The Swerve X2S module was designed to take advantage of the new WCP ThroughBore by CANcoder (1/2" Hex). This encoder fits inside the module on-axis and, when assembly instructions are followed, results in no need for setting the zero position of the module. This means that swapping modules does not require resetting the zero position. Utilize WCP-1617 (WCP Swerve X2S Hex Encoder Hat) on the module to engage with the 1/2" hex bore on the encoder, and bolt the encoder to the top plate of the module.

WCP ThroughBore by CANcoder (1/2" Hex)

The ThroughBore Encoder can be used in the WCP Swerve X2 by swapping the Swerve X2 - Encoder Shaft (WCP-1700-001) with the WCP Swerve X2 ThroughBore Encoder Shaft (WCP-1739) as shown below.

Manual Updates

Product Updates

Alignment Notch

The WCP ThroughBore by CANcoder (1/2" Hex) features an alignment notch to help with clocking the 1/2" Hex shaft, an LED light pipe to display the state of the encoder, and a 6-pin Molex SL female connecter for simplified wiring.

Overall Dimensions

Port Overview

The 6-pin Molex SL port allows you to power the WCP ThroughBore by CANcoder (1/2" Hex) while having CAN Input and CAN output in the same housing, making daisy chaining a breeze.

Mating Connector

The WCP ThroughBore by CANcoder (1/2" Hex) is a product developed in conjunction with Cross the Road Electronics. This rotary sensor allows teams to measure relative or absolute position of a shaft installed through the rotation portion of the device. Designed to make integration into standard FRC ecosystems a breeze, there are countless ways to utilize this sensor.

Features

• Off-axis encoding technology

• No backlash between sensor and sensing element

• Small footprint, fits in the shadow of 1” wide structure

• Mechanical zero that aligns to both notches of the hex bore and the outer case

• LED light pipe to display state of the encoder

• Latching Molex SL connector, with cable included

• Compatible with CTR software and Phoenix Pro