Loading...
Loading...
Loading...
Loading...
Loading...
Loading...
Loading...
Loading...
Loading...
Loading...
Loading...
Loading...
Loading...
Loading...
Loading...
Loading...
Loading...
Loading...
Loading...
Loading...
Loading...
Loading...
Loading...
Loading...
Loading...
Loading...
Loading...
Loading...
Loading...
Loading...
Loading...
Loading...
Loading...
Loading...
Loading...
Loading...
Loading...
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
Purchasing the GreyT Telescope has been simplified to buying a "Complete Kit" or "Individual Components".
The "Complete Kits" will have all the necessary parts to assemble the telescope minus motors.
"Individual Components" is an option for teams if:
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
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
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
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
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
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.
All Ratio Kits are sold with steel gears. However, they can be swapped out with aluminum gears to further reduce the weight of each module.
All weights for configurations were calculated without any motors.
Weight calculated using the Aluminum Wheel and Tread.
Corner Mount module weights do not include the weight for either the Top Support Plate or the Bottom Support Plate.
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.
The Kraken X60 without FOC is used as a reference for the table below.
Gear Ratio Set | Speed Spread (ft/s) |
---|
The Rotation Ratio is the same throughout all motor configurations using the 10t pinions, which is compatible with all motors. The overall rotation gear ratio will be 12.1:1
The 16t Second Stage Gear for the X2 Ratio Set is on a 18t Center Distance.
The 14t Second Stage Gear for the X4 Ratio Set is on a 16t Center Distance.
The Zeroing Blocks below will be used to help align the wheel to the module so that a zero can be set in code.
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.
This method will set the modules at 45 degrees from straight. This must be accounted for in the code.
Make sure that the flat of the fork is aligned with the Zeroing Block.
The Standard version of the WCP Swerve X2 allows for three different Drive Motor placements.
The Top Plate includes additional holes with 0.5" spacing, enabling users to mount additional hardware without custom machining.
The Top Plate includes additional holes with 0.5" spacing, enabling users to mount additional hardware without custom machining.
The Top Plate includes additional holes with 0.5" spacing, enabling users to mount additional hardware without custom machining.
Refer back to the page to ensure that all necessary parts are located before starting assembly steps.
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
Blue Loctite () is recommended on all bolts that thread into a tapped hole.
The following pages cover the basic assembly instructions for the WCP Swerve X2.
When purchasing a complete kit below, the selected ratio kit will also be included. The breakdown of the ratio kits can be seen on the page.
Part Number | Description | QTY |
---|
Part Number | Description | QTY |
