Layout Drawing

Tube Mount

Corner Mount

Weight Comparison

Tube Mount

Corner Mount

WCP Swerve X (Tube Mount)

WCP Swerve X (Tube Mount, Flipped)

WCP Swerve X (Corner Mount)

WCP Swerve X (Corner Mount, Flipped)

Swerve X Colson Wheel Kit

• They already have some of the parts on hand, such as gears

• Want to purchase spare parts

• Upgrading from one version to another version

Depending on the location that the module is mounted, one of two sets of tapped holes in the 72T Main Rotation Gear will align with a set of holes in the Swerve X Top Plate. These sets of holes align the wheel to the module so that a zero can be set in code.

To align the wheel, determine the correct set of hole to use for the desired direction. Manually align the wheel and then use a #10-32 x 2.25”L bolt in each of the two holes for the final alignment. Lightly tighten the bolt while gently turning the module to get the perfect alignment. Once the position is calibrated, remove the bolts.

Assembly Prep

Tools required for assembly:

These tools are required for the assembly of the WCP Swerve X

• Snap ring pliers (For 1/2" and 3/8" snap rings)

• Allen keys

  • 3/32"

  • 1/8"

  • 5/32"

• 7/16" Wrench

Optional tools that may be needed:

• Arbor press

• Deadblow hammer

• All configurations of the module use the same shafts. What this means is users can swap between every configuration and mounting style by simply using different plates.

• Less hardware required for assembly.

• Easy to install encoder locations

• Modules accept multiple motors: Kraken X60 - 775pro - 550 motors.

• The bottom mounting plates are made of 7075-T6 to help with bending.

• Wheel height is the same regardless of configuration, so it is possible to mix and match modules on the robot.

• New optional aluminum bevel gear is available to shave off weight.

• Alignment holes to zero module.

• Clearance holes so motors can be removed without disassembling gearbox.

• Smaller and lighter 3” ID X-contact bearing.

• Gears Below configuration give much greater protection to the drive and rotation first stage gears and motor shafts.

Base Kits

WCP Swerve X (WCP-1498)

WCP Swerve X Flipped (WCP-1499)

Core Components

WCP Swerve X (Wheel Fork, 2-Pack) (WCP-0366)

WCP Swerve X (4" Wheel, 1.125" Bearing Bore) (WCP-0365)

Accessories

WCP Swerve X (Bottom Support Plate) (WCP-0544)

WCP Swerve X (Top Support Plate) (WCP-0545)

Swerve X Colson Wheel Hub (WCP-1424)

Swerve X Colson Wheel (WCP-1425)

General Notes

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

General Ratio Spread

The X gear ratios are designed to be a consistent spread across all Swerve X configs. All X Gear Ratios come with 3 pinions on the same pitch to get the spread.

Swerve X Gear Ratios (Standard)

Swerve X Gear Ratios (Flipped, Gears Below)

Step 9

The magnet will come installed in the Sensor Shaft.

Slide all gears and shafts into position. The 1/4” ID 3D Printed Spacer is required on the Sensor Shaft.

The Encoder Belt will be installed during this step. This can be done by placing it on the 3D Printed Sensor Pulley, and then sliding it onto the 3D Printed Rotation Pulley installed in Step 7.

Step 10

Use the three #10-32 x 2 1/2”L bolts and the three 1 7/8” spacers to assemble the bottom and top subassemblies.

For all configurations, the bolt locations are marked in green in the images below.

Step 11

Install the CTRE Mag Encoder Mount using two #10-32 x 1/2”L bolts. To install the Mag Encoder, remove the board from the case and fit it into the cutout on the 3D Printed Mag Encoder Mount. Use the top half of the Mag Encoder case and the long thread forming screw from the Mag Encoder to attach the sensor. The CANcoder can be used as a drop in replacement.

Step 1

The 1/4” 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.

Step 2

The 3” ID X-Contact Bearing will be installed from the bottom side of the Swerve X 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 1/4”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

These bearings are a light press fit and may be pressed in by hand or with an arbor press. It is critical that the flanges are on the correct side so that the motors will sit flat.

Step 4

These bearings are a light press fit and may be pressed in by hand or with an arbor press.

Step 1

The 1/4” 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.

Step 2

The 3” ID X-Contact Bearing will be installed from the bottom side of the Swerve X 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 1/4”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

These bearings are a light press fit and may be pressed in by hand or with an arbor press. The images below show the side the bearings must be installed from for all Flipped configurations.

The two 3/8" ID x 7/8" OD Flanged Bearings are a light press fit and may be pressed in by hand or with an arbor press. The images below show the side the bearings must be pressed in for the Gears Above and Gears Below configurations.

Step 4

The two 1/4" ID x 5/8" OD Flanged Bearings are a light press fit and may be pressed in by hand or with an arbor press. The side the bearings are installed in only matters for the Gears Below configuration. For this configuration, the bearing must be installed with the flange on the same side as the c-bore.

