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WCP SS Swerve (BLDC) User Manual

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WCP SS Swerve (BLDC)- User Guide
(Rev 1)
WCP SS Swerve (BLDC)- User Guide (Rev 1)
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Summary of Contents for WCP SS Swerve (BLDC)

  • Page 1 WCP SS Swerve (BLDC)- User Guide (Rev 1) WCP SS Swerve (BLDC)- User Guide (Rev 1) Page 1 wcproducts.com...

  • Page 2: Table Of Contents

    WCP SS Swerve (BLDC)- User Guide (Rev 1) Table of Contents What is the WCP SS Swerve (BLDC)? ���������������������������������������������������������������4 Choosing Gear Ratios - Possible Issues ��������������������������������������������������5 Choosing Gear Ratios - Recommended ���������������������������������������������������6 Recommended Tools �����������������������������������������������������������������������������������������7 Wheel Module Assembly Instructions ��������������������������������������������������������������8 Wheel Module - Step 1 ������������������������������������������������������������������������������9...
  • Page 3 Application Example - VersaTubing High Ground Clearance ����������������������� 37 Application Example - 1323 Style Mounting (2” x 2” x 1/16” Tubing) ���������� 38 FAQ ������������������������������������������������������������������������������������������������������������������� 39 Trouble Shooting ��������������������������������������������������������������������������������������������� 39 WCP SS Swerve (BLDC)- User Guide (Rev 1) Page 3 wcproducts.com...

  • Page 4: What Is The Wcp Ss Swerve (Bldc)

    (Rev 1) What is the WCP SS Swerve (BLDC)? This is the 2nd generation swerve drive sold by WCP. It was designed and modeled after Aren Hill’s swerve and 1323’s past module. The BLDC module is very compact at 5.5” x 5.5”...
  • Page 5 We recommend using the 8T on the rotation gearing and 10T or bigger on the wheel driv- en gear. Going to a 8T or 9T may cause a collision. WCP SS Swerve (BLDC)- User Guide (Rev 1) Page 5 wcproducts.com...

  • Page 6: Choosing Gear Ratios - Possible Issues

    Choosing Gear Ratios - Possible Issues Disclaimer: Certain drive gear ratios will get close or possibly collide with roation pin- ion. This can be seen in the image below. WCP SS Swerve (BLDC)- User Guide (Rev 1) Page 6 wcproducts.com...

  • Page 7: Recommended Tools

    WCP SS Swerve (BLDC)- User Guide (Rev 1) Recommended Tools Picture Name 1/2” and 1/4”-3/8” Snapring Pliers Allen Set WCP SS Swerve (BLDC)- User Guide (Rev 1) Page 7 wcproducts.com...

  • Page 8: Wheel Module Assembly Instructions

    WCP SS Swerve (BLDC)- User Guide (Rev 1) Wheel Module Assembly Instructions We recommend assembly of the wheel module first to make overall assembly easier. Note: Blue Loctite (McMaster P/N 1004A12) is recommended on all bolts that thread into a tapped hole� WCP SS Swerve (BLDC)- User Guide (Rev 1) Page 8 wcproducts.com...

  • Page 9: Wheel Module - Step 1

    WCP SS Swerve (BLDC)- User Guide (Rev 1) Wheel Module - Step 1 Bearings will come prepressed into the 72T roation gear. If removal is required, the bear- ings should be a light press fit. WCP SS Swerve (BLDC)- User Guide (Rev 1) Page 9 wcproducts.com...

  • Page 10: Wheel Module - Step 2

    (Rev 1) Wheel Module - Step 2 The 72T should be able to be pressed in by hand. If necessary use a deablow hammer to lightly tap it in. WCP SS Swerve (BLDC)- User Guide (Rev 1) Page 10 wcproducts.com...