---|
Part Number | Description | QTY |
---|
Configuration | Steel Gears | Aluminum Gears |
---|---|---|
Configuration | Steel Gears | Aluminum Gears |
---|---|---|
Part Number | Description | QTY |
---|
Part Number | Description | QTY |
---|
Part Number | Description | QTY |
---|
Part Number | Description | QTY |
---|
Part Number | Description | QTY |
---|
Part Number | Description | QTY |
---|
Part Number | Description | QTY |
---|
Part Number | Description | QTY |
---|
Part Number | Description | QTY |
---|
Part Number | Description | QTY |
---|
Part Number | Description | QTY |
---|
Part Number | Description | QTY |
---|
Part Number | Description | QTY |
---|
Part Number | Description | QTY |
---|
Standard
3.821 lbs
3.254 lbs
Inverted
4.146 lbs
3.378 lbs
Thin
4.321 lbs
3.524 lbs
Standard
3.841 lbs
3.274 lbs
Inverted
4.166 lbs
3.398 lbs
Thin
4.341 lbs
3.544 lbs
WCP-1713 | WCP Swerve X2 Drive Double Gear (54t/38t, Steel) | 1 |
WCP-0432 | 18t Steel Spur Gear (20 DP, 3/8" Hex Bore) | 1 |
WCP-1008 | 10t Steel Spur Gear (20 DP, 12t Center Distance, 8mm SplineXS Bore) | 2 |
WCP-1009 | 11t Steel Spur Gear (20 DP, 12t Center Distance, 8mm SplineXS Bore) | 1 |
WCP-1010 | 12t Steel Spur Gear (20 DP, 8mm SplineXS Bore) | 1 |
WCP-1713 | WCP Swerve X2 Drive Double Gear (54t/38t, Steel) | 1 |
WCP-0432 | 18t Steel Spur Gear (20 DP, 3/8" Hex Bore) | 1 |
WCP-0899 | 10t Steel Spur Gear (20 DP, 12t Center Distance, 8mm Key Bore) | 2 |
WCP-0900 | 11t Steel Spur Gear (20 DP, 12t Center Distance, 8mm Key Bore) | 1 |
WCP-0901 | 12t Steel Spur Gear (20 DP, 8mm Key Bore) | 1 |
WCP-1713 | WCP Swerve X2 Drive Double Gear (54t/38t, Steel) | 1 |
WCP-1719 | 16t Steel Spur Gear (20 DP, 18t Center Distance, 3/8" Hex Bore) | 1 |
WCP-1008 | 10t Steel Spur Gear (20 DP, 12t Center Distance, 8mm SplineXS Bore) | 2 |
WCP-1009 | 11t Steel Spur Gear (20 DP, 12t Center Distance, 8mm SplineXS Bore) | 1 |
WCP-1010 | 12t Steel Spur Gear (20 DP, 8mm SplineXS Bore) | 1 |
WCP-1713 | WCP Swerve X2 Drive Double Gear (54t/38t, Steel) | 1 |
WCP-1719 | 16t Steel Spur Gear (20 DP, 18t Center Distance, 3/8" Hex Bore) | 1 |
WCP-0899 | 10t Steel Spur Gear (20 DP, 12t Center Distance, 8mm Key Bore) | 2 |
WCP-0900 | 11t Steel Spur Gear (20 DP, 12t Center Distance, 8mm Key Bore) | 1 |
WCP-0901 | 12t Steel Spur Gear (20 DP, 8mm Key Bore) | 1 |
WCP-1715 | WCP Swerve X2 Drive Double Gear (54t/40t, Steel) | 1 |
WCP-0732 | 16t Steel Spur Gear (20 DP, 3/8" Hex Bore) | 1 |
WCP-1008 | 10t Steel Spur Gear (20 DP, 12t Center Distance, 8mm SplineXS Bore) | 2 |
WCP-1009 | 11t Steel Spur Gear (20 DP, 12t Center Distance, 8mm SplineXS Bore) | 1 |
WCP-1010 | 12t Steel Spur Gear (20 DP, 8mm SplineXS Bore) | 1 |
WCP-1715 | WCP Swerve X2 Drive Double Gear (54t/40t, Steel) | 1 |
WCP-0732 | 16t Steel Spur Gear (20 DP, 3/8" Hex Bore) | 1 |
WCP-0899 | 10t Steel Spur Gear (20 DP, 12t Center Distance, 8mm Key Bore) | 2 |
WCP-0900 | 11t Steel Spur Gear (20 DP, 12t Center Distance, 8mm Key Bore) | 1 |
WCP-0901 | 12t Steel Spur Gear (20 DP, 8mm Key Bore) | 1 |
WCP-1715 | WCP Swerve X2 Drive Double Gear (54t/40t, Steel) | 1 |
WCP-1717 | 14t Steel Spur Gear (20 DP, 16t Center Distance, 3/8" Hex Bore) | 1 |
WCP-1008 | 10t Steel Spur Gear (20 DP, 12t Center Distance, 8mm SplineXS Bore) | 2 |
