Vibra-TITE VC-3 Threadmate (Vibra-TITE) is recommended on all bolts that thread into a tapped hole.
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.
When installing the Wheel Assembly, be sure the 45T Bevel Gear and 15T Bevel Gear are on the same side.
For more instructions regarding mounting the Corner Mount modules, see the Corner Mounting section.
Assembly instructions are interchangeable between the Corner and Tube Mount versions of the Swerve.
Vibra-TITE VC-3 Threadmate () is recommended on all bolts that thread into a tapped hole.
Check for any remaining support material on all 3D printed parts before assembly.
The position of the Sensor Shaft determines the correct orientation for the belt installation for the Flipped Belt configurations. 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.
The image below shows the biggest driven gear that can be used in a custom gear ratio in this configuration without any collisions.
Check collisions
The module must be assembled with the sensor in the position pictured below.
Vibra-TITE VC-3 Threadmate (Vibra-TITE) is recommended on all bolts that thread into a tapped hole.
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 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.
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 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.
The bearings will come installed in the 72T Main Rotation Gear. If removal is required, the bearings will be a light press fit.
Vibra-TITE VC-3 Threadmate () is recommended on all bolts that thread into a tapped hole.
Press the 72T Rotation Gear in by hand. If necessary, use a dead blow hammer to lightly tap it in.
The Drive Shaft must be installed through the bottom side of the 3/8” ThunderHex bearing.
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.
The Main Drive Shaft and corresponding gear should be installed before the 3D Printed Rotation Pulley. Use the #4-40 x 3/4”L bolts to install the 3D Printed Rotation Pulley.
Do NOT overtighten the #4-40 bolts, as this will crush the 3d printed part.
The motors are installed using #10-32 x 1/2”L bolts.
Vibra-TITE VC-3 Threadmate (Vibra-TITE) is recommended on all bolts that thread into a tapped hole.
The magnet will come installed in the Sensor Shaft.
Slide all gears and shafts into position.
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 8.
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.
Gears Above
2"
1-3/8"
2"
1-3/8"
This step is for the Belt and Gears Above configurations only.
10T
11T
12T
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 Mount. Use the mounting bolts from the Mag Encoder to attach the sensor. The CANcoder can be used as a drop in replacement.
