WCP’s newest generation of the swerve drive module, designed from the ground up to utilize the powerful Kraken X60 brushless motor to improve performance and remove complexity. This new design more versatile than our previous modules, and truly makes omnidirectional driving as simple as plug and play.

Standard

Inverted

Thin

• Supports 4" OD x 2" wide wheels

• 3 variants available: Standard, Inverted, and Thin

  • Corner and Tube Mount versions available for each option

• On axis encoder mounting

• Aluminum and Steel gears available for all gears

• Single bolt removal for wheel swap

• Motors easily replaced without module disassembly

• Accepts common motors

• Less parts than previous versions

• No belts in any of the modules

Common Features

• All configurations of the module use the same shafts

  • Modules can be swapped between every configuration and mounting style by simply using different plates

• Gear Ratios compatible with all Swerve X2 configurations

  • All Gear Ratios available in Steel and Aluminum versions

  • Allows for mixing and matching different configuration modules while using the same Gear Ratios

  • Free speeds range from X1 (13-16 ft/s) to X4 (18-22 ft/s)

• Optional aluminum bevel gear is available to save weight

• All gears have integrated shafts

• Less hardware required for assembly

• Modules accept multiple motors: Kraken X60 - NEO - NEO Vortex

• Bottom mounting plates are made of 7075-T6 to help with bending

  • Now 1/4" thick

• Wheel height is the same regardless of configuration, so it is possible to mix and match modules on the robot

• All modules can be mounted on top or bottom of the drivetrain tubes

  • Used to increase or decrease ground clearance

• #10-32 Tapped holes on Wheel Forks allow for custom wheel guard mounting

• 3.5” ID X-contact bearing

  • Fully captured by fork, 88t rotation gear, and bearing retention plate

• Simplified wheel removal makes swapping tread easier and faster

• 4 wheel options available for all modules

  • Aluminum wheel with black neoprene tread

  • Molded High Grip

  • Molded Smooth

  • Colson Wheel

• Motors can be easily replaced without taking apart the modules

• Top plates include additional holes on 0.5" hole

• Top Plate height is the same on all modules

  • Sits flush with 2" tall tubing

Standard Features

• 3 different drive motor locations for drive motors

  • Centered, Left, and Right

• Motors are bolted to an adapter that pilots to the mounting plate and allows for removal without module disassembly

• Least number of parts, lightest of the three X2 configurations

Inverted Features

• Supports Kraken X60 and future smaller brushless motors

• Supports a keyed ½” hex shaft for a ½” hex throughbore solution for position sensing of the module

• Modules are symmetrical

  • No left or right hand configuration

• Combined motor mounting plate reduces parts and makes assembly easier

Thin Features

• Supports Kraken X60 and future smaller brushless motors

• Supports a keyed ½” hex shaft for a ½” hex throughbore solution for position sensing of the module

• Feature flippable plates

  • Left and right hand configurations can be made from the exact same parts

• No gears extend past top plate and motor mounting plate profiles

• Extra bottom support plate added to support motors

Once you have your Blocks printed, zeroing the module will be a breeze. Simply align the block with the Wheel Fork and ensure the top of the block is flush with the Swerve X2 plate.

• They already have some of the parts on hand, such as gears, bearings, or raw material

• Want to purchase spare parts

• Upgrading from one version to another version

Layout Drawings

Tube Mount

Corner Mount

Weight Comparison

Tube Mount

Corner Mount

X1 Ratio Set

X2 Ratio Set

X3 Ratio Set

X4 Ratio Set

General Ratio Spread

The X gear ratios are designed to be a consistent spread across all Swerve X2 configs. All X Gear Ratios come with 3 pinions on the same pitch to get the spread.

Swerve X2 Gear Ratios

Standard

The Standard version of the WCP Swerve X2 allows for three different Drive Motor placements.

Inverted

Thin

Assembly Prep

Tools Required For Assembly

These tools are required for the assembly of the WCP Swerve X2.

• Snap ring pliers (3/8")

• Allen keys

  • 1/8"

  • 5/32"

  • 3/16"

Optional tools that may be needed:

• Arbor press or deadblow hammer

Key Assembly Instructions

The following pages cover the basic assembly instructions for the WCP Swerve X2.