WCP-1009 | 11t Steel Spur Gear (20 DP, 12t Center Distance, 8mm SplineXS Bore) | 1 |
WCP-1010 | 12t Steel Spur Gear (20 DP, 8mm SplineXS Bore) | 1 |
WCP-1715 | WCP Swerve X2 Drive Double Gear (54t/40t, Steel) | 1 |
WCP-1717 | 14t Steel Spur Gear (20 DP, 16t Center Distance, 3/8" Hex Bore) | 1 |
WCP-0899 | 10t Steel Spur Gear (20 DP, 12t Center Distance, 8mm Key Bore) | 2 |
WCP-0900 | 11t Steel Spur Gear (20 DP, 12t Center Distance, 8mm Key Bore) | 1 |
WCP-0901 | 12t Steel Spur Gear (20 DP, 8mm Key Bore) | 1 |
WCP-1700 | WCP Swerve X2 Hardware Kit | 1 |
WCP-1703 | WCP Swerve X2t Base Kit | 1 |
WCP-1704 | WCP Swerve X2 (Tube Mount Bottom Plate) | 1 |
WCP-1708 | WCP Swerve X2 (Standard Wheel Fork Kit) | 1 |
WCP-1710 | WCP Swerve X2 Rotation Double Gear (22t/16t, Steel) | 1 |
WCP-1712 | WCP Swerve X2 (88t Rotation Gear) | 1 |
WCP-1721 | WCP Swerve X2 Drive Bevel Gear Shaft (15t, Standard, Steel) | 1 |
WCP-1723 | 38t Pocketed Steel Spur Gear (20 DP, 3/8" Round, 1/4" Round) | 1 |
WCP-1725 | 27t Pocketed Steel Spur Gear (20 DP, 3/8" Round, 1/4" Round) | 2 |
WCP-1727 | WCP Swerve X2 Molded Wheel Hub (4" OD x 2" WD, 1.125" Bore) | 1 |
WCP-1728 | 4" OD x 2" WD Molded Tread | 1 |
WCP-0037 | 3.5" ID x 4" OD x .25" WD (X-Contact Bearing) | 1 |
WCP-0233 | 45t Steel Bevel Gear (1.5 Module, Round Bore) | 1 |
WCP-1700 | WCP Swerve X2 Hardware Kit | 1 |
WCP-1701 | WCP Swerve X2 Base Kit | 1 |
WCP-1705 | WCP Swerve X2 (Corner Mount Bottom Plate) | 1 |
WCP-1708 | WCP Swerve X2 (Standard Wheel Fork Kit) | 1 |
WCP-1710 | WCP Swerve X2 Rotation Double Gear (22t/16t, Steel) | 1 |
WCP-1712 | WCP Swerve X2 (88t Rotation Gear) | 1 |
WCP-1721 | WCP Swerve X2 Drive Bevel Gear Shaft (15t, Standard, Steel) | 1 |
WCP-1727 | WCP Swerve X2 Molded Wheel Hub (4" OD x 2" WD, 1.125" Bore) | 1 |
WCP-1728 | 4" OD x 2" WD Molded Tread | 1 |
WCP-1733 | 5/8" L Kraken X60 Motor Spacer (60mm OD, .875" Nub) | 2 |
WCP-0037 | 3.5" ID x 4" OD x .25" WD (X-Contact Bearing) | 1 |
WCP-0233 | 45t Steel Bevel Gear (1.5 Module, Round Bore) | 1 |
WCP-1700 | WCP Swerve X2 Hardware Kit | 1 |
WCP-1702 | WCP Swerve X2i Base Kit | 1 |
WCP-1705 | WCP Swerve X2 (Corner Mount Bottom Plate) | 1 |
WCP-1708 | WCP Swerve X2 (Standard Wheel Fork Kit) | 1 |
WCP-1710 | WCP Swerve X2 Rotation Double Gear (22t/16t, Steel) | 1 |
WCP-1712 | WCP Swerve X2 (88t Rotation Gear) | 1 |
WCP-1721 | WCP Swerve X2 Drive Bevel Gear Shaft (15t, Standard, Steel) | 1 |
WCP-1723 | 38t Pocketed Steel Spur Gear (20 DP, 3/8" Round, 1/4" Round) | 2 |
WCP-1727 | WCP Swerve X2 Molded Wheel Hub (4" OD x 2" WD, 1.125" Bore) | 1 |
WCP-1728 | 4" OD x 2" WD Molded Tread | 1 |
WCP-0037 | 3.5" ID x 4" OD x .25" WD (X-Contact Bearing) | 1 |
WCP-0233 | 45t Steel Bevel Gear (1.5 Module, Round Bore) | 1 |
WCP-1700 | WCP Swerve X2 Hardware Kit | 1 |
WCP-1703 | WCP Swerve X2t Base Kit | 1 |
WCP-1705 | WCP Swerve X2 (Corner Mount Bottom Plate) | 1 |
WCP-1708 | WCP Swerve X2 (Standard Wheel Fork Kit) | 1 |
WCP-1710 | WCP Swerve X2 Rotation Double Gear (22t/16t, Steel) | 1 |
WCP-1712 | WCP Swerve X2 (88t Rotation Gear) | 1 |
WCP-1721 | WCP Swerve X2 Drive Bevel Gear Shaft (15t, Standard, Steel) | 1 |
WCP-1723 | 38t Pocketed Steel Spur Gear (20 DP, 3/8" Round, 1/4" Round) | 1 |
