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WCP Swerve X2

Overview and Features

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

Standard (Center), Tube Mount
Standard (Center), Corner Mount

Inverted

Inverted, Tube Mount
Inverted, Corner Mount

Thin

Thin (Left), Tube Mount
Thin (Right), Corner Mount

Basic Features

  • 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

Advanced Features

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

General Specs

Layout Drawings

Tube Mount

Corner Mount

Weight Comparison

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.

Tube Mount

Configuration
Steel Gears
Aluminum Gears

Standard

3.821 lbs

3.254 lbs

Inverted

4.146 lbs

3.378 lbs

Thin

4.321 lbs

3.524 lbs

Weight calculated using the Aluminum Wheel and Tread.

Corner Mount

Corner Mount module weights do not include the weight for either the Top Support Plate or the Bottom Support Plate.

Configuration
Steel Gears
Aluminum Gears

Standard

3.841 lbs

3.274 lbs

Inverted

4.166 lbs

3.398 lbs

Thin

4.341 lbs

3.544 lbs

Zeroing Module

The Zeroing Blocks below will be used to help align the wheel to the module so that a zero can be set in code.

76KB
Swerve X2 Zeroing Block (Corner Mount).STEP
76KB
Swerve X2 Zeroing Block (Tube Mount).STEP

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.

General Info

Kit Contents

Purchasing this product has been simplified to buying a "Complete Kit" or "Individual Components".

The "Complete Kits" will have all the necessary parts for assembly 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

Complete Kits

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 Ratio Kits page.

WCP Swerve X2 (Tube Mount)

Part Number
Description
QTY

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 Swerve X2i (Tube Mount)

Part Number
Description
QTY

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

WCP Swerve X2t (Tube Mount)

Part Number
Description
QTY

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 Swerve X2 (Corner Mount)

Part Number
Description
QTY

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 Swerve X2i (Corner Mount)

Part Number
Description
QTY

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 Swerve X2t (Corner Mount)

Part Number
Description
QTY

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

Individual Components

Core Components

WCP Swerve X2 Hardware Kit (WCP-1700)

Part Number
Description
QTY

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

188KB
WCP-1700 - Kit Contents.pdf
pdf

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

Part Number
Description
QTY

WCP-1708-001

Swerve X2 - Standard Wheel Fork (Bearing Pocket)

1

WCP-1708-002

Swerve X2 - Standard Wheel Fork

1

70KB
WCP-1708 - Kit Contents.pdf
pdf

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

Part Number
Description
QTY

WCP-1727-001

Swerve X2 - Molded Wheel Hub Male

1

WCP-1727-002

Swerve X2 - Molded Wheel Hub Female

1

94KB
WCP-1727 - Kit Contents.pdf
pdf

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

Part Number
Description
QTY

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

82KB
WCP-1729 - Kit Contents.pdf
pdf

Base Kits

WCP Swerve X2 Base Kit (WCP-1701)

Part Number
Description
QTY

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

89KB
WCP-1701 - Kit Contents.pdf
pdf

WCP Swerve X2i Base Kit (WCP-1702)

Part Number
Description
QTY

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

107KB
WCP-1702 - Kit Contents.pdf
pdf

WCP Swerve X2t Base Kit (WCP-1703)

Part Number
Description
QTY

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

136KB
WCP-1703 - Kit Contents.pdf
pdf

Accessories

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

Part Number
Description
QTY

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

103KB
WCP-1706 - Kit Contents.pdf
pdf

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

Part Number
Description
QTY

WCP-1707-001

WCP Swerve X2 (Top Support Plate)

1

WCP-0261

#10-32 x 2.500" L BHCS (Steel, Black Oxide)

1

89KB
WCP-1707 - Kit Contents.pdf
pdf

Ratio Kits

X1 Ratio Set

Part Number
Description
QTY

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

Part Number
Description
QTY

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

X2 Ratio Set

Part Number
Description
QTY

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

Part Number
Description
QTY

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

X3 Ratio Set

Part Number
Description
QTY

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

Part Number
Description
QTY

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

X4 Ratio Set

Part Number
Description
QTY

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

Part Number
Description
QTY

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

Ratio Options

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.