Core Components

WCP Swerve X2 Hardware Kit (WCP-1700)

WCP Swerve X2 (Standard Wheel Fork Kit) (WCP-1708)

WCP Swerve X2 Molded Wheel Hub (4" OD x 2" WD, 1.125" Bore) (WCP-1727)

WCP Swerve X2 Aluminum Wheel Hub (4" OD x 2" WD, 1.125" Bore) (WCP-1729)

Base Kits

WCP Swerve X2 Base Kit (WCP-1701)

WCP Swerve X2i Base Kit (WCP-1702)

WCP Swerve X2t Base Kit (WCP-1703)

Accessories

WCP Swerve X2 (Bottom Support Plate) (WCP-1706)

WCP Swerve X2 (Top Support Plate) (WCP-1707)

General Notes

Assembly instructions will reflect the Standard, Center configuration and are interchangeable between all versions of the Standard Swerve X2.

Planning Ahead

Step 1

The 3.5” ID X-Contact Bearing will be installed from the bottom side of the Swerve X2 Bottom Plate. It is a tight slip fit and can be installed by hand or with an arbor press, if necessary. The bearing should sit flush with the bottom side of the plate.

Once the bearing is fully seated, use the five #10-32 x 3/8”L bolts to attach the Bearing Retainer. The bolts should be tightened until flush. The image below indicates the location of the bolts in green.

Step 2

The 1/2" Rounded Hex and 3/8" bearings should be a light press fit and may be pressed in by hand or with an arbor press. Make sure to install the bearings from the bottom side of the Swerve X2 Top Plate.

Step 3

Install the bearings into the Motor Plate, these should be light press fit and may be pressed in by hand or with an arbor press.

Step 4

Install the bearing from the bottom of the 88T Rotation Gear, it should be light press fit and may be pressed in by hand or with an arbor press.

Step 5

Press the 88T Rotation Gear in by hand. If necessary, use a dead blow hammer to lightly tap it in.

The Bevel Gear Shaft must be installed through the bottom side of the 12mm bearing. Use the 3/8" snap ring to retain the gear and shaft.

Step 6

The 1/4” ID x 5/8” OD bearing can be pressed into the Wheel Fork by hand. Once the bearing is in place, use the #10-32 x 1- 1/2”L bolts to install both forks into the module.

Step 7a

Step 7b

Use the 1/4"-20 x 1/2"L bolt to attach the Encoder Shaft. This may be a tight fit so use the bolt to fully seat the Encoder shaft.

Then slide the Cartridge and Column Gear Spacer onto the Encoder Shaft.

Step 8

Slide the Rotation Gear and Rotation Shaft into position.

Step 5

The 1/4” ID x 5/8” OD bearing can be pressed into the Wheel Fork by hand. Once the bearing is in place, use the #10-32 x 1- 1/2”L bolts to install both forks into the module.

Step 6a

Step 6b

Use the 1/4"-20 x 1/2"L bolt to attach the Encoder Shaft. This may be a tight fit so use the bolt to fully seat the Encoder shaft.

Then slide the Cartridge and Column Gear Spacer onto the Encoder Shaft.

Step 7

Slide the Rotation Double Gear and Rotation Shaft into position.

Step 8

Bolt together the assemblies from steps 2 and 7 as shown in the images below. For all configurations, the bolt locations are marked in green in the image below.

WCP Swerve X2 (Tube Mount)

WCP Swerve X2i (Tube Mount)

WCP Swerve X2t (Tube Mount)

WCP Swerve X2 (Corner Mount)

WCP Swerve X2i (Corner Mount)

WCP Swerve X2t (Corner Mount)

General Notes

Assembly instructions are interchangeable between the Corner and Tube Mount versions of the Swerve.

Planning Ahead

See Rotation and Drive Motor locations below.

Step 9

The Drive Motor and Rotation Motor can be assembled in any order. However, they must both be installed in the location shown in the images below. Clock motors in the desired direction during this step.

Step 10

Combine the assemblies from Steps 2, 8, and 9 as shown below. Refer to the images for the correct bolt and spacer lengths.