WCP-1725 | 27t Pocketed Steel Spur Gear (20 DP, 3/8" Round, 1/4" Round) | 2 |
WCP-1727 | WCP Swerve X2 Molded Wheel Hub (4" OD x 2" WD, 1.125" Bore) | 1 |
WCP-1728 | 4" OD x 2" WD Molded Tread | 1 |
WCP-0037 | 3.5" ID x 4" OD x .25" WD (X-Contact Bearing) | 1 |
WCP-0233 | 45t Steel Bevel Gear (1.5 Module, Round Bore) | 1 |
WCP-1700-001 | Swerve X2 - Encoder Shaft | 1 |
WCP-1700-002 | Swerve X2 - Wheel Shaft | 1 |
WCP-1700-003 | Swerve X2 - Rotation Shaft | 1 |
WCP-1700-004 | Swerve X2 - Bearing Retainer | 1 |
WCP-1700-005 | Swerve X2 - Encoder Mount | 1 |
WCP-1700-006 | Swerve X2 - Column Gear Spacer | 1 |
WCP-0156 | 0.250" OD x 0.500" WD (Diametric Magnet) | 1 |
WCP-0206 | Aluminum Spacers (.196" ID x 3/8" OD x 1-3/4" WD) | 1 |
WCP-1405 | 8mm SplineXS ID x 5/8" OD x 1/4" WD Spacer | 4 |
WCP-0252 | #10-32 x .375" L BHCS (Steel, Black Oxide) | 5 |
WCP-0253 | #10-32 x .500" L BHCS (Steel, Black Oxide) | 6 |
WCP-0260 | #10-32 x 2.250" L BHCS (Steel, Black Oxide) | 4 |
WCP-0261 | #10-32 x 2.500" L BHCS (Steel, Black Oxide) | 10 |
WCP-0267 | #10-32 x 1.000" L SHCS (Steel, Black Oxide) | 6 |
WCP-0268 | #10-32 x 1.500" L SHCS (Steel, Black Oxide) | 4 |
WCP-1740 | #10-32 x .250" L PHCS (Steel, Black Oxide) | 2 |
~ | 1/4-20 x .5"L | 1 |
~ | 1/4-20 x 3.5"L | 1 |
~ | 1/4-20 nut | 1 |
WCP-0228 | External SnapRing (3/8") | 1 |
WCP-1735 | 8mm ID x 16mm OD x 4mm WD (Radial Bearing) | 2 |
WCP-1734 | 12mm ID x 24mm OD x 6mm WD (Flanged Bearing) | 1 |
WCP-0785 | 13.75mm (1/2" Rounded Hex) ID x 1.125" OD x 0.313" WD (Flanged Bearing) | 1 |
WCP-0078 | 15mm ID x 24mm OD x 5mm WD (Radial Bearing) | 2 |
WCP-0041 | 0.250" ID x 0.625" OD x 0.196" WD (Radial Bearing) | 1 |
WCP-0778 | 0.500" ID x 1.125" OD x 0.313" WD (Radial Bearing) | 2 |
WCP-1708-001 | Swerve X2 - Standard Wheel Fork (Bearing Pocket) | 1 |
WCP-1708-002 | Swerve X2 - Standard Wheel Fork | 1 |
WCP-1727-001 | Swerve X2 - Molded Wheel Hub Male | 1 |
WCP-1727-002 | Swerve X2 - Molded Wheel Hub Female | 1 |
WCP-1729 | WCP Swerve X2 Aluminum Wheel Hub (4" OD x 2" WD, 1.125" Bore) | 1 |
WCP-0253 | #10-32 x .500" L BHCS (Steel, Black Oxide) | 8 |
WCP-1701-001 | Swerve X2 - Top Plate | 1 |
WCP-0206 | Aluminum Spacers (.196" ID x 3/8" OD x 1-3/4" WD) | 2 |
WCP-0253 | #10-32 x .500" L BHCS (Steel, Black Oxide) | 4 |
WCP-1702-001 | Swerve X2i - Top Plate | 1 |
WCP-1702-002 | Swerve X2i - Motor Plate | 1 |
WCP-0202 | Aluminum Spacers (.196" ID x 3/8" OD x 1/2" WD) | 4 |
WCP-0204 | Aluminum Spacers (.196" ID x 3/8" OD x 1" WD) | 2 |
WCP-0255 | #10-32 x 1.000" L BHCS (Steel, Black Oxide) | 2 |
WCP-0042 | 0.250" ID x 0.625" OD x 0.196" WD (Flanged Bearing) | 2 |
WCP-0779 | 0.375" ID x 0.875" OD x 0.280" WD (Flanged Bearing) | 2 |
WCP-1703-001 | Swerve X2t - Top Plate | 1 |
WCP-1703-002 | Swerve X2t - Motor Plate | 1 |
WCP-1703-003 | Swerve X2t - Extension Plate | 1 |
WCP-0202 | Aluminum Spacers (.196" ID x 3/8" OD x 1/2" WD) | 3 |
WCP-0204 | Aluminum Spacers (.196" ID x 3/8" OD x 1" WD) | 1 |
WCP-0222 | Aluminum Spacers (.196" ID x 3/8" OD x 1-1/4" WD) | 1 |
WCP-0206 | Aluminum Spacers (.196" ID x 3/8" OD x 1-3/4" WD) | 1 |
WCP-0253 | #10-32 x .500" L BHCS (Steel, Black Oxide) | 1 |
WCP-0256 | #10-32 x 1.250" L BHCS (Steel, Black Oxide) | 2 |
