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FRC Build System
  • Overview and Features
    • Key Features
    • General Specs
    • Zeroing Module
  • General Info
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      • Individual Components
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    • Ratio Options
    • Configurations
  • Assembly Instructions
    • Getting Started
    • Standard
      • Step 1-4
      • Step 5-8
      • Step 9-11
      • Step 12-13
    • Flipped
      • Step 1-5
      • Step 6-9
      • Step 10-12
      • Step 13-14
    • Wheel Tread Cutting
    • Converting to Gear Cartridge
    • Colson Wheel Option
  • Applications
    • Tube Mounting
    • Corner Mounting
  • Misc
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    • Other Configurations
      • Kit Contents
        • Complete Kits
        • Individual Components
        • Ratio Kits
      • Ratio Options
        • Custom Gear Ratios
      • General Specs
      • Getting Started
        • Flipped (Gears Above)
          • Step 1-5
          • Step 6-9
          • Step 10-13
          • Step 14-15
        • Flipped (Gears Below)
          • Step 1-5
          • Step 6-9
          • Step 10-12
          • Step 13-14
        • Flipped (Belt)
          • Step 1-5
          • Step 6-9
          • Step 10-14
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  • 1323 Style Mounting
  • Corner Connecting Block
  • Mounting Modules
  • Frame Mounting
  • Non-Flipped Configuration
  • Flipped Configuration
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  1. Applications

Corner Mounting

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Last updated 10 months ago

Two of the four possible configurations of WCP’s Swerve X are the Corner Mount and Corner Mount, Flipped.

The Corner Mount Swerve is the new mounting style used in the Swerve X. This mounting style allows for much more space inside the drivetrain for other mechanisms when compared to the other Swerve X configurations.

Notable features:

  • Takes up the least amount of space inside the frame when compared to the other Swerve X configurations

  • Leaves more room for mechanisms

  • Has the option for low center of gravity or high ground clearance

The Corner Mount, Flipped is a variation of the Corner Mount modules. This version provides more vertical space when compared to the Corner Mount Swerve

Notable features:

  • Much shorter module, allowing mechanisms to be easily mounted over it

1323 Style Mounting

Corner Connecting Block

When using this style of mounting for the Corner Mount or Corner Mount, Flipped module, it is recommended to print this block or a similar block to connect the corner of the drive rails. The configuration of the module, Non-Flipped or Flipped, and the location the module will be installed in, bottom or top mounting, will determine the Corner Connecting Block that needs to be printed. Refer to the sections below for choosing the correct block and where it should be installed.

Once printed, the Corner Connecting Blocks need a threaded insert installed into them. This can be a heat set insert or a screw to expand insert.

Non-Flipped Configuration

Depending on how the module will be installed, the block needs to be installed either inside or outside the module. For this configuration, there is only one length block. The sample file below is for .1" wall tubing. Some dimensions will need to be updated if a different wall thickness tubing is used.

In order to install the Corner Block, the three bolts holding the top and bottom Swerve X Plates together must be loosened. The bolt and spacer in the corner shown in the image below must be removed entirely. Slide the spacer into the Corner Block, then place the Corner Block + Spacer back into the swerve. Retighten all bolts.

The #10-32 x 2-1/2"L bolt in the very corner of the module should be replaced with a #10-32 x 3"L bolt during this step. This will help secure the Top Support Plate to the module.

Make sure the Corner Block is assembled in the correct orientation shown in the image below, with the heat set inserts sitting higher on the module.

For this mounting style, the corner block will be used for the frame assembly. Instead of being installed in the Swerve Module, it will be installed directly into the frame.

Flipped Configuration

Depending on how the module will be installed, their are two different length blocks. The sample files below are for .1" wall tubing. Some dimensions will need to be updated if a different wall thickness tubing is used.

If you are using the Bottom Mounting Style, the 1-3/8”L Corner Block will be used.

In order to install the Corner Block, the three bolts holding the top and bottom Swerve X Plates together must be loosened. The bolt and spacer in the corner shown in the image below must be removed entirely. Slide the spacer into the Corner Block, then place the Corner Block + Spacer back into the swerve. Retighten all bolts.

The #10-32 x 2"L bolt and #10-32 x 2-1/2"L bolt in the very corner of all flipped modules should be replaced with a #10-32 x 3"L bolt during this step. This will help secure the Top Support Plate to the module.

Make sure the Corner Block is assembled in the correct orientation shown in the image below, with the heat set inserts sitting higher on the module.

If you are using the Top Mounting Style, the 1-7/8”L Corner Block will be used.

