> For the complete documentation index, see [llms.txt](https://docs.wcproducts.com/welcome/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.wcproducts.com/welcome/electronics/wcp-throughbore-by-cancoder-1-2-hex/applications/swerve-x2s.md).

# Swerve X2S

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.

{% hint style="warning" %}
Do not overtighten the Throughbore Encoder mounting bolt. Excessive torque may deform or compress the encoder housing
{% endhint %}

<figure><img src="https://1560170492-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FtlWSBoSocMCLG7fQxSoe%2Fuploads%2FVYViXf8I3uK6vmLihgnC%2FThroughBore%20Encoder%20-%20Swerve%20X2S%20Example.svg?alt=media&amp;token=350eb721-ac93-4e9f-9a2f-4970bdcdd261" alt=""><figcaption></figcaption></figure>


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