WCP-0258 | #10-32 x 1.750" L BHCS (Steel, Black Oxide) | 1 |
WCP-0042 | 0.250" ID x 0.625" OD x 0.196" WD (Flanged Bearing) | 3 |
WCP-0779 | 0.375" ID x 0.875" OD x 0.280" WD (Flanged Bearing) | 3 |
WCP-1706-001 | WCP Swerve X2 (Bottom Support Plate) | 1 |
WCP-0206 | Aluminum Spacers (.196" ID x 3/8" OD x 1-3/4" WD) | 1 |
WCP-0207 | Aluminum Spacers (.196" ID x 3/8" OD x 2" WD) | 1 |
WCP-0230 | 2" WD x #10-32 ID x 3/8" OD Aluminum Threaded Hex Standoff | 1 |
WCP-0252 | #10-32 x .375" L BHCS (Steel, Black Oxide) | 2 |
WCP-0261 | #10-32 x 2.500" L BHCS (Steel, Black Oxide) | 2 |
WCP-1707-001 | WCP Swerve X2 (Top Support Plate) | 1 |
WCP-0230 | 2" WD x #10-32 ID x 3/8" OD Aluminum Threaded Hex Standoff | 1 |
WCP-0252 | #10-32 x .375" L BHCS (Steel, Black Oxide) | 1 |
WCP-0261 | #10-32 x 2.500" L BHCS (Steel, Black Oxide) | 1 |
WCP-1700 | WCP Swerve X2 Hardware Kit | 1 |
WCP-1701 | WCP Swerve X2 Base Kit | 1 |
WCP-1704 | WCP Swerve X2 (Tube Mount Bottom Plate) | 1 |
WCP-1708 | WCP Swerve X2 (Standard Wheel Fork Kit) | 1 |
WCP-1710 | WCP Swerve X2 Rotation Double Gear (22t/16t, Steel) | 1 |
WCP-1712 | WCP Swerve X2 (88t Rotation Gear) | 1 |
WCP-1721 | WCP Swerve X2 Drive Bevel Gear Shaft (15t, Standard, Steel) | 1 |
WCP-1727 | WCP Swerve X2 Molded Wheel Hub (4" OD x 2" WD, 1.125" Bore) | 1 |
WCP-1728 | 4" OD x 2" WD Molded Tread | 1 |
WCP-1733 | 5/8" L Kraken X60 Motor Spacer (60mm OD, .875" Nub) | 2 |
WCP-0037 | 3.5" ID x 4" OD x .25" WD (X-Contact Bearing) | 1 |
WCP-0233 | 45t Steel Bevel Gear (1.5 Module, Round Bore) | 1 |
WCP-1700 | WCP Swerve X2 Hardware Kit | 1 |
WCP-1702 | WCP Swerve X2i Base Kit | 1 |
WCP-1704 | WCP Swerve X2 (Tube Mount Bottom Plate) | 1 |
WCP-1708 | WCP Swerve X2 (Standard Wheel Fork Kit) | 1 |
WCP-1710 | WCP Swerve X2 Rotation Double Gear (22t/16t, Steel) | 1 |
WCP-1712 | WCP Swerve X2 (88t Rotation Gear) | 1 |
WCP-1721 | WCP Swerve X2 Drive Bevel Gear Shaft (15t, Standard, Steel) | 1 |
WCP-1723 | 38t Pocketed Steel Spur Gear (20 DP, 3/8" Round, 1/4" Round) | 2 |
WCP-1727 | WCP Swerve X2 Molded Wheel Hub (4" OD x 2" WD, 1.125" Bore) | 1 |
WCP-1728 | 4" OD x 2" WD Molded Tread | 1 |
WCP-0037 | 3.5" ID x 4" OD x .25" WD (X-Contact Bearing) | 1 |
WCP-0233 | 45t Steel Bevel Gear (1.5 Module, Round Bore) | 1 |
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 design 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.
X1 | ~13 to ~16 |
X2 | ~15 to ~18 |
X3 | ~16 to ~19 |
X4 | ~18 to ~22 |
Blue Loctite (McMaster P/N 1004A12) is recommended on all bolts that thread into a tapped hole.
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.
Install the two 15mm ID x 24mm OD bearings into the desired Column Gear. Refer to the Ratio Options page for the correct Column Gear for your selected ratio.
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.
Blue Loctite (McMaster P/N 1004A12) should be used for the 1/4"-20 bolt shown below.
The Gear Spacer can be swapped with a Snap Ring (McMaster P/N 97633A220) if preferred.
Slide the Rotation Double Gear and Rotation Shaft into position.
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.
The orange bolt will go through the Rotation Shaft installed in the previous step and thread into the bottom plate.
