Purchasing the Swerve X2S has been simplified to buying a "Complete Kit" or "Individual Components".

The "Complete Kits" will have all the necessary parts to assemble the swerve module minus motors and encoders.

"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

WCP ThroughBore by CANcoder Zeroing Process

If you are utilizing the WCP ThroughBore by CANcoder (1/2" Hex bore), you can avoid going through a zeroing process for your wheel positions.

The ThroughBore encoder hat that is installed on the module has a notch on it, and when aligned with the notch on the WCP ThroughBore by CANcoder, all of your modules will have the exact same zero position of the wheel relative to the encoder.

Manual Zeroing Process

The Zeroing jig 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 zeroing jig printed or purchased, zeroing the module will be a breeze. Simply align the jig with the wheel fork and the sides of the main bottom plate of the module.

Layout Drawings

Standard (X2S)

Thin (X2St)

Size Comparison

Weight Comparison

Common Features Across Configurations

• Optimized to take advantage of the WCP ThroughBore by CANcoder (1/2" Hex Bore). This encoder can be installed on-axis and, when assembly instructions are followed, results in no need for setting the zero position of the module. This means that swapping modules or encoders does not require resetting the zero position.

  • The REV Through Bore Encoder can also be mounted the same way as the WCP ThroughBore by CANcoder (1/2" Hex). There is a zeroing jig that can be printed or purchased to then set the proper position of the wheel and set the zero position.

  • The module includes the Spartan Mag Encoder, which can be used for the absolute position of the steering control. All hardware needed to use this encoder is included with each module. The zeroing jig mentioned above can be used to zero the wheel positions.

    • The modules also have the option to use the CTR CANcoder or SRX Mag Encoder with the same hardware used above for the Spartan Mag Encoder. There is a different plastic housing used for these encoders. The zeroing jig mentioned above can be used to zero the wheel positions.

• Both module versions can be removed from the frame by pulling it to the outside corner of the robot. This means there is no need for extra clearance to the inside of the module to be able to remove the modules from the robot. Simply take the mount screws off and rotate the module out of the corner of the frame.

• All top plates have a standard 1in pitch array of #10-32 tapped holes to allow for easy mounting of other COTS components for your robot design. These holes are also on pitch with the frame mounting holes.

• Both versions of the module are enclosed from the top and bottom to prevent debris from getting into the modules.

• Simplified wheel and fork assembly results in less parts and easier method of swapping wheels. Forks now have built-in spacers which eliminate the need for snap rings or spacers on the wheel shaft to hold the wheel in place.

• All gears come as steel aside from the large 74T steering gear, which is 7075 aluminum to provide great strength. Where possible, shafts have been built into the gears which reduces backlash and components.

Standard (X2S) Specific Features

• Various mount hole options for clocking motor wires in different directions, including straight to the left and right sides, and at 45 degrees down the middle.

• If a Kraken motor is used for the drive motor, it can mount to a separate plate that then mounts to the main top plate. This allows for easy removal of the motor without the need to take apart the rest of the module, and eliminates the risk of motor mount screws falling down into the module.

  • This is limited to Kraken motors due to shaft and machine key lengths on other drive motor options. Other drive motor options need to be directly mounted to the main top plate.

Thin (X2St) Specific Features

• All mount holes for both the drive and steering motors are accessible without taking apart anything else on the module.

• 1in wide frame members can be placed directly on top of the module without any interference for additional robot structure.

WCP’s newest generation of the compact swerve drive module, designed from the ground up to utilize the powerful Kraken X60 brushless motor for drive, and the compact Kraken X44 brushless motor for steering. This new design is more versatile than our previous compact module, and strikes an ideal balance between performance, size, weight, and cost.

Standard (X2S)

Thin (X2St)

Common Features Across Configurations

• Optimized to take advantage of size and performance of the Kraken X44 brushless motor for steering power. The module is also able to accept other standard 550 and 775 style motors, including NEO 550, 775 Pro, 775 RedLine, BAG (Pinion not included for BAG).

  • Steering motor can be removed from both X2S and X2St modules without taking apart any other part of the module.

• Modules can accept a number of common drive motors, including Kraken X60, NEO, Vortex, CIM, and MiniCIM.

