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Blue Loctite (McMaster P/N 1004A12) 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.
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.
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.
While the image below may show the Non-Flipped configuration, this step is the same for all Swerve X configurations.
For more instructions regarding mounting the Corner Mount modules, see the Corner Mounting section.
Blue Loctite (McMaster P/N 1004A12) 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 Wheel Module Drive Shaft was updated to have a shoulder in order to get rid of the 3/8" Snapring. If your shaft does not have a shoulder, retain the 15T Bevel Gear and 3D Printed Bevel Gear Spacer with a 3/8" Snapring.
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.
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.
The 3D Printed Rotation Pulley was updated to strengthen the part and allow for longer bolts. If your 3D Printed Rotation Pulley does not have a step at the bottom of the integrated spacers that nests in the 72T Main Rotation Gear, then install the pulley using #4-40 x 3/4"L bolts.
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.
The motor shaft length does not matter in the assembly of any of the Flipped Swerves.
Blue Loctite (McMaster P/N 1004A12) 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 1/4” ID x 1/2” OD Bearing can be installed in either available bearing hole. The placement of this bearing will determine the location of the CTRE Mag Encoder Mount on the top plate for all configurations, along with the belt configuration for the Flipped configurations.
The Tube Mount bottom plate was used for reference but assembly instructions are interchangeable between the Corner and Tube Mount versions.
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 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.
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.
Assembly instructions are interchangeable between the Corner and Tube Mount versions of the Swerve.
Blue Loctite (McMaster P/N 1004A12) 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.
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.
For the Belt and Gears Above configurations, the excess 1/4” shoulder on the Sensor Shaft that extends past the Swerve X Bottom Plate can be cut off. However, doing so will prevent the Sensor Shaft from being reused in all other configurations.
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.
This step is for the Belt and Gears Above configurations only.
Refer to table above for Motor Pinion to use during assembly.
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.
While the image below may show the Non-Flipped configuration, this step is the same for all Swerve X configurations.
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.
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.
While the image below may show the Non-Flipped configuration, this step is the same for all Swerve X configurations.
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 1/4” ID x 1/2” OD Bearing can be installed in either available bearing hole. The placement of this bearing will determine the location of the CTRE Mag Encoder Mount on the top plate for all configurations, along with the belt configuration for the Flipped configurations.
The Tube Mount bottom plate was used for reference but assembly instructions are interchangeable between the Corner and Tube Mount versions.
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 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.
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.
Assembly instructions are interchangeable between the Corner and Tube Mount versions of the Swerve.
Check for any remaining support material on all 3D printed parts before assembly.
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.
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 Wheel Module Drive Shaft was updated to have a shoulder in order to get rid of the 3/8" Snapring. If your shaft does not have a shoulder, retain the 15T Bevel Gear and 3D Printed Bevel Gear Spacer with a 3/8" Snapring.
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.
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.
The 3D Printed Rotation Pulley was updated to strengthen the part and allow for longer bolts. If your 3D Printed Rotation Pulley does not have a step at the bottom of the integrated spacers that nests in the 72T Main Rotation Gear, then install the pulley using #4-40 x 3/4"L bolts.
Do NOT overtighten the #4-40 bolts, as this will crush the 3d printed part.
The #10-32 x 1-1/4"L Bolts will go through the 1/2"L Spacers and tap directly into the Falcon 500 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.
Blue Loctite (McMaster P/N ) is recommended on all bolts that thread into a tapped hole.
Blue Loctite (McMaster P/N ) is recommended on all bolts that thread into a tapped hole.
For more instructions regarding mounting the Corner Mount modules, see the section.
Blue Loctite (McMaster P/N ) is recommended on all bolts that thread into a tapped hole.
Blue Loctite (McMaster P/N ) is recommended on all bolts that thread into a tapped hole.
Blue Loctite (McMaster P/N ) is recommended on all bolts that thread into a tapped hole.
Gears Above
2"
1-3/8"
2"
1-3/8"
10T
11T
12T
Blue Loctite (McMaster P/N 1004A12) 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. For the Gears Below configurations, 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 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.
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.
Gears Below
1-3/4"
1-7/8"
1-3/4"
1-1/8"
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.
While the image below may show the Non-Flipped configuration, this step is the same for all Swerve X configurations.
Refer back to the Individual Components page and ensure that all necessary parts are located before starting assembly steps.
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
Arbor press
Deadblow hammer
Blue Loctite (McMaster P/N 1004A12) is recommended on all bolts that thread into a tapped hole.
Assembly instructions are interchangeable between the Corner and Tube Mount versions of the Swerve.
Check for any remaining support material on all 3D printed parts before assembly.
The image below shows one of the two correct possible belt/sensor configurations. If the Sensor Shaft is in the other corner, you will swap which motor is belted to which shaft.
If assembled incorrectly, the 53T HTD 5mm Belt for the drive may collide with the sensor mount.
Blue Loctite (McMaster P/N ) is recommended on all bolts that thread into a tapped hole.
The position of the Sensor Shaft determines the correct orientation for the belt installation in 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.
Blue Loctite (McMaster P/N 1004A12) 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 1/4” ID x 1/2” OD Bearing can be installed in either available bearing hole. The placement of this bearing will determine the location of the CTRE Mag Encoder Mount on the top plate for all configurations, along with the belt configuration for the Flipped configurations.
The Tube Mount bottom plate was used for reference but assembly instructions are interchangeable between the Corner and Tube Mount versions.
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 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.
The bearings will come installed in the 72T Main Rotation Gear. If removal is required, the bearings will be a light press fit.
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 Wheel Module Drive Shaft was updated to have a shoulder in order to get rid of the 3/8" Snapring. If your shaft does not have a shoulder, retain the 15T Bevel Gear and 3D Printed Bevel Gear Spacer with a 3/8" Snapring.
Blue Loctite (McMaster P/N 1004A12) is recommended on all bolts that thread into a tapped hole.
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.
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.
The 3D Printed Rotation Pulley was updated to strengthen the part and allow for longer bolts. If your 3D Printed Rotation Pulley does not have a step at the bottom of the integrated spacers that nests in the 72T Main Rotation Gear, then install the pulley using #4-40 x 3/4"L bolts.
Do NOT overtighten the #4-40 bolts, as this will crush the 3d printed part.
For the Flipped Belt and Flipped Gears Above configurations, the motors are installed using #10-32 x 1/2”L bolts.
The motor shaft length does not matter in the assembly of any of the Flipped Swerves.
The magnet will come installed in 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.
For the Belt configuration, the excess 1/4” shoulder on the Sensor Shaft that extends past the Swerve X Bottom Plate can be cut off. However, doing so will prevent the Sensor Shaft from being reused in all other configurations.
Blue Loctite (McMaster P/N 1004A12) is recommended on all bolts that thread into a tapped hole.
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 in the image below.
The table below indicates what length bolt and spacer is required in each position for each configurations colored markers.
Belt
2"
1-3/8"
When Installing the belts, the 53T HTD 5mm Belt goes with the motor farthest from the Sensor Shaft and the 43T HTD 5mm Belt goes with the motor closest to the Sensor Shaft.
For more information regarding belt installation, see Planning Ahead.
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.
While the image below may show the Non-Flipped configuration, this step is the same for all Swerve X configurations.
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.
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.
While the image below may show the Non-Flipped configuration, this step is the same for all Swerve X configurations.
For more instructions regarding mounting the Corner Mount modules, see the Corner Mounting section.
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