Assembly instructions are interchangeable between the Corner and Tube Mount versions of the Swerve.
Blue Loctite (McMaster P/N 1004A12) is recommended on all bolts that thread into a tapped hole.
Check for any remaining support material on all 3D printed parts before assembly.
Blue Loctite (McMaster P/N 1004A12) is recommended on all bolts that thread into a tapped hole.
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.
The Tube Mount bottom plate was used for reference but assembly instructions are interchangeable between the Corner and Tube Mount versions.
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.
The bottom of the Swerve X2 Top Plate should have the nub as shown below.
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.
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.
The 16t Second Stage Gear for the X2 Ratio Set is on a 18t Center Distance.
The 14t Second Stage Gear for the X4 Ratio Set is on a 16t Center Distance.
Blue Loctite (McMaster P/N 1004A12) is recommended on all bolts that thread into a tapped hole.
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.
For the Drive Pinion refer back to the Ratio Options page.
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.
Install the Drive and Rotation Motors using the #10-32 x 1/2"L bolts as shown below.
The Drive Motor is mounted in the center for the picture below, for other mounting locations refer back to the Configurations page.
The Wheel Assemblies can be found using the links below.
When installing the Wheel Assembly, be sure the 45T Bevel Gear and 15T Bevel Gear are on the same side.
Before installing the wheel assembly, it is necessary to loosen the fork installed in Step 6 for the wheel to slide past the small bevel gear. We recommend loosening the Fork opposite the bevel gear.
For more instructions regarding mounting the Corner Mount modules, see the Corner Mounting section.
It is recommended to use either the Top or Bottom Support Plate to strengthen the corner of your frame.
Assembly instructions will reflect the Standard, Center configuration and are interchangeable between all versions of the Standard Swerve X2.
Blue Loctite (McMaster P/N 1004A12) is recommended on all bolts that thread into a tapped hole.
Check for any remaining support material on all 3D printed parts before assembly.
The Drive Motor can be placed in three different locations, refer back to the Configurations page to view the possible mounting locations. The Rotation Motor will be the motor closest to the Rotation Double Gear.
A 12t pinion is the largest size that can be used in this configuration to avoid collisions.
Blue Loctite (McMaster P/N 1004A12) is recommended on all bolts that thread into a tapped hole.
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.
The Tube Mount bottom plate was used for reference but assembly instructions are interchangeable between the Corner and Tube Mount versions.
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.
The bottom of the Swerve X2 Top Plate should have the nub as shown below.
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.
The bearings should be fully seated in the c-bore and flush with the top of the plate.
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.
Blue Loctite (McMaster P/N 1004A12) is recommended on all bolts that thread into a tapped hole.
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.
For the Drive Pinion refer back to the Ratio Options page.
Combine the assemblies from Steps 2, 8, and 9 as shown below. Refer to the images for the correct bolt and spacer lengths.
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.
The Wheel Assemblies can be found using the links below.
When installing the Wheel Assembly, be sure the 45T Bevel Gear and 15T Bevel Gear are on the same side.
Before installing the wheel assembly, it is necessary to loosen the fork installed in Step 6 for the wheel to slide past the small bevel gear. We recommend loosening the Fork opposite the bevel gear.
For more instructions regarding mounting the Corner Mount modules, see the Corner Mounting section.
It is recommended to use either the Top or Bottom Support Plate to strengthen the corner of your frame.
Blue Loctite (McMaster P/N ) is recommended on all bolts that thread into a tapped hole.
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.
The Tube Mount bottom plate was used for reference but assembly instructions are interchangeable between the Corner and Tube Mount versions.
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.
The bearings shown below are pressed in from the bottom of the Top Plate.
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.
The bearings should be fully seated in the c-bore and flush with the top of the plate.
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.
Blue Loctite (McMaster P/N ) is recommended on all bolts that thread into a tapped hole.
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.
The #10-32 x 2 1/4"L Bolt will not be threaded into a part until the next step.
Combine the assemblies from Steps 6 and 9 as shown below. Refer to the images for the correct bolt and spacer lengths.
The bolt highlighted in blue is the only bolt that should be installed from the bottom of the module. All other bolts will be installed from the top.
Install the Drive and Rotation Pinions.
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.
The Wheel Assemblies can be found using the links below.
When installing the Wheel Assembly, be sure the 45T Bevel Gear and 15T Bevel Gear are on the same side.
Before installing the wheel assembly, it is necessary to loosen the fork installed in Step 6 for the wheel to slide past the small bevel gear. We recommend loosening the Fork opposite the bevel gear.
It is recommended to use either the Top or Bottom Support Plate to strengthen the corner of your frame.