The Kraken X60 without FOC is used as a reference for the table below.

Gear Ratio Set
Speed Spread (ft/s)

X1

~13 to ~16

X2

~15 to ~18

X3

~16 to ~19

X4

~18 to ~22

Swerve X2 Gear Ratios

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.

Configurations

Standard

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.

Inverted

The Top Plate includes additional holes with 0.5" spacing, enabling users to mount additional hardware without custom machining.

Thin

The Top Plate includes additional holes with 0.5" spacing, enabling users to mount additional hardware without custom machining.

Maintenance

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.

Printable PDF versions of the Bolt Checklist are found below.

4MB
Swerve X2 - Bolt Checklist & Maintenance.pdf
pdf
4MB
Swerve X2i - Bolt Checklist & Maintenance.pdf
pdf
3MB
Swerve X2t - Bolt Checklist & Maintenance.pdf
pdf

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. Use Vibra-Tite VC-3 threadlocker on 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 mesh 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 plastic encoder parts or belts

Yearly Maintenance

  1. Disassemble gearbox

  2. Replace any worn gears

  3. Clean all components

  4. Inspect all components for wear or damage

  5. Reassemble with new bolts with Vibra-Tite VC-3 and grease all gears

Assembly Instructions

Getting Started

Assembly Prep

Refer back to the Individual Components page to ensure that all necessary parts are located before starting assembly steps.

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

Vibra-TITE VC-3 Threadmate (Vibra-TITE) is recommended on all bolts that thread into a tapped hole.

Key Assembly Instructions

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

Apply Lucas Red "N" Tacky grease to all gears after final assembly to ensure smooth operation and reduce wear during use.

Cover

Standard

Module Assembly Instructions

Cover

Inverted

Module Assembly Instructions

Cover

Thin, Left

Module Assembly Instructions

Cover

Thin, Right

Module Assembly Instructions

Cover

Aluminum Wheel

Assembly & General Info

Cover

Molded Wheel

Assembly & General Info

Cover

Colson Wheel

Assembly & General Info

Standard

General Notes

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

Vibra-TITE VC-3 Threadmate (Vibra-TITE) is recommended on all bolts that thread into a tapped hole.

Check for any remaining support material on all 3D printed parts before assembly.

Standard (Center), Tube Mount
Standard (Center), Corner Mount

Planning Ahead

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.

Steps 1-4

Vibra-TITE VC-3 Threadmate (Vibra-TITE) is recommended on all bolts that thread into a tapped hole.

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.

The Tube Mount bottom plate was used for reference but assembly instructions are interchangeable between the Corner and Tube Mount versions.

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.

The bottom of the Swerve X2 Top Plate should have the nub as shown below.

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.

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

X1

18t

X2

16t (18t Center Distance)

X3

16t

X4

14t (16t Center Distance)

Steps 5-8

Vibra-TITE VC-3 Threadmate (Vibra-TITE) is recommended on all bolts that thread into a tapped hole.

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

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.

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.

Vibra-TITE VC-3 Threadmate (Vibra-TITE) 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.

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.

The orange bolt will go through the Rotation Shaft installed in the previous step and thread into the bottom plate.

Steps 9-13

Vibra-TITE VC-3 Threadmate (Vibra-TITE) is recommended on all bolts that thread into a tapped hole.

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.

For the Drive Pinion refer back to the Ratio Options page.

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.

The Drive Motor is mounted in the center for the picture below, for other mounting locations refer back to the Configurations page.

Step 12

The Wheel Assemblies can be found using the links below.

Molded Wheel, Aluminum Wheel, Colson Wheel

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.

Step 13

Apply Lucas Red "N" Tacky grease to all gears after final assembly to ensure smooth operation and reduce wear during use. Once greased, rotate and spin the wheel to distribute the grease evenly before powering up.

After running gearbox for 15-30 minutes, reapply a light amount of grease. Reapply as needed.

Corner Mounting

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.