  • The CIM and MiniCIM can only be used on the X2S version, as they are too large to fit on the X2St.

  • The Falcon500 could be used if proper pinion gears for the X2S version, and proper pulley for the X2St version can be sourced. WCP does not offer the parts needed to use the Falcon500 on this swerve module.

  • The Kraken X44 can be used for the drive motor, however we recommend only doing so for testing, etc. and not for competition use.

• Both module versions are designed in the "corner-mount" style, pushing the wheel as far to the corner of the frame as possible for maximum possible wheel-base size.

  • Modules designed to accept standard 2in tall frame tubes, with the frame height the same for both module versions.

• Both versions of the module have right-hand and left-hand options available.

  • Difference for standard X2S version is minimal: package size does not change, just which side encoder and steering gears are on.

  • Bottom plate for a given hand is shared between X2S and X2St.

• Straight-forward upgrade path to swap back and forth between the two versions (given the same hand). Conversion kits drop-down option on the product pages make it easy to get the parts you need to switch versions.

• Steering ratio does not change between versions The same parts are used between both versions, with the addition of a single additional idler gear shaft for the X2St.

• The module supports 3 types of wheels. All wheel options are 3.5in diameter.

  • Aluminum hub for standard 1.5in wide tread material; pre-punched tread available.

  • Two-piece plastic hub combined with a molded high-grip wheel that features V-shaped taper to lock the wheel to the hubs. The molded high-grip wheel is 1.75in wide. This means no bolts to come loose and easy to do wheel swaps.

  • Molded smooth wheel that works with the same two-piece hub as the high-grip wheel above. This molded smooth wheel is also 1.75in wide. This is great for demo events where floor damage needs to be minimized, or for other uses where you do not need the extra grip.

Standard

Thin

X1 Ratio Set

X2 Ratio Set

X3 Ratio Set

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 X2S.

• Snap ring pliers (3/8", 0.038" standard pin size)

• Allen keys

  • 5/64" (for CANcoder mount)

  • 3/32" (for CANcoder hardware)

  • 1/8"

  • 5/32"

Optional tools that may be needed:

• Arbor press or dead blow hammer

• Tape (any kind good for temporary application that does not leave residue)

Key Assembly Instructions

The following pages cover the basic assembly instructions for the WCP Swerve X2S.

Standard

Thin

Wheel Assembly

General Ratio Spread

The X gear ratios are designed to be a consistent spread across all Swerve X2S configurations. All X Gear Ratios come with 3 pinions that share the same pitch diameter to get the spread in speeds.

Swerve X2S Drive Gear Ratios

Swerve X2S Steering Ratio

The steering ratio is 25.9:1. The steering gear ratio is the same for all X2S module configurations using an 8t pinion gear on the steering motor.

KIT-0083: WCP Swerve X2S (Right-Hand)

KIT-0084: WCP Swerve X2S (Left-Hand)

KIT-0085: WCP Swerve X2St (Right-Hand)

KIT-0086: WCP Swerve X2St (Left-Hand)

Core Components (X2S and X2St)

WCP-1600: WCP Swerve X2S Hardware Pack

WCP-1610: WCP Swerve X2S Fork Pair Pack

WCP-1621: WCP Swerve X2S Molded Wheel Plastic Hub Pair Pack

X2St Components

WCP-1601: WCP Swerve X2St Hardware Pack

WCP-1602: WCP Swerve X2St Top Plates (Right-Hand)

WCP-1603: WCP Swerve X2St Top Plates (Left-Hand)

Accessories

WCP-1619: WCP Swerve X2S CANcoder Hardware Pack

WCP-1626: WCP Swerve X2S Low Frame Plate Pack

Step 5

Press the 74T Rotation Gear in by hand. If necessary, use a dead blow hammer to lightly tap it in. Try to keep it as straight as possible while inserting into the bearing to best ensure it can be fully installed.

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 6mm ID x 12mm OD bearings can be pressed into the Wheel Fork (Bearing Pocket) by hand. Once the bearing is in place, use the #10-32 x 1- 1/2”L bolts to install both forks onto the module.