Step 5

The bearing should be a light press fit.

Step 12

Insert the 45T Bevel Gear by either tapping it in with a dead blow hammer or using an arbor press.

The Wheel Drive Axle is symmetric. The orientation it is assembled in does not matter.

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 72T Rotation Gear in by hand. If necessary, use a dead blow hammer to lightly tap it in.

The Wheel Module Drive Shaft must be installed through the bottom side of the 3/8” Rounded Hex bearing.

Step 6

The 1/4” ID x 5/8” OD bearing can be pressed into the Wheel Module Fork by hand. Only the Fork that aligns with the Wheel Module Drive Shaft needs a bearing. Once the bearing is in place, use the #10-32 x 1 3/4”L bolts to install both forks into the module.

Step 7

The Main Drive Shaft and corresponding gear should be installed before the 3D Printed Rotation Pulley. Use the #4-40 x 7/8”L bolts to install the 3D Printed Rotation Pulley.

Step 8

For the Non-Flipped configuration, the output shafts for the motors must be shortened for clearance. If you do not want to cut the shafts, we recommend installing the Motor Spacers.

For all configurations, the motors are installed using #10-32 x 1/2”L bolts. The pinions are bolted in using #10-32 x 1/2”L bolts.

Tube Mount

Corner Mount

General Notes

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

Planning Ahead

The Drive Motor will be the motor farthest from the Sensor Shaft, while the Rotation Motor will be the motor closest to the Sensor Shaft.

WCP’s newest generation of the swerve drive module, designed from the ground up to utilize the powerful Kraken X60 brushless motor to improve performance and remove complexity. This new design is smaller, lighter, and more versatile than our previous modules, and truly makes omnidirectional driving as simple as plug and play.

Tube Mount

Corner Mount

Step 6

Press the 72T Rotation Gear in by hand. If necessary, use a dead blow hammer to lightly tap it in.

The Wheel Module Drive Shaft must be installed through the bottom side of the 3/8” Rounded Hex bearing.

Step 7

The 1/4” ID x 5/8” OD bearing can be pressed into the Wheel Module Fork by hand. Only the Fork that aligns with the Wheel Module Drive Shaft needs a bearing. Once the bearing is in place, use the #10-32 x 1 3/4”L bolts to install both forks into the module.

Step 8

Use the #4-40 x .375”L bolts to install the Gear Cartridge Column. Then slide the Cartridge and Bearing Spacer on top.

Step 9

The #10-32 x 1-1/4"L Bolts will go through the 1/2"L Spacers and tap directly into the Kraken X60 Motors. The assembled plates with bearings from Step 4 must be installed with the flanges of the bearings facing the Top Plate.

Assembly Prep

Tools required for assembly:

These tools are required for the assembly of the WCP Swerve X

• Snap ring pliers (For 1/2" and 3/8" snap rings)

• Allen keys

  • 3/32"

  • 1/8"

  • 5/32"

• 7/16" Wrench

Optional tools that may be needed:

• Arbor press

• Deadblow hammer

These are some tips and tricks to keep the product running without a hitch. Failure to do maintenance may result in issues.

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 mess 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 printed parts

Yearly Maintenance

1. Disassemble gearbox

2. Replace all gears, if aluminum gears were used

3. Clean all components

4. Inspect all components for wear or damage

5. Reassemble with new bolts with Loctite and grease all gears

Step 13

Insert the 45T Bevel Gear by either tapping it in with a dead blow hammer or using an arbor press.

The Wheel Drive Axle is symmetric. The orientation it is assembled in does not matter.

Step 14

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

Corner Mounting

The following sections will cover everything that team should know if they wish to convert previous iterations of a WCP Swerve X Flipped module to the new Gear Cartridge version.

Parts Needed

X1 Ratio Upgrade

X2 Ratio Upgrade

X3 Ratio Upgrade

Hardware Changes

Top Plate

The new Gear Cartridge configuration has an updated top plate with #8-32 taped holes that allow for teams to directly mount the encoder on-axis. The image below highlights the location of these holes. Refer to the STEP file below for the exact location of the holes.

Encoder Mount

Teams can steer away from the additional machining step by using the updated encoder mount shown below. This mount allows teams to use the already tapped #10-32 holes on the top plate.

Kit Contents

Swerve X Colson Wheel Kit (WCP-1424)

Swerve X Colson Wheel (WCP-1425)

Assembly

Insert the 45T Bevel Gear by either tapping it in with a dead blow hammer or using an arbor press.

Q: What tread is recommended?

Q: Can I use other motors besides the KrakenX60?

A: Yes you can. In the non flipped configuration, a Neo can be used in place of the Falcon. For the flipped configuration, a CIM, Mini CIM or Neo can be used in any of the motor locations.