Inverted

General Notes

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

Vibra-TITE VC-3 Threadmate (Vibra-TITE) is recommended on all bolts that thread into a tapped hole.

Check for any remaining support material on all 3D printed parts before assembly.

Flipped, Tube Mount
Flipped, Corner Mount

Steps 1-4

Vibra-TITE VC-3 Threadmate (Vibra-TITE) is recommended on all bolts that thread into a tapped hole.

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.

The Tube Mount bottom plate was used for reference but assembly instructions are interchangeable between the Corner and Tube Mount versions.

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.

The bottom of the Swerve X2 Top Plate should have the nub as shown below.

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.

The bearings should be fully seated in the c-bore and flush with the top of the plate.

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.

Steps 5-8

Vibra-TITE VC-3 Threadmate (Vibra-TITE) is recommended on all bolts that thread into a tapped hole.

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.

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

X1

18t

X2

16t (18t Center Distance)

X3

16t

X4

14t (16t Center Distance)

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

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.

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.

Vibra-TITE VC-3 Threadmate (Vibra-TITE) 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.

Step 8

Slide the Rotation Gear and Rotation Shaft into position.

Steps 9-13

Vibra-TITE VC-3 Threadmate (Vibra-TITE) is recommended on all bolts that thread into a tapped hole.

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.

For the Drive Pinion refer back to the Ratio Options page.

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

The Wheel Assemblies can be found using the links below.

Molded Wheel, Aluminum Wheel, Colson Wheel

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.

Step 13

Apply Lucas Red "N" Tacky grease to all gears after final assembly to ensure smooth operation and reduce wear during use. Once greased, rotate and spin the wheel to distribute the grease evenly before powering up.

After running gearbox for 15-30 minutes, reapply a light amount of grease. Reapply as needed.

Corner Mounting

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.

Thin (Left)

General Notes

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

Vibra-TITE VC-3 Threadmate (Vibra-TITE) is recommended on all bolts that thread into a tapped hole.

Check for any remaining support material on all 3D printed parts before assembly.

Thin (Left), Tube Mount
Thin (Left), Corner Mount

Planning Ahead

See Rotation and Drive Motor locations below.

A 12t pinion is the largest size that can be used in this configuration to avoid collisions.

Steps 1-4

Vibra-TITE VC-3 Threadmate (Vibra-TITE) is recommended on all bolts that thread into a tapped hole.

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.

The Tube Mount bottom plate was used for reference but assembly instructions are interchangeable between the Corner and Tube Mount versions.

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.

The bearings shown below are pressed in from the bottom of the 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.

The bearings should be fully seated in the c-bore and flush with the top of the plate.

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.

Steps 5-8

Vibra-TITE VC-3 Threadmate (Vibra-TITE) is recommended on all bolts that thread into a tapped hole.

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.

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

X1

18t

X2

16t (18t Center Distance)

X3

16t

X4

14t (16t Center Distance)

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

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.

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.

Vibra-TITE VC-3 Threadmate (Vibra-TITE) 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.

Step 8

Slide the Rotation Gear and Rotation Shaft into position.

Steps 9-14

Vibra-TITE VC-3 Threadmate (Vibra-TITE) is recommended on all bolts that thread into a tapped hole.

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.

The #10-32 x 2 1/4"L Bolt will not be threaded into a part until the next 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.

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.

Step 11

Install the Drive and Rotation Pinions.

For the Drive Pinion refer back to the Ratio Options page.

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

The Wheel Assemblies can be found using the links below.

Molded Wheel, Aluminum Wheel, Colson Wheel

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.

Step 14

Apply Lucas Red "N" Tacky grease to all gears after final assembly to ensure smooth operation and reduce wear during use. Once greased, rotate and spin the wheel to distribute the grease evenly before powering up.

After running gearbox for 15-30 minutes, reapply a light amount of grease. Reapply as needed.

Corner Mounting

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.

Thin (Right)

General Notes

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

Vibra-TITE VC-3 Threadmate (Vibra-TITE) is recommended on all bolts that thread into a tapped hole.

Check for any remaining support material on all 3D printed parts before assembly.

