Steps 9-13

Blue Loctite (McMaster P/N 1004A12) is recommended on all bolts that thread into a tapped hole.

Step 9A

Press the 8mm ID bearing into the Bearing Block as shown below.

Step 9B

Use the #4-40 x 7/8”L bolts to install the Bearing Block assembly.

Make sure that the magnet end of the Encoder Shaft is going through the module plate.

Step 10

Mount the motors onto the Top Plate as shown below.

Drive Motor

The drive motor will be mounted to the Mounting Plate using #10-32 x 0.313”L bolts. Mount the Drive Motor Assembly onto the Top Plate from Step 9.

The motor can be clocked at different positions on the Kraken Mounting Plate. We recommend planning ahead where you would like your wires to be routed to inform how the motor should be mounted.

Rotation Motor

Install the Kraken X44 as shown below using the #10-32 x 3/8"L Bolts.

The motor can be clocked at different positions on the Kraken Mounting Plate. We recommend planning ahead where you would like your wires to be routed to inform how the motor should be mounted.

Step 11

Bolt together the assemblies from steps 8 and 10 as shown in the images below. The bolt locations are marked in green in the image below.

Step 12

Bolt the Shaft Extension Screw into the shaft of the Kraken X60.

We highly recommend ensuring that this screw has Blue Loctite (McMaster P/N 1004A12) applied to it before installation. This screw is especially important as if it comes loose, it can fall into the wheel below.

Step 13

Install the CTRE Mag Encoder using the #2-56 x 1/2”L bolt. To install the Mag Encoder, remove the board from the case and place it into the provided CANcoder Housing.

Step 14

First, move the wheel assembly into place, with the wheel shaft nested into the fork from the assembly in Step 12, and the 45T Bevel Gear on the wheel meshed with the 15T Bevel Gear on the assembly from Step 12.

Next, move the other fork into place. It is easiest to angle it into the pocket on the underside of the 74T Steering Gear, and then wiggle the shaft in the wheel assembly into the fork.

Once these parts are in place, the #10-32 x 3"L Bolt can be installed through both forks, with the #10-32 Nut on the other side. The fork will hold the #10-32 Nut in place, so there is no need for a 3/8 wrench.

Finally, the #10-32 x 1-1/2"L Bolts can be installed into the fork and 74T Steering Gear.

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