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

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

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

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

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

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

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

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

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

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

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

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

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