Step 7

Install the Hex Encoder Hat using the #10-32 x 5/8"L Bolts. The step at the bottom of the Encoder Hat should sit flat with the 74T Main Rotation Gear.

Your chosen Drive Pinion will sit under the Hex Encoder Hat and be trapped; the motor shaft will slide through the bore on this gear later.

Step 8

Slide all gears and shafts into position.

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.

Step 10

Mount the motors onto the Top Plate as shown below.

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.

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.

General Notes

Assembly instructions will reflect the Standard, Right-Hand configuration and are interchangeable between the Right-Hand and Left-Hand versions of the Standard Swerve X2S.

Step 1

The 6mm ID bearings are installed from the top side of the Bottom Plate. They should be a light press fit and may be pressed in by hand or with an arbor press. The bearing should sit flush with the top side of the plate.

Step 2

The 3” ID X-Contact Bearing will be installed from the bottom side of the Swerve X2S 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 six #10-32 x 3/8”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.

Step 3

Press in the 6mm ID bearings into the Top Plate. These bearings are a light press fit and may be pressed in by hand or with an arbor press. The bearing should sit flush with the bottom side of the plate.

Step 4

Install the bearings as shown below. The 8mm ID bearing should be pressed in from the top of the 74T Rotation Gear. The 12mm ID bearing should be pressed in from the bottom of the 74T Rotation Gear. Both bearings should be a light press fit and may be pressed in by hand or with an arbor press.

Step 1

The 6mm ID bearings are installed from the top side of the Bottom Plate. They are a light press fit and may be pressed in by hand or with an arbor press. The bearing should sit flush with the top side of the plate.

Step 2

The 3” ID X-Contact Bearing will be installed from the bottom side of the Swerve X2S 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 six #10-32 x 3/8”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.

Step 3

Press in the 6mm ID and 8mm ID bearings into the Top Plate. These bearings are a light press fit and may be pressed in by hand or with an arbor press. The bearing should sit flush with the bottom side of the plate.

Step 4

Press the 6mm ID bearings into the Motor Plate. These bearings are a light press fit and may be pressed in by hand or with an arbor press. The bearing should sit flush with the bottom side of the plate.

Step 5

Press the 74T Rotation Gear in by hand. If necessary, use a dead blow hammer to lightly tap it in. Try to keep it as straight as possible while inserting into the bearing to best ensure it can be fully installed.

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 6mm ID x 12mm OD bearings can be pressed into the Wheel Fork (Bearing Pocket) by hand. Once the bearing is in place, use the #10-32 x 1- 1/2”L bolts to install both forks onto the module.

Step 7

Install the Pulley Encoder Hat using the #10-32 x 5/8"L Bolts. The step at the bottom of the Encoder Hat should sit flat with the 74T Main Rotation Gear.

Your chosen Drive Pinion will sit under the Hex Encoder Hat and be trapped; the motor shaft will slide through the bore on this gear later.

Step 8

Slide all gears and shafts into position. Be sure that the shorter side of the Coaxial Shaft is facing down as it is installed into the 8mm ID bearing on the 74T Steering Gear in the assembly from Step 7.

Step 5

Press the 8mm ID bearings into the Cover Plate. These bearings are a light press fit and may be pressed in by hand or with an arbor press. The bearings should sit flush with the bottom side of the plate.

Step 6

Install the bearings as shown below. The 8mm ID bearing should be pressed in from the top of the 74T Rotation Gear, it should be light press fit and may be pressed in by hand or with an arbor press.

Step 7

Press the 74T Rotation Gear in by hand. If necessary, use a dead blow hammer to lightly tap it in. Try to keep it as straight as possible while inserting into the bearing to best ensure it can be fully installed.

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 8

The 6mm ID x 12mm OD bearings can be pressed into the Wheel Fork (Bearing Pocket) 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 9

Install the Hex Encoder Hat using the #10-32 x 5/8"L Bolts. The step at the bottom of the Encoder Hat should sit flat with the 74T Main Rotation Gear.

Step 10

Slide all gears and shafts into position.

Step 11

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.

Step 12

Mount the motors onto the Motor Plate as shown below.

General Notes

Assembly instructions will reflect the Thin, Right-Hand configuration and are interchangeable between the Right-Hand and Left-Hand versions of the Thin Swerve X2St.