Step 11

Install the Encoder Mount using two #10-32 x 1/2”L bolts. Remove the board from the case and fit it into the cutout in the 3D Printed Encoder Mount. Use the top half of the Encoder case and the long thread forming screw from the Encoder to attach the sensor.

Step 12

When installing the Wheel Assembly, be sure the 45T Bevel Gear and 15T Bevel Gear are on the same side.

Corner Mounting

Common Questions

Q: What tread is recommended?

A: We recommend using the Molded (High Grip) for the best user experience. These wheels provided the easiest tread swaps. The lack of bolts to attach the tread also helps prevent damaging carpet. These wheels were designed with the team's experience in mind.

Q: Can I use other motors besides the KrakenX60?

A: Other motors can be use but the Kraken X60 is the recommended motor.

Q: Why is the wheel not spinning smoothly?

A: Ensure that the 45T Bevel Gear that was installed during the wheel installation process is fully seated.

General Notes

Assembly instructions are interchangeable between the Corner and Tube Mount versions of the Swerve.

Planning Ahead

See Rotation and Drive Motor locations below.

Step 1

The 3.5” ID X-Contact Bearing will be installed from the bottom side of the Swerve X2 Bottom Plate. It is a tight slip fit and can be installed by hand or with an arbor press, if necessary. The bearing should sit flush with the bottom side of the plate.

Once the bearing is fully seated, use the five #10-32 x 3/8”L bolts to attach the Bearing Retainer. The bolts should be tightened until flush. The image below indicates the location of the bolts in green.

Step 2

The 1/2" Rounded Hex and 3/8" bearings should be a light press fit and may be pressed in by hand or with an arbor press.

Step 3

Install the bearings into the Motor Plate, these should be light press fit and may be pressed in by hand or with an arbor press.

Step 4

Install the bearing from the bottom of the 88T Rotation Gear, it should be light press fit and may be pressed in by hand or with an arbor press.

Kit Contents

WCP Swerve X2 Molded Wheel Hub (WCP-1727)

Assembly

Slide the desired Molded Tread onto one half of the Molded Wheel Hub. Align holes in both halves of hubs and press second half into place.

Insert the 45T Bevel Gear and attach with #10-32 x 1"L SHCS bolts. Use these bolts to squeeze both halves of the hub together. Ensure no gaps are left after tightening bolts.

The following pages will include all necessary information for the three available wheel configurations for the Swerve X2.

Step 5

Press the 88T Rotation Gear in by hand. If necessary, use a dead blow hammer to lightly tap it in.

The Bevel Gear Shaft must be installed through the bottom side of the 12mm bearing. Use the 3/8" snap ring to retain the gear and shaft.

Step 6

The 1/4” ID x 5/8” OD bearing can be pressed into the Wheel Fork by hand. Once the bearing is in place, use the #10-32 x 1- 1/2”L bolts to install both forks into the module.

Step 7a

Step 7b

Use the 1/4"-20 x 1/2"L bolt to attach the Encoder Shaft. This may be a tight fit so use the bolt to fully seat the Encoder shaft.

Then slide the Cartridge and Column Gear Spacer onto the Encoder Shaft.

Step 8

Slide the Rotation Gear and Rotation Shaft into position.

General Notes

Assembly instructions are interchangeable between the Corner and Tube Mount versions of the Swerve.

Step 9

For all configurations, the motors will be mounted to the Motor Spacer using #10-32 x 1/2”L bolts. The pinions are retained using #10-32 x 1/4”L pan head bolts.

Clock the motors in the desired direction in this step.

Step 10

Install the Encoder Mount using two #10-32 x 1/2”L bolts. Remove the board from the case and fit it into the cutout in the 3D Printed Encoder Mount. Use the top half of the Encoder case and the long thread forming screw from the Encoder to attach the sensor.

Step 11

Install the Drive and Rotation Motors using the #10-32 x 1/2"L bolts as shown below.

Step 12

When installing the Wheel Assembly, be sure the 45T Bevel Gear and 15T Bevel Gear are on the same side.

Corner Mounting

Step 1

The 3.5” ID X-Contact Bearing will be installed from the bottom side of the Swerve X2 Bottom Plate. It is a tight slip fit and can be installed by hand or with an arbor press, if necessary. The bearing should sit flush with the bottom side of the plate.

