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Flipped

General Notes

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

Vibra-TITE VC-3 Threadmate (Vibra-TITE) is recommended on all bolts that thread into a tapped hole.

Check for any remaining support material on all 3D printed parts before assembly.

Flipped Tube Mount
Flipped Corner Mount

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.

A 12t pinion is the largest size that can be used in this configuration to avoid collisions.

The module must be assembled with the sensor in the position pictured below.

Step 1-5

Vibra-TITE VC-3 Threadmate (Vibra-TITE) is recommended on all bolts that thread into a tapped hole.

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.

The Tube Mount bottom plate was used for reference but assembly instructions are interchangeable between the Corner and Tube Mount versions.

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.

The position of the 3/8” ID x 7/8” OD flanged bearing must align with the 1/4” ID x 1/2” OD radial bearing installed in step 1.

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 6-9

Vibra-TITE VC-3 Threadmate (Vibra-TITE) is recommended on all bolts that thread into a tapped hole.

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.

Ratio
2nd Stage Driven Gear

X1

18t

X2

16t

X3

14t

The Wheel Module Drive Shaft was updated to get rid of the #8-32 bolt and printed cap. If your shaft has a tapped hole, refer to the v1 Drive Shaft image below. If your shaft doesn't have a tapped hole, refer to the v2 Drive Shaft image below.

v1 Drive Shaft
v2 Drive Shaft

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.

If you ordered your Wheel Module Forks after 5/16/2023, make sure an updated Wheel Module Fork is used on the side with the 15T Bevel Gear. The updated Wheel Module Fork will have a pocket designed to fit a 1/4-20 Nut machined into the outside face.

Updated Wheel Module Fork

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.

The Steel Cartridge will already have the 15mm ID x 24mm OD bearings pressed in.

The Gear Cartridge Column should be flush with the Rotation Gear.

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.

The Drive Motor and Rotation Motor can be assembled in any order. However, they must both be installed in the way shown in the images below before moving on.

For the Drive Pinion refer back to the Ratio Options page.

Step 10-12

Vibra-TITE VC-3 Threadmate (Vibra-TITE) is recommended on all bolts that thread into a tapped hole.

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.

For all bolt locations marked in orange, the bolt must be spaced away from the bottom plate with a 1/8"L Spacer. This is to keep the end of the bolt from colliding with the drive idler gear in the Gears Above and Gears Below configurations.

Configuration
Green Bolt
Green Spacer
Orange Bolt
Orange Spacer

Gears Below

1-3/4"

1-7/8"

1-3/4"

1-1/8"

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.

Step 13-15

Vibra-TITE VC-3 Threadmate (Vibra-TITE) is recommended on all bolts that thread into a tapped hole.

Step 13

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

Be sure to align the bolt holes in the Aluminum Swerve Wheel with the tapped holes in the 45T Bevel Gear.

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

The locations of the bolts are marked out in green in the image below.

The 1/2" ID x 1 1/8" OD Radial Bearing that is pressed directly into the wheel and not the bevel gear must sit .034" deeper than flush. If the bearing is not pressed all the way into the wheel, the bevel gears will not mesh properly.

The 1/2" ID x 1 1/8" OD Radial Bearing will come pressed into the wheel.

Step 14

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

It is easier to install the tread on the wheel before installing the wheel in the module.

If the wheel doesn't spin smoothly when the 1/4-20 x 3"L Bolt is installed, then take out the 3D Printed Bevel Gear Spacer (WCP-0367-006) installed in Step 6 and sand down the end that is in contact with the 15T Bevel Gear. If that bevel gear spacer is too long, then it can cause the bevel gears to bind once fully assembled.

Step 15

Apply Lucas Red "N" Tacky grease to all gears after final assembly to ensure smooth operation and reduce wear during use. Once greased, rotate and spin the wheel to distribute the grease evenly before powering up.

After running gearbox for 15-30 minutes, reapply a light amount of grease. Reapply as needed.

Corner Mounting

For more instructions regarding mounting the Corner Mount modules, see the Corner Mounting section.

It is recommended to use either the Top or Bottom Support Plate to strengthen the corner of your frame. Both are shown in the image below but only use one or the other.