Blue Loctite (McMaster P/N ) is recommended on all bolts that thread into a tapped hole.
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.
The 16t Second Stage Gear for the X2 Ratio Set is on a 18t Center Distance.
The 14t Second Stage Gear for the X4 Ratio Set is on a 16t Center Distance.
Gear Ratio Kit | 2nd Stage Driven Gear |
---|
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.
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.
Slide the Rotation Gear and Rotation Shaft into position.
Assembly instructions are interchangeable between the Corner and Tube Mount versions of the Swerve.
Blue Loctite (McMaster P/N ) is recommended on all bolts that thread into a tapped hole.
Check for any remaining support material on all 3D printed parts before assembly.
See Rotation and Drive Motor locations below.
A 12t pinion is the largest size that can be used in this configuration to avoid collisions.
Blue Loctite (McMaster P/N ) is recommended on all bolts that thread into a tapped hole.
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.
The 16t Second Stage Gear for the X2 Ratio Set is on a 18t Center Distance.
The 14t Second Stage Gear for the X4 Ratio Set is on a 16t Center Distance.
Gear Ratio Kit | 2nd Stage Driven Gear |
---|
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.
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.
Slide the Rotation Gear and Rotation Shaft into position.
Blue Loctite (McMaster P/N ) is recommended on all bolts that thread into a tapped hole.
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.
The #10-32 x 2 1/4"L Bolt will not be threaded into a part until the next step.
Combine the assemblies from Steps 6 and 9 as shown below. Refer to the images for the correct bolt and spacer lengths.
The bolt highlighted in blue is the only bolt that should be installed from the bottom of the module. All other bolts will be installed from the top.
Install the Drive and Rotation Pinions.
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.
The Wheel Assemblies can be found using the links below.
When installing the Wheel Assembly, be sure the 45T Bevel Gear and 15T Bevel Gear are on the same side.
Before installing the wheel assembly, it is necessary to loosen the fork installed in Step 6 for the wheel to slide past the small bevel gear. We recommend loosening the Fork opposite the bevel gear.
It is recommended to use either the Top or Bottom Support Plate to strengthen the corner of your frame.
Part Number | Description | QTY |
---|
Be sure to align the bolt holes in the Colson Swerve X2 Wheel with the tapped holes in the 45T Bevel Gear.
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.
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.
3 Ply Black Neoprene tread was used to determine the overall length and hole spacing for the tread pattern. If using a different tread type, the spacing may be different due to the construction of the tread.
The following pages will include all necessary information for the three available wheel configurations for the Swerve X2.
Part Number | Description | QTY |
---|
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.
Be sure to align the bolt holes in the Molded Swerve Wheel with the tapped holes in the 45T Bevel Gear.
Blue Loctite (McMaster P/N ) is recommended on all bolts that thread into a tapped hole.
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.
The Tube Mount bottom plate was used for reference but assembly instructions are interchangeable between the Corner and Tube Mount versions.
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.
The bearings shown below are pressed in from the bottom of the Top Plate.
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.
The bearings should be fully seated in the c-bore and flush with the top of the plate.
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.
Blue Loctite (McMaster P/N ) is recommended on all bolts that thread into a tapped hole.
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.
The 16t Second Stage Gear for the X2 Ratio Set is on a 18t Center Distance.
The 14t Second Stage Gear for the X4 Ratio Set is on a 16t Center Distance.
Gear Ratio Kit | 2nd Stage Driven Gear |
---|
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.
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.
Slide the Rotation Gear and Rotation Shaft into position.
Assembly instructions are interchangeable between the Corner and Tube Mount versions of the Swerve.
Blue Loctite (McMaster P/N ) is recommended on all bolts that thread into a tapped hole.
Check for any remaining support material on all 3D printed parts before assembly.
See Rotation and Drive Motor locations below.
A 12t pinion is the largest size that can be used in this configuration to avoid collisions.
Gear Ratio Kit | 2nd Stage Driven Gear |
---|---|
For the Drive Pinion refer back to the page.
, ,
For more instructions regarding mounting the Corner Mount modules, see the section.
Install the two 15mm ID x 24mm OD bearings into the desired Column Gear. Refer to the page for the correct Column Gear for your selected ratio.
Blue Loctite () should be used for the 1/4"-20 bolt shown below.
The Gear Spacer can be swapped with a Snap Ring (McMaster P/N ) if preferred.
Install the two 15mm ID x 24mm OD bearings into the desired Column Gear. Refer to the page for the correct Column Gear for your selected ratio.
Blue Loctite () should be used for the 1/4"-20 bolt shown below.
The Gear Spacer can be swapped with a Snap Ring (McMaster P/N ) if preferred.