Once the bearing is fully seated, use the five #10-32 x 3/8”L bolts to attach the Bearing Retainer. The bolts should be tightened until flush. The image below indicates the location of the bolts in green.

Step 2

The 1/2" Rounded Hex bearing is light press fit and may be pressed in by hand or with an arbor press. Make sure to install the bearing from the bottom side of the Swerve X2 Top Plate.

Step 3

Install the 12mm ID bearing from the bottom of the 88T Rotation Gear, it should be light press fit and may be pressed in by hand or with an arbor press.

Step 4

Press the 88T Rotation Gear in by hand. If necessary, use a dead blow hammer to lightly tap it in.

The Bevel Gear Shaft must be installed through the bottom side of the 12mm bearing. Use the 3/8" snap ring to retain the gear and shaft.

Bolt Checklist

This visual guide is perfect for doing a quick check that all bolts are tight during regular maintenance or to find the correct bolt if one is missing. We recommend doing this periodically during practice and after every match at events. Use this guide top help keep your X2 Swerve Modules in peak performance.

General Maintenance

These are some tips and tricks to keep the product running without a hitch. Failure to do maintenance may result in issues.

First Time Assembly

1. Loctite all bolts

2. Grease all gears

   1. We recommend Lucas Red "N" Tacky for all gears

3. All bolts are tight and there are no gaps in the assembly

4. Gears mess correctly and everything spins smoothly

General Maintenance

1. Check for excessive wear in gears

2. Reapply grease

3. Verify everything still spins smoothly

4. No damage to printed parts

Yearly Maintenance

1. Disassemble gearbox

2. Replace all gears, if aluminum gears were used

3. Clean all components

4. Inspect all components for wear or damage

5. Reassemble with new bolts with Loctite and grease all gears

Step 1

The 3.5” ID X-Contact Bearing will be installed from the bottom side of the Swerve X2 Bottom Plate. It is a tight slip fit and can be installed by hand or with an arbor press, if necessary. The bearing should sit flush with the bottom side of the plate.

Once the bearing is fully seated, use the five #10-32 x 1/2”L bolts to retain it. The bolts should be tightened until flush with the bottom side of the Bottom Plate. The image below indicates the location of the bolts in green.

Step 2

The 1/2" Rounded Hex and 3/8" bearings should be a light press fit and may be pressed in by hand or with an arbor press.

Step 3

Install the bearings into the Motor Plate, these should be light press fit and may be pressed in by hand or with an arbor press.

Step 4

Install the bearing from the bottom of the 88T Rotation Gear, it should be light press fit and may be pressed in by hand or with an arbor press.

Step 5

Press the 88T Rotation Gear in by hand. If necessary, use a dead blow hammer to lightly tap it in.

The Bevel Gear Shaft must be installed through the bottom side of the 12mm bearing. Use the 3/8" snap ring to retain the gear and shaft.

Step 6

The 1/4” ID x 5/8” OD bearing can be pressed into the Wheel Fork by hand. Once the bearing is in place, use the #10-32 x 1- 1/2”L bolts to install both forks into the module.

Step 7a

Step 7b

Use the 1/4"-20 x 1/2"L bolt to attach the Encoder Shaft. This may be a tight fit so use the bolt to fully seat the Encoder shaft.

Then slide the Cartridge and Column Gear Spacer onto the Encoder Shaft.

Step 8

Slide the Rotation Gear and Rotation Shaft into position.

Kit Contents

WCP Swerve X2 Aluminum Wheel Hub (4" OD x 2" WD, 1.125" Bore) (WCP-1729)

Assembly

Insert the 45T Bevel Gear into the Aluminum Wheel. This may be a tight fit. A dead blow hammer or an arbor press can be used to press the bevel gear into place. Tighten all bolts to ensure the bevel gear is flat.

Tread Cutting

When cutting tread for the Swerve X Wheel, you must know which type of tread you are using. The type of tread will affect the hole pattern and overall length of tread needed. We recommend using 3 Ply Black Neoprene and the pattern is based on that material.