For this mounting style, the corner block will be used for the frame assembly. Instead of being installed in the Swerve Module, it will be installed directly into the frame.

Mounting Modules

Non-Flipped Configuration

The belly pan is recommended to be installed on the opposite side of the tube from the swerve module. This will help strength the over frame structure. If the belly pan cannot be installed on the opposite side of the tube from the swerve module, then it is recommended to make a gusset that could go in its place.

The module must be installed from the bottom of the frame. Thread in two #10-32 x 1/2”L bolts through the Top Support Plate into the Top Plate of the module, and six #10-32 x 1/2”L bolts from the outside into the Corner Block. Use a 3/8" wrench to tighten down a #10-32 nut on to the #10-32 x 3"L bolt in the corner of the module.

The Swerve Module will be installed from the top of the frame for this configuration. The #10-32 x 2-1/2"L bolt in the corner of the module must be replaced by a #10-32 x 4-1/2"L bolt, and a 1.936"L Spacer can be made and then placed in the center of the 3D Printed Corner Block. This will allow you to secure the outside corner of the Bottom Support Plate to the frame.

Flipped Configuration

The module must be installed from the bottom of the frame. Thread in four to six #10-32 x 1/2”L bolts from the outside into the Corner Block, depending on the module configuration.

For the Belt & Gears Above configurations, use two #10-32 x 1"L bolts and three 1/2"L spacers to bolt the Top Support Plate to the Top Plate of the Module. For the Gears Below configuration, only two #10-32 x 1/2"L Spacers are needed. For all Flipped configurations, use a 3/8" wrench to tighten down a #10-32 nut on to the #10-32 x 3"L bolt in the corner of the module.

The Swerve Module will be installed from the top of the frame for this configuration. For the Belt & Gears Above configurations, the bolt in the corner of the module must be replaced with a #10-32 x 4"L bolt, while the same bolt in the Gears Below configuration must be replaced with a #10-32 x 4-1/2"L Bolt. For all Flipped configurations, a 1.936"L Spacer can be made and then placed in the center of the 3D Printed Corner Block, allowing you to further secure the outside corner of the Bottom Support Plate to the frame.

Extra Spacer

For all 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.

For the Belt & Gears Above configurations, a 3.5625"L Spacer can be made and installed on the inside of the module using a #10-32 x 4"L bolt as shown in the images below. The Gears Below configuration will require a 4.0625"L Spacer and #10-32 x 4-1/2"L bolt, however.

Frame Mounting

Non-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 1/2"L bolts and one #10-32 nut to secure the Top Support Plate to the Top Plate of the module.

The #10-32 x 2-1/2"L bolt in the outside corner of the module must be replaced with a #10-32 x 3"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 #10-32 x 2-1/2"L bolt in the outside corner of the module can be removed, and a #10-32 x 4-1/2"L bolt and 1.936"L Spacer can be used to further secure the outside corner of the Bottom Support Plate to the module.

Flipped Configuration

The module must be installed from the bottom of the frame, and the Top Support Plate must be installed from the top. For the Belt & Gears Above configurations, use two #10-32 x 1"L bolts and three 1/2"L Spacers. For the Gears Below configuration, use two #10-32 x 1/2"L bolts. For all Corner Mount configurations, use one #10-32 nut to further secure the outside corner of the Top Support Plate.

The #10-32 bolt in the outside corner of the module must be replaced with a #10-32 x 3"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. For the Belt & Gears Above configurations, the bolt in the corner of the module must be replaced with a #10-32 x 4"L bolt, while the same bolt in the Gears Below configuration must be replaced with a #10-32 x 4-1/2"L Bolt.

Extra Spacer

For all 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.

For the Belt & Gears Above configurations, a 3.5625"L Spacer can be made and installed on the inside of the module using a #10-32 x 4"L bolt as shown in the images below. The Gears Below configuration will require a 4.0625"L Spacer and #10-32 x 4-1/2"L bolt, however.

114KB
1.875 L Corner Block.STL
85KB
1.375 L Corner Block.STL
114KB
1.875 L Corner Block.STL
1-7/8"L Corner Block Assembly
1-3/8"L Corner Block Assembly
Belt & Gears Above Configurations
Gears Below Configurations
Belt & Gears Above Configurations
Gears Below Configuration
Belt & Gears Above Configurations
Gears Below Configuration
Belt & Gears Above Configurations
Gears Below Configuration
Belt & Gears Above Configuration
Gears Below Configuration
Belt & Gears Above Configurations
Gears Below Configuration