For the Drive Pinion refer back to the page.
, ,
For more instructions regarding mounting the Corner Mount modules, see the section.
Install the two 15mm ID x 24mm OD bearings into the desired Column Gear. Refer to the page for the correct Column Gear for your selected ratio.
Blue Loctite () should be used for the 1/4"-20 bolt shown below.
The Gear Spacer can be swapped with a Snap Ring (McMaster P/N ) if preferred.
X1
18t
X2
16t (18t Center Distance)
X3
16t
X4
14t (16t Center Distance)
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
Loctite all bolts
Grease all gears
We recommend a dry grease or white lithium for all hex bore gears
We recommend Red n Tacky for the bevel gears
All bolts are tight and there are no gaps in the assembly
Gears mess correctly and everything spins smoothly
General Maintenance
Check for excessive wear in gears
Reapply grease
Verify everything still spins smoothly
No damage to printed parts
Yearly Maintenance
Disassemble gearbox
Replace all gears, if aluminum gears were used
Clean all components
Inspect all components for wear or damage
Reassemble with new bolts with Loctite and grease all gears
X1 | 18t |
X2 | 16t (18t Center Distance) |
X3 | 16t |
X4 | 14t (16t Center Distance) |
X1 | 18t |
X2 | 16t (18t Center Distance) |
X3 | 16t |
X4 | 14t (16t Center Distance) |
WCP-1729 | WCP Swerve X2 Aluminum Wheel Hub (4" OD x 2" WD, 1.125" Bore) | 1 |
WCP-0253 | #10-32 x .500" L BHCS (Steel, Black Oxide) | 8 |
WCP-1727-001 | Swerve X2 - Molded Wheel Hub Male | 1 |
WCP-1727-002 | Swerve X2 - Molded Wheel Hub Female | 1 |
X1 | 18t |
X2 | 16t (18t Center Distance) |
X3 | 16t |
X4 | 14t (16t Center Distance) |
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.
The image below shows recommended assembly instructions for one corner of the frame. While it shows the frame being assembled with both the Aluminum Tube Plug (WCP-0374) and the 90 Degree Gusset (WCP-1060), it is also acceptable to use just one or the other.
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.
If you are assembling the frame with a gusset, make sure to install it on the opposite side of the tube from the Tube Mount Swerve X2 Module.
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.
The images below shows the Module being installed using ten bolts, but they are not all needed. If desired, the Tube Mount Module can be mounted using only six bolts.
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.
The images below shows the Module being installed using ten bolts, but they are not all needed. If desired, the Tube Mount Module can be mounted using only six bolts.
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.
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.
The module must be installed from the bottom of the frame, Use #10-32 x 2-1/4"L bolts to secure the the module.
The Top Support Plate cannot be used here as there is not enough clearance.
The module must be installed from the top of the frame, and the Bottom Support Plate must be installed from the bottom. The bolt in the corner of the module must be replaced with a #10-32 x 2-1/2"L bolt in order to thread into the 2"L Standoff.
For the Standard, Corner Mount configurations, an extra spacer can be installed on the inside of the module to further secure the Bottom Support Plate to the module itself.
The module must be installed from the bottom of the frame, and the Top Support Plate must be installed from the top. Use two #10-32 x 3/8"L bolts to secure the Top Support Plate to the Top Plate of the module
The #10-32 bolt in the outside corner of the module must be replaced with a #10-32 x 2-1/2"L bolt, as shown below.
The module must be installed from the top of the frame, and the Bottom Support Plate must be installed from the bottom. The bolt in the corner of the module must be replaced with a #10-32 x 2-1/2"L bolt in order to thread into the 2"L Standoff.
For the Flipped, Corner Mount configurations, an extra spacer can be installed on the inside of the module to further secure the Bottom Support Plate to the module itself.
The module must be installed from the bottom of the frame, and the Top Support Plate must be installed from the top. Use two #10-32 x 3/8"L bolts to secure the Top Support Plate to the Top Plate of the module
The #10-32 bolt in the outside corner of the module must be replaced with a #10-32 x 3"L bolt. This give you enough extra bolt length to further secure the Top Support Plate with a #10-32 nut
The module must be installed from the top of the frame, and the Bottom Support Plate must be installed from the bottom. The bolt in the corner of the module must be replaced with a #10-32 x 2-1/2"L bolt in order to thread into the 2"L Standoff.
For the Flipped, Corner Mount configurations, an extra spacer can be installed on the inside of the module to further secure the Bottom Support Plate to the module itself.
Make sure that the bolt highlighted in green is removed before placing the 2-1/2"L Bolt.
1.0
10/18/2024
Document created.
1.0
10/18/2024
Document created.