General Notes

Assembly instructions will reflect the Standard, Right-Hand configuration and are interchangeable between the Right-Hand and Left-Hand versions of the Standard Swerve X2S.

Common Questions

If you have any questions or issues with your modules, please email support@wcproducts.com. We will add common questions as we consolidate questions we receive.

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.

Step 10

Mount the motors onto the Top Plate as shown below.

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.

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.

Step 1

The 6mm ID bearings are installed from the top side of the Bottom Plate. They are a light press fit and may be pressed in by hand or with an arbor press. The bearing should sit flush with the top side of the plate.

Step 2

The 3” ID X-Contact Bearing will be installed from the bottom side of the Swerve X2S 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 six #10-32 x 3/8”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.

Step 3

Press the 6mm ID and 8mm ID bearings into the Top Plate. These bearings are a light press fit and may be pressed in by hand or with an arbor press. The bearing should sit flush with the bottom side of the plate.

Step 4

Press the 6mm ID bearings into the Motor Plate. These bearings are a light press fit and may be pressed in by hand or with an arbor press. The bearing should sit flush with the bottom side of the plate.

Step 13

Bolt together the assemblies from steps 11 and 12 as shown in the image below.

Step 14

Bolt together the assemblies from steps 10 and 13 as shown in the image below. The bolt locations are marked in green in the image below.

Step 15

Install the 18t pulleys and the 57t belt onto the assembly from Step 14 and mount the assembly from Step 5 using the 3/4"L bolts.

Step 16

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

Step 9

Install the Pulley Encoder Hat using the #10-32 x 5/8"L Bolts. The step at the bottom of the Encoder Hat should sit flat with the 74T Main Rotation Gear.

Step 10

Slide all gears and shafts into position.

Step 11A

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

Step 11B

Use the #4-40 x 0.875”L bolts to install the Bearing Block assembly. The bottom of the Encoder Shaft should sit flat with the Top Plate.

Step 12

Mount the motors onto the Motor Plate as shown below.

General Notes

Assembly instructions will reflect the Standard, Right-Hand configuration and are interchangeable between all versions of the Standard Swerve X2S.

Step 13

Bolt together the assemblies from steps 11 and 12 as shown in the image below.

Step 14

Bolt together the assemblies from steps 10 and 13 as shown in the image below. The bolt locations are marked in green in the image below.

Step 15

Install the 18t pulleys and the 57t belt onto the assembly from Step 14 and mount the assembly from Step 5 using the 3/4"L bolts.

Step 16

Install the CTRE Mag Encoder Mount 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 17

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

Step 1

The 6mm ID bearings are installed from the top side of the Bottom Plate. They should be a light press fit and may be pressed in by hand or with an arbor press. The bearing should sit flush with the top side of the plate.

Step 2

The 3” ID X-Contact Bearing will be installed from the bottom side of the Swerve X2S 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 six #10-32 x 3/8”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.

Step 3

Press in the 6mm ID and 8mm ID bearings into the Top Plate. These bearings are a light press fit and may be pressed in by hand or with an arbor press. The bearing should sit flush with the bottom side of the plate.

Step 4

Install the bearings as shown below. The 8mm ID bearing should be pressed in from the top of the 74T Rotation Gear. The 12mm ID bearing should be pressed in from the bottom of the 74T Rotation Gear. Both bearings should be a light press fit and may be pressed in by hand or with an arbor press.

The following pages will include all necessary information for the three available wheel configurations for the Swerve X2S.

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.

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.

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.

First Time Assembly

1. Loctite 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 Loctite and grease all gears

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.

Manual Updates

Product Updates

Step 5

Press the 8mm ID bearings into the Cover Plate. These bearings are a light press fit and may be pressed in by hand or with an arbor press. The bearings should sit flush with the bottom side of the plate.

Step 6

Install the bearings as shown below. The 8mm ID bearing should be pressed in from the top of the 74T Rotation Gear, it should be light press fit and may be pressed in by hand or with an arbor press.

Step 7

Press the 74T 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 8

The 6mm ID x 12mm OD bearings can be pressed into the Wheel Fork (Bearing Pocket) 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.