Step 1

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

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

Step 2

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

Step 3

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

Step 4

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

Step 9

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

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

Step 10

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

Step 11

Install the Drive and Rotation Pinions.

Step 12

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

Step 13

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

Corner Mounting

Step 5

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

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

Step 6

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

Step 7a

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.

Step 8

Slide the Rotation Gear and Rotation Shaft into position.

General Notes

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

Planning Ahead

See Rotation and Drive Motor locations below.