Standard Ratios

X1 Ratio Set (Standard)

X2 Ratio Set (Standard)

X3 Ratio Set (Standard)

Flipped Gear Ratios

X1 Ratio Set (Flipped)

X2 Ratio Set (Flipped)

X3 Ratio Set (Flipped)

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.

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.

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.

Flipped Configuration

Frame Mounting

Non-Flipped Configuration

Flipped Configuration

Tube Mount

Corner Mount

Step 10

Slide the gear and Rotation Shaft into position.

Step 11

Bolt together the assemblies from steps 8 and 9 as shown in the images below. For all configurations, the bolt locations are marked in green and orange in the images below.

The table below indicates what length bolt and spacer is required in each position for each configurations colored markers.

Step 12

Install the CTRE Mag Encoder Mount using two #8-32 x 1/2”L bolts. To install the Mag Encoder, remove the board from the case and fit it into the cutout on the 3D Printed Mag Encoder Mount. Use the top half of the Mag Encoder case and the long thread forming screw from the Mag Encoder to attach the sensor. The CANcoder can be used as a drop in replacement.

When cutting tread for the Swerve X Wheel, you must know which version wheel you are using. This is indicated on the wheel itself, by the presence of a fifth untapped hole where the ends of the cut tread will meet. The hole in question is indicated in the images below.

If you are cutting tread for a wheel with the indicated hole, you can use the Updated Tread Pattern shown below. Otherwise, you must use the Old Tread Pattern.

Rotation Ratios

Non-Flipped Drive Ratios

Flipped Drive Ratios

Belt Ratios

Gear Ratios

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

The Tube Mount Swerve is the traditional style of swerve mounting. While designed in the familiar style of past generations of swerve, this configuration is much smaller and lighter. One of the primary benefits of this configuration is that it allows for a much less complex drivetrain assembly experience. Simply cut four VersaFrame Tubes to your desired length, and you’re just about good to go.

Notable features:

• Frame assembly is independent from module installation

• Less complex frame tubes

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

• Takes up less space inside the frame when compared to the flipped configuration

The Tube Mount, Flipped is a variation of the Tube Mount modules. While using a familiar mounting style of past generations of swerve, this configuration is much shorter.

Notable features:

• Frame assembly is independent from module installation

• Less complex frame tubes

• Can easily change between low ground clearance and high ground clearance

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

Recommended Frame Construction

In the image below, all holes in the gusset and tube marked in green are clearance holes for #10-32 bolts mounting the Swerve module. Unless the holes are used for mounting the swerve, the gusset can be installed using either bolts or rivets as desired.

Standard Configuration

Once the frame is fully assembled, the Tube Mount Swerve Modules can be installed. As seen in the images below, the gusset for the frame is installed on the opposite side of the tube that the module attaches to.

The Bottom Mount option gives teams 2” of extra ground clearance but doing this will also limit space available for other mechanisms above the frame. This will also increase the height of the Center of Gravity of the robot.

The Top Mount option does not have the 2” of extra ground clearance but gains space available for other mechanisms above the frame. This will also lower the height of the Center of Gravity of the robot.

Flipped Configuration

Once the frame is fully assembled, the Flipped Tube Mount Swerve Modules can be installed. As seen in the images below, the gusset for the frame is installed on the opposite side of the tube that the module attaches to.

The Bottom Mount option gives teams 2” of extra ground clearance but doing this will also limit space available for other mechanisms above the frame. This will also increase the height of the Center of Gravity of the robot.

The Top Mount option does not have the 2” of extra ground clearance but gains space available for other mechanisms above the frame. This will also lower the height of the Center of Gravity of the robot.

• They already have some of the parts on hand, such as gears

• Want to purchase spare parts

• Upgrading from one version to another version

Manual Updates

Product Updates

WCP Swerve X (Tube Mount)

WCP Swerve X (Tube Mount, Flipped)

WCP Swerve X (Corner Mount)

WCP Swerve X (Corner Mount, Flipped)

Layout Drawing

Tube Mount

Corner Mount

Weight Comparison

Tube Mount

Corner Mount

Possible Gear Ratios (Non-Flipped)

The table below lists all possible gear ratios and associated free speeds for the non-flipped configurations of the Swerve X.

The first row shows the possible gear sets for the first stage. The first column shows the possible gear sets for the second stage. All free speeds are in ft/s.

Possible Gear Ratios (Flipped)

Recommended Ratios

For the 2nd stage of the drive ratio, a 26T or smaller driven gear provides the required clearance for the module as it rotates. Listed in the table below are some recommended gear sets.

Possible Issues

When creating custom overall drive ratios, the gear set for the 2nd stage must be carefully selected. The driven gear for this stage cannot exceed a 26T tooth count, otherwise the gear will collide with the module spacers and sensor shaft as the wheel module rotates.

Non-Flipped Ratios

6.54:1 Ratio