Steps 9-13

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

Step 9

Mount the ThroughBore Encoder onto the assembly from Step 3 using the #10-32 x 5/8"L Bolt and #10-32 Nut. The nut pocket in the ThroughBore Encoder housing will hold the #10-32 nut in place, so a 3/8" wrench is not required.

This can be mounted to the right or left side of the module. We recommend planning this ahead of time based on wire routing, desired location of the zero of the encoder, and any other considerations you may have.

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.

We recommend aligning the notch on the top of the Hex Encoder Hat to the notch on the hex bore of the ThroughBore Encoder. This will allow you to assemble all of your modules the same way, and be able to swap a module out without the need to re-zero your encoder position, as the encoder will automatically have the same alignment.

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

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.