oxide Alloy Steel Socket Head Screw, US Origin, M3 x 0.5 mm Thread Size, 16 mm Long | McMaster-Carr 91290A120 | 4 |
| screw m4x10 | Black-Oxide Alloy Steel Socket Head Screw, US Origin, M4 x 0.7 mm Thread Size, 10 mm Long | McMaster-Carr 91290A144 | 8 |
| flat m3x8 | Black-Oxide Alloy Steel Hex-Drive Flat Head Screw, 90 Degree Countersink, M3 x 0.5 mm Thread Size, 8 mm Long | McMaster-Carr 91294A128 | 4 |
| flat m3x10 | Black-Oxide Alloy Steel Hex-Drive Flat Head Screw, 90 Degree Countersink, M3 x 0.5 mm Thread Size, 10 mm Long | McMaster-Carr 91294A130 | 3 |
| setscrew m3x6 | Nylon-Tip 18-8 Stainless Steel Set Screw, M3 x 0.5 mm Thread, 6 mm Long | McMaster-Carr 93285A115 | 4 |
| insert m3 | Heat-Set Threaded Inserts for Plastic, Standard, Brass, M3 x 0.5 mm Thread Size, 5.7 mm Installed Length | McMaster-Carr 94459A140 | 29 |
| insert m4 | Heat-Set Threaded Inserts for Plastic, Standard, Brass, M4 x 0.7 mm Thread Size, 6.4 mm Installed Length | McMaster-Carr 94459A160 | 9 |
| insert m5 | Heat-Set Threaded Inserts for Plastic, Standard, Brass, M5 x 0.8 mm Thread Size, 7.9 mm Installed Length | McMaster-Carr 94459A775 | 1 |
| washer m3 large | 18-8 Stainless Steel Oversized Washer, for M3 Screw, 3.2mm ID, 9.0mm OD, 0.7mm to 0.9mm Thick | McMaster-Carr 91116A120 | 3 |
| dowel 4x8 | Dowel Pin, 52100 Alloy Steel, 4 mm Diameter, 8 mm Long | McMaster-Carr 91595A150 | 2 |
| oring ct | Oil-Resistant Buna-N O-Ring, 1/16 Fractional Width, Dash Number 006 | McMaster-Carr 9452K14 | 1 |
| standoff m3x12 | Aluminum Male-Female Threaded Hex Standoff, 4.5mm Hex, 12mm Long, M3 x 0.50 mm Thread | McMaster-Carr 98952A110 | 4 |
| hub nuts | High-Strength Steel Nylon-Insert Locknut, Zinc Plated, M5 x 0.8 mm Thread Size | McMaster-Carr 94645A102 | 2 |
| standoff m3x14 | Aluminum Male-Female Threaded Hex Standoff, 4.5mm Hex, 14mm Long, M3 x 0.50 mm Thread | McMaster-Carr 98952A112 | 4 |