Thin (Right), Tube Mount
Thin (Right), Corner Mount

Planning Ahead

See Rotation and Drive Motor locations below.

A 12t pinion is the largest size that can be used in this configuration to avoid collisions.

Steps 1-4

Vibra-TITE VC-3 Threadmate (Vibra-TITE) is recommended on all bolts that thread into a tapped hole.

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.

The Tube Mount bottom plate was used for reference but assembly instructions are interchangeable between the Corner and Tube Mount versions.

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.

The bearings shown below are pressed in from the bottom of the 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.

The bearings should be fully seated in the c-bore and flush with the top of the plate.

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.

Steps 5-8

Vibra-TITE VC-3 Threadmate (Vibra-TITE) is recommended on all bolts that thread into a tapped hole.

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.

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

X1

18t

X2

16t (18t Center Distance)

X3

16t

X4

14t (16t Center Distance)

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

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.

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.

BluVibra-TITE VC-3 Threadmate (Vibra-TITE) 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.

Step 8

Slide the Rotation Gear and Rotation Shaft into position.

Steps 9-14

Vibra-TITE VC-3 Threadmate (Vibra-TITE) is recommended on all bolts that thread into a tapped hole.

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.

The #10-32 x 2 1/4"L Bolt will not be threaded into a part until the next 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.

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.

Step 11

Install the Drive and Rotation Pinions.

For the Drive Pinion refer back to the Ratio Options page.

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

The Wheel Assemblies can be found using the links below.

Molded Wheel, Aluminum Wheel, Colson Wheel

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.

Step 14

Apply Lucas Red "N" Tacky grease to all gears after final assembly to ensure smooth operation and reduce wear during use. Once greased, rotate and spin the wheel to distribute the grease evenly before powering up.

After running gearbox for 15-30 minutes, reapply a light amount of grease. Reapply as needed.

Corner Mounting

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.

Wheel Installation

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

Cover

Aluminum Wheel

Assembly & General Info

Cover

Molded Wheel

Assembly & General Info

Cover

Colson Wheel

Assembly & General Info

Molded Wheel

Kit Contents

WCP Swerve X2 Molded Wheel Hub (WCP-1727)

Part Number
Description
QTY

WCP-1727-001

Swerve X2 - Molded Wheel Hub Male

1

WCP-1727-002

Swerve X2 - Molded Wheel Hub Female

1

94KB
WCP-1727 - Kit Contents.pdf
pdf

Assembly

Vibra-TITE VC-3 Threadmate (Vibra-TITE) is recommended on all bolts that thread into a tapped hole.

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.

Ensure that the 45T Bevel Gear is fully seated before installation. Failure to do so will not allow the wheel to spin smoothly.

Aluminum Wheel

Kit Contents

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

Part Number
Description
QTY

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

Assembly

Vibra-TITE VC-3 Threadmate (Vibra-TITE) is recommended on all bolts that thread into a tapped hole.

Be sure to align the bolt holes in the Aluminum Swerve Wheel with the tapped holes in the 45T Bevel Gear.

Ensure that the 45T Bevel Gear is fully seated before installation. Failure to do so will not allow the wheel to spin smoothly.

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.

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.

Colson Wheel

Vibra-TITE VC-3 Threadmate (Vibra-TITE) is recommended on all bolts that thread into a tapped hole.

Assembly

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

Be sure to align the bolt holes in the Colson Swerve X2 Wheel with the tapped holes in the 45T Bevel Gear.

Ensure that the 45T Bevel Gear is fully seated before installation. Failure to do so will not allow the wheel to spin smoothly.

Applications

Tube Mounting

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

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.

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.

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.

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.

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.

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.

Corner Mounting

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

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.

Extra Spacer

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.

Flipped Configuration

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.

Extra Spacer

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.

Thin Configuration

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. 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.

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Extra Spacer

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.

Misc

FAQ & Trouble Shooting

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.

Changelog

Manual Updates

Version
Date
Description

1.0

10/18/2024

Document created.

1.01

7/9/2025

Updated Images in Assembly Steps.

Product Updates

Version
Date
Description

1.0

10/18/2024

Document created.