is used. The open bearing has since been replaced with a shielded bearing to further minimize the  chances of debris migrating into the bearing. /g47/g72/g86/g86/g82/g81/g3/g47/g72/g68/g85/g81/g72/g71/g29/g3/g3/g43/g82/g81/g72/g92/g69/g72/g72/g3/g53/g82/g69/g82/g87/g76/g70/g86/g3/g75/g68/g86/g3/g68/g87/g87/g72/g80/g83/g87/g72/g71/g3/g87/g82/g3/g88/g86/g72/g3/g68/g3/g81/g88/g80/g69/g72/g85/g3/g82/g73/g3/g71/g76/g73/g73/g72/g85/g72/g81/g87/g3/g70/g82/g68/g87/g76/g81/g74/g86/g3/g73/g82/g85/g3 /g83/g72/g85/g70/g88/g86/g86/g76/g89/g72/g3/g70/g68/g80/g3/g68/g81/g71/g3/g73/g82/g79/g79/g82/g90/g72/g85/g3/g80/g72/g70/g75/g68/g81/g76/g86/g80/g86/g3/g76/g81/g3/g87/g75/g72/g3/g83/g68/g86/g87/g17/g3/g39/g88/g72/g3/g87/g82/g3/g87/g75/g72/g3/g75/g76/g74/g75/g3/g81/g88/g80/g69/g72/g85/g3/g82/g73/g3/g70/g92/g70/g79/g72/g86/g3/g68/g81/g71/g3/g87/g75/g72/g3/g75/g76/g74/g75/g3/g70/g82/g81/g87/g68/g70/g87/g3/g86/g87/g85/g72/g86/g86/g3/g82/g81/g3/g87/g75/g72/g3/g70/g68/g80/g3/g68/g81/g71/g3/g73/g82/g79/g79/g82/g90/g72/g85/g3/g86/g88/g85/g73/g68/g70/g72/g86/g15/g3/g81/g82/g81/g72/g3/g82/g73/g3/g87/g75/g72/g86/g72/g3/g70/g82/g68/g87/g76/g81/g74/g86/g3/g86/g72/g72/g80/g3/g87/g82/g3/g79/g68/g86/g87/g3/g80/g82/g85/g72/g3/g87/g75/g68/g81/g3/g68/g3/g71/g82/g93/g72/g81/g3/g71/g85/g76/g79/g79/g76/g81/g74/g3/g82/g83/g72/g85/g68/g87/g76/g82/g81/g86/g15/g3 /g90/g75/g72/g85/g72/g3/g72/g68/g70/g75/g3/g82/g83/g72/g85/g68/g87/g76/g82/g81/g3/g85/g72/g84/g88/g76/g85/g72/g86/g3/g68/g87/g3/g79 /g72/g68/g86/g87/g3/g20/g19/g15/g19/g19/g19/g3/g70/g92/g70/g79/g72/g86/g17/g3/g44/g87/g3/g76/g86/g3/g68/g71/g89/g76/g86/g72/g71/g3 /g87/g75/g68/g87/g3 /g73/g88/g87/g88/g85/g72/g3 /g80/g72/g70/g75/g68/g81/g76/g86/g80/g86/g3 /g90/g76/g87/g75/g3 /g86/g76/g80/g76/g79/g68/g85/g3 /g85/g72/g84/g88/g76/g85/g72/g80/g72/g81/g87/g86/g3 /g70/g82/g81/g86/g76/g71/g72/g85/g3 /g81/g82/g87/g3 /g68/g83/g83/g79/g92/g76/g81/g74/g3 /g68/g81/g92/g3 /g70/g82/g68/g87/g76/g81/g74/g86/g3 /g87/g82/g3 /g87/g75/g72/g3/g86/g88/g85/g73/g68/g70/g72/g17/g3/g44/g87/g3/g76/g86/g3/g75/g76/g74/g75/g79/g92/g3/g85/g72/g70/g82/g80/g80/g72/g81/g71/g72/g71/g3/g87/g82/g3/g69/g88/g76/g79/g71/g3/g68/g3/g69/g85/g72/g68/g71/g69/g82/g68/g85/g71/g3/g87/g82/g3/g87/g72/g86/g87/g3/g80/g68/g87/g72/g85/g76/g68/g79/g3/g90/g72/g68/g85/g3/g85/g68/g87/g72/g86/g3/g76/g73/g3/g83/g68/g85/g87/g76/g70/g88/g79/g68/g87/g72/g3 /g68/g70/g70/g88/g80/g88/g79/g68/g87/g76/g82/g81/g3 /g90/g76/g79/g79/g3 /g70/g68/g88/g86/g72/g3 /g83/g85/g82/g69/g79/g72/g80/g86/g3 /g90/g76/g87/g75/g3 /g82/g87/g75/g72/g85/g3 /g80/g72/g70/g75/g68/g81/g76/g86/g80/g86/g17/g3 /g44/g81/g3 /g68/g71/g71/g76/g87/g76/g82/g81/g15/g3 /g69/g72/g3 /g86/g88/g85/g72/g3 /g87/g82/g3 /g86/g75/g76/g72/g79/g71/g3 /g68/g81/g92/g3 /g69/g72/g68/g85/g76/g81/g74/g86/g3/g76/g81/g3/g87/g75/g72/g3/g89/g76/g70/g76/g81/g76/g87/g92/g3/g82/g73/g3/g86/g88/g70/g75/g3/g80/g72/g70/g75/g68/g81/g76/g86/g80/g86/g17/g3/g44/g87/g3/g76/g86/g3/g79/g76/g78/g72/g79/g92/g3/g87/g75/g68/g87/g3/g87/g75/g72/g3/g83/g72/g85/g70/g88/g86/g86/g76/g89/g72/g3/g89/g76/g69/g85/g68/g87/g76/g82/g81/g3/g75/g72/g79/g83/g72/g71/g3/g80/g76/g74/g85/g68/g87/g72/g3/g83/g68/g85/g87/g76/g70/g79/g72/g86/g3/g76/g81/g87/g82/g3/g87/g75/g72/g3/g88/g81/g86/g75/g76/g72/g79/g71/g72/g71/g3/g69/g72/g68/g85/g76/g81/g74/g86/g17/g3 Figure 13. ROPEC Cam and Follower Coating Issues Autonomous Gear Meshing The ROPEC Drill requires that the Breakoff Cluster Gear be de-meshed from the Breakoff Output Gear  during the drilling process, and meshed during the core breakoff routine. This mechanism is shown inFigure 7 and discussed in previous sections. In theory, if the absolute position is known for each of the  gears, they can be meshed together after a short calibration. In practice, this method of gear meshing required a significant amount of software development and trial and error during the assembly and  integration phase. Ultimately, the software routine is able to position the gears close to where they need to be, then a stepping routine is implemented which incrementally moves the Breakoff Pinion Gear, then raises the Breakoff Cluster Gear using the Pushrod. If Pushrod stall is detected prematurely, the routine  repeats, stepping the Pinion Gear a small amount. This routine typically works, but sometimes fails to  mesh the gears within the set number of incremental steps. The routine then needs to be run again. This trial-and-error method is not ideal for a flight system.  /g47/g72/g86/g86/g82/g81/g3/g47/g72/g68/g85/g81/g72/g71/g29/g3/g3/g48/g72/g86/g75/g76/g81/g74/g3/g68/g81/g71/g3/g71/g72/g16/g80/g72/g86/g75/g76/g81/g74/g3/g74/g72/g68/g85/g86/g3/g76/g86/g3/g81/g82/g87/g3/g68/g81/g3/g76/g71/g72/g68/g79/g3/g70/g75/g82/g76/g70/g72/g3/g90/g75/g72/g81/g3/g71/g72/g86/g76/g74/g81/g76/g81/g74/g3/g68/g3/g75/g76/g74/g75/g3 /g85/g72/g79/g76/g68/g69/g76/g79/g76/g87/g92/g3/g80/g72/g70/g75/g68/g81/g76/g86/g80/g17/g3/g44/g73/g3/g76/g87/g3/g76/g86/g3/g68/g3/g85/g72/g84/g88/g76/g85/g72/g80/g72/g81/g87/g3/g82/g81/g3/g87/g75/g72/g3/g80/g72/g70/g75/g68/g81/g76/g86/g80/g15/g3/g90/g75/g76/g70/g75/g3/g76/g86/g3/g87/g75/g72/g3/g70/g68/g86/g72/g3/g73/g82/g85/g3/g53/g50/g51/g40/g38/g15/g3/g76/g87/g3/g76/g86/g3/g85/g72/g70/g82/g80/g80/g72/g81/g71/g72/g71/g3/g87/g75/g68/g87/g3/g68/g91/g76/g68/g79/g3/g80/g72/g86/g75/g76/g81/g74/g3/g18/g3/g71/g72/g80/g72/g86/g75/g76/g81/g74/g3/g81/g82/g87/g3/g69/g72/g3/g88/g86/g72/g71/g3/g88/g81/g79/g72/g86/g86/g3/g87/g75/g72/g85/g72/g3/g76/g86/g3/g89/g72/g85/g92/g3/g75/g76/g74/g75/g3/g83/g85/g72/g70/g76/g86/g76/g82/g81/g3 /g70/g82/g81/g87/g85/g82/g79/g3/g82/g89/g72/g85/g3/g87/g75/g72/g3/g68/g69/g86/g82/g79/g88/g87/g72/g3/g83/g82/g86/g76/g87/g76/g82/g81/g3/g82/g73/g3/g72/g68/g70/g75/g3/g74/g72/g68/g85/g17/g3/g50/g81/g72/g3/g82/g73/g3/g87/g75/g72/g3/g87/g90/g82/g3/g74/g72/g68/g85/g86/g3/g75/g68/g71/g3/g87/g75/g76/g86/g3/g68/g80/g82/g88/g81/g87/g3/g82/g73/g3/g70/g82/g81/g87/g85/g82/g79/g3/g82/g81/g3 /g53/g50/g51/g40/g38/g15/g3/g68/g81/g71/g3/g80/g72/g86/g75/g76/g81/g74/g3/g76/g86/g3/g81/g82/g87/g3/g20/g19/g19/g8/g3/g85/g72/g79/g76/g68/g69/g79/g72/g17/g3/g44/g73/g3/g80/g72/g86/g75/g76/g81/g74/g3/g18/g3/g71/g72/g80/g72/g86/g75/g76/g81/g74/g3/g76/g86/g3/g85/g72/g84/g88/g76/g85/g72/g71/g15/g3/g68/g3/g179/g48/g76/g86/g86/g76/g81/g74/g3/g55/g82/g82/g87/g75/g180/g3/g80/g72/g87/g75/g82/g71/g3/g70/g68/g81/g3/g69/g72/g3/g88/g86/g72/g71/g3/g76/g81/g86/g87/g72/g68/g71/g17/g3/g55/g75/g76/g86/g3/g80/g72/g87/g75/g82/g71/g3/g90/g68/g86/g3/g86/g88/g70/g70/g72/g86/g86/g73/g88/g79/g79/g92/g3/g76/g80/g83/g79/g72/g80/g72/g81/g87/g72/g71/g3/g82/g81/g3/g68/g3/g83/g85/g72/g89/g76/g82/g88/g86/g3/g70/g82/g85/g76/g81/g74/g3/g71/g85/g76/g79/g79/g3/g11/g54/g36/g54/g54/g44/g3/g39/g85/g76/g79/g79/g12/g15/g3/g68/g81/g71/g3/g76/g86/g3/g86/g75/g82/g90/g81/g3/g76/g81/g3/g71/g72/g87/g68/g76/g79/g3/g76/g81/g3/g41/g76/g74/g88/g85/g72/g3/g20/g23/g17/g3/g56/g86/g76/g81/g74/g3/g87/g75/g76/g86/g3/g80/g72/g87/g75/g82/g71/g15/g3/g87/g75/g72/g3/g68/g69/g86/g82/g79/g88/g87/g72/g3/g83/g82/g86/g76/g87/g76/g82/g81/g3/g82/g73/g3/g87/g75/g72/g3 /g37/g85/g72/g68/g78/g82/g73/g73/g3/g38/g79/g88/g86/g87/g72/g85/g3/g42/g72/g68/g85/g3/g68/g81/g71/g3/g37/g85/g72/g68/g78/g82/g73/g73/g3/g50/g88/g87/g83/g88/g87/g3/g42/g72/g68/g85/g3/g76/g86/g3/g78/g81/g82/g90/g81/g3/g88/g86/g76/g81/g74/g3/g68/g3/g86/g72/g87/g3/g82/g73/g3/g80/g68/g74/g81/g72/g87/g76/g70/g3/g68/g69/g86/g82/g79/g88/g87/g72/g3/g83/g82/g86/g76/g87/g76/g82/g81/g3 Cam  Coating Base Metal Cam  CoatingBase Metal Wear  Groove Follower  CoatingBase MetalCoating  Flakes Bearing  Location 208