Gantry System

To design, construct, and install two (2) gantry systems in the OO-ALC System Integration Lab (SIL), at Hill Air Force Base (AFB). Each gantry system shall be software controlled, and will be used with the Integration Test Stations (ITS) to support development and test of the F-16 C/D Operational Flight Programs (OFPs). Gantry System Technical Specifications (Subject to Change Up Until Release of Solicitation Document) General Items - Vendor shall provide a complete and thorough Operations Manual for the gantry system, which shall fully describe (at a procedural level) all operational aspects of the gantry system. - Vendor shall provide complete drawings of the gantry system in DXF or Solidworks format. The preferred format is Solidworks. - Vendor shall program all controllers and servo drivers. - Vendor shall provide/release all firmware/software images. - Vendor shall provide/release source code for all firmware/software, if possible. - Vendor shall provide a Software Requirements Document (SRD)/Programmers Manual for all firmware/software. Vendors SRD shall meet this requirement if available. - Vendor shall provide detailed compilation and loading procedures for firmware/software. - Vendor shall provide a Hardware Software Interface Document (HSID) for the controllers and servo drivers. Vendors HSID shall meet this requirements if available. - All electronics shall meet or exceed Conformit Europ'enne (CE) testing and Federal Communications Commission (FCC) regulations to avoid interference. System Specifications: - Each of the two (2) gantry systems shall be identical in design and development. - The gantry system shall have 4 axes (2-horizontal and 2-vertical). All the axes shall be linear and all shall be servo controlled. - The gantry system shall be anchored by 3 vertical stanchions, which will sit on three solid base plates. Adjustment capabilities for the stanchions and base plates shall be provided with assembly. - The three vertical stanchions of the gantry system shall be connected to two sets of parallel horizontal rails. Each set of horizontal rails shall consist of two identical rails which shall be connected to an outside stanchion and to the central stanchion. This shall give the appearance of two parallel, single horizontal rails, with connections to all three stanchions. The rail sets themselves shall be secured to the stanchions and immovable (horizontally or vertically). - Each of the horizontal rails shall have a linear drive system with standard carriages for mounting other axis to them. - Connected to the standard carriages of the two parallel sets of horizontal rails shall be two individual vertical rails. The standard carriages of each horizontal rail set shall be programmable to move the attached vertical rails horizontally, independent of each other. For purposes of this document, the movements of the two vertical rails on the two parallel horizontal axes are called X1 and X2. - The X1 and X2 movement shall be controlled by two (2) separate Parker Gemini servo drivers and shall have part number CP*GV-U12E-14516. - There shall be 2 limit switches located at each outer edge of X1 and X2. - Embedded into each vertical rail shall be a linear drive system. The linear drive system shall be programmable to move a payload vertically on each vertical rail, independent of each other. For purposes of this document, the movements of the vertical payloads on the vertical axis are called Z1 and Z2. - The Z1 and Z2 movement shall be controlled by two (2) separate Parker Gemini servo drivers and shall have part number CP*GV-U12E-14516. - There shall be two (2) limit switches on each of the Z1 and Z2 axis outer edges, for a total of four (4) limit switches. - There shall be a home switch located in the center of Z1 axis. - The mechanism/capability to attach a payload to the system shall not be complex. - The mass/weight handling capacity of the system shall be for multiple 25lbs. payloads which shall move independently. - All gantry system elements shall be able to withstand industrial grade automation applications. - The Center of Gravity (CG) of the mass shall be centered on the system. - All of the motors shall be mounted at 12 (O'clock) orientations. - The motion controller used for the system shall be the Parker 6K8 controller and shall have part number CP*6K8-14517. - The feedback and power cables for the four (4) Parker Gemini servo drivers shall be at least 60 foot in length. - There shall be four (4) VM25 I/O modules with cables used in connecting to the (4) Parker Gemini servo drivers and limit/home switches. - The contractor shall provide all controller cables, USB/Ethernet programming cables and command cables between the Parker Gemini servo drives and the Parker 6K8 controller. - There shall be a cable carrier assembly for the X and Z axis to ensure that all cables are dressed appropriately and that no movement interference occurs. - There shall be an enclosure cabinet which contains a 24DC, 10A power supply and the Parker 6K8 controller. - The enclosure cabinet shall be located external to the gantry chamber. Horizontal Axis (X1 and X2) - Each horizontal axis (X1 and X2) shall only be able to travel between the outside stanchion and the central stanchion (shown as " travel" in drawings). - The X1 and X2 horizontal axis shall not cross each other and shall meet over the central stanchion. - The X1 and X2 horizontal axis shall not be able to move past the outer stanchions, which shall be controlled by two (2) limit switches. - The X1 and X2 horizontal axis shall be designed to move/position themselves at velocity of 5 meters/sec. - The X1 and X2 horizontal axis shall have a repeatable positional granularity of +/- 25 microns. - Each X1 and X2 axis shall be controlled by a Parker Gemini servo driver. The Parker Gemini servo driver used shall have part number CP*GV-U12E-14516. Vertical Axis (Z1 and Z2) - Each vertical axis (Z1 and Z2) shall be able to travel the full length of each vertical rail and shall move independently of each other. - The Z1 and Z2 axis shall not be able to outside of the upper and lower limits, which shall be controlled by four (4) limit switches (two on each axis). - There shall be a home switch which shall be centrally located on the Z1 axis. - The Z1 and Z2 horizontal axis shall be designed to move/position themselves at velocity of 5 meters/sec. - The Z1 and Z2 horizontal axis shall be have a repeatable positional granularity of +/- 0.1 mm. - Each Z1 and Z2 axis shall be controlled by a Parker Gemini servo driver. The Parker Gemini servo driver used, shall be part number CP*GV-U12E-14516.