The Tube Mount Swerve is the traditional style of swerve mounting. One of the primary benefits of this configuration is that it allows for a much less complex drivetrain assembly experience. Simply cut four tubes to your desired length, and you’re just about good to go.

Notable features:

• Frame assembly is independent from module installation

• Less complex frame tubes

The Bottom Mount option gives teams 2” of extra ground clearance but doing this will also limit space available for other mechanisms above the frame. This will also increase the height of the Center of Gravity of the robot.

The Top Mount option does not have the 2” of extra ground clearance but gains space available for other mechanisms above the frame. This will also lower the height of the Center of Gravity of the robot.

Recommended Frame Construction

In the image below, all holes in the gusset and tube marked in green are clearance holes for #10-32 bolts mounting the Swerve module. Unless the holes are used for mounting the swerve, the gusset can be installed using either bolts or rivets as desired.

Standard Configuration

Once the frame is fully assembled, the Tube Mount Swerve Modules can be installed. As seen in the images below, the gusset for the frame is installed on the opposite side of the tube that the module attaches to.

Inverted Configuration

Once the frame is fully assembled, the Inverted Tube Mount Swerve Modules can be installed. As seen in the images below, the gusset for the frame is installed on the opposite side of the tube that the module attaches to.

Thin Configuration

Once the frame is fully assembled, the Thin Tube Mount Swerve Modules can be installed. As seen in the images below, the gusset for the frame is installed on the opposite side of the tube that the module attaches to.

The Corner Mount Swerve is another mounting style used in the Swerve X2. This mounting style allows for much more space inside the drivetrain for other mechanisms when compared to the other Swerve X2 configurations.

Notable features:

• Takes up the least amount of space inside the frame when compared to the other Swerve X2 configurations

• Leaves more room for mechanisms

• Increases wheel base for more stability

The Bottom Mount option gives teams 2” of extra ground clearance but doing this will also limit space available for other mechanisms above the frame. This will also increase the height of the Center of Gravity of the robot.

The Top Mount option does not have the 2” of extra ground clearance but gains space available for other mechanisms above the frame. This will also lower the height of the Center of Gravity of the robot.

Frame Mounting

Constructing the frame with the Corner Mount modules is more complex than the Tube Mount variant. Tubes can still be cut to length but due to the tubes not meeting in the corner of the frame, it is recommended to have other frame elements to help stiffen the overall assembly.

Standard Configuration

Flipped Configuration

Thin Configuration

Step 9

Bolt together the assemblies from Steps 2 and 3 using the 1-1/4"L Bolts shown below.

The Drive Motor and Rotation Motor can be assembled in any order. However, they must both be installed in the location shown in the images below. Clock motors in the desired direction during this step.

Step 10

Combine the assemblies from Steps 6 and 9 as shown below. Refer to the images for the correct bolt and spacer lengths.

Step 11

Install the Drive and Rotation Pinions.

Step 12

Install the Encoder Mount using two #10-32 x 1/2”L bolts. Remove the board from the case and fit it into the cutout in the 3D Printed Encoder Mount. Use the top half of the Encoder case and the long thread forming screw from the Encoder to attach the sensor.

Step 13

When installing the Wheel Assembly, be sure the 45T Bevel Gear and 15T Bevel Gear are on the same side.

Corner Mounting

Step 9

Bolt together the assemblies from Steps 2 and 3 using the 1-1/4"L Bolts shown below.

The Drive Motor and Rotation Motor can be assembled in any order. However, they must both be installed in the location shown in the images below. Clock motors in the desired direction during this step.

Step 10

Combine the assemblies from Steps 6 and 9 as shown below. Refer to the images for the correct bolt and spacer lengths.

Step 11

Install the Drive and Rotation Pinions.

Step 12

Install the Encoder Mount using two #10-32 x 1/2”L bolts. Remove the board from the case and fit it into the cutout in the 3D Printed Encoder Mount. Use the top half of the Encoder case and the long thread forming screw from the Encoder to attach the sensor.

Step 13

When installing the Wheel Assembly, be sure the 45T Bevel Gear and 15T Bevel Gear are on the same side.

Corner Mounting

Manual Updates

Product Updates

Assembly

Insert the 45T Bevel Gear by either tapping it in with a dead blow hammer or using an arbor press.