  • Page 11: Wheel Module - Step 3

    The roll pins should be tapped into the forks using a hammer. We recommend holding the fork in a bench vise to do this. The roll pins will be tight fit into the 72T gear. This is intended and you can use the #10-32 bolts to pull everything together. If a slip fit is pre- ferred for the roll pins, the holes in the 72T gear may be drilled out for a slip fit. This is acceptable as well. Note: Do not forget to insert key before putting the 8mm snapring on� WCP SS Swerve (BLDC)- User Guide (Rev 1) Page 11 wcproducts.com...

  • Page 12: Wheel Module - Step 4

    Warning: Be sure to allign the bolt holes in the gear and wheel before pressing in. The drive axle is symmetric. The orientation it is assembled in does not matter. WCP SS Swerve (BLDC)- User Guide (Rev 1) Page 12...

  • Page 13: Wheel Module - Step 5

    WCP SS Swerve (BLDC)- User Guide (Rev 1) Wheel Module - Step 5 This step can be done now or after final assembly of the complete module. Note: It is easier to put the tread on the wheel before installing in the module� WCP SS Swerve (BLDC)- User Guide (Rev 1) Page 13 wcproducts.com...

  • Page 14: Wcp Ss Swerve (Bldc) Assembly Instructions

    WCP SS Swerve (BLDC)- User Guide (Rev 1) WCP SS Swerve (BLDC) Assembly Instructions Note: Blue Loctite (McMaster P/N 1004A12) is recommended on all bolts that thread into a tapped hole� WCP SS Swerve (BLDC)- User Guide (Rev 1) Page 14 wcproducts.com...

  • Page 15: Step 1

    Step 1 Insert the 10 #10-32 x 3/8”L bolts into the hole location, marked in red, from the top of the plate. The bolts should thread all the way in. WCP SS Swerve (BLDC)- User Guide (Rev 1) Page 15 wcproducts.com...

  • Page 16: Step 2

    WCP SS Swerve (BLDC)- User Guide (Rev 1) Step 2 The bearings are installed from the bottom side of the plate, opposite the bolt heads in the previos step. The bearings should be a slip fit and are retained by the bolts. WCP SS Swerve (BLDC)- User Guide (Rev 1) Page 16 wcproducts.com...

  • Page 17: Step 3

    Once the module is fully in, use the 8 #10-32 x 3/8”L bolts to capture the bearing. If the bearing was not fully seated, these bolts should push the bearing fully in. WCP SS Swerve (BLDC)- User Guide (Rev 1) Page 17...

  • Page 18: Step 4

    (Rev 1) Step 4 Use 4 #4-40 x 1”L bolts to attach the 3D printed parts. Warning: DO NOT over tighten the bolts. You may crush the 3D prined parts. WCP SS Swerve (BLDC)- User Guide (Rev 1) Page 18 wcproducts.com...

  • Page 19: Step 5

    Note: During this step the 70T belt that was provided needs to be installed� This can be done by rolling the belt onto either of the two pulleys� WCP SS Swerve (BLDC)- User Guide (Rev 1) Page 19 wcproducts.com...

  • Page 20: Step 6

    Slide the gears and spacer onto the shaft. Install the 1/4” snapring once the shaft is in place. Note: The chamfer on the spacer needs to face the bearing or it will rub� WCP SS Swerve (BLDC)- User Guide (Rev 1) Page 20 wcproducts.com...

  • Page 21: Step 7

    WCP SS Swerve (BLDC)- User Guide (Rev 1) Step 7 These bearing will be a light press fit and may be pressed in by hand or with an arbor press. The image below shows the side the bearings need to be pressed in from. It is critical that the flanges are on the correct side so that the Falcons or othe motors will sit flat. WCP SS Swerve (BLDC)- User Guide (Rev 1) Page 21 wcproducts.com...

  • Page 22: Step 8

    Drive Specalists and intall that with the motors. Note: Only three bolts are required in this step� The fourth bolt to hold the motors on is installed in the next step� WCP SS Swerve (BLDC)- User Guide (Rev 1) Page 22 wcproducts.com...

  • Page 23: Step 9

    #10-32 bolt. Note: The one bolt that go through all the plates and threads into the motor may need a washer if it hits the internals of the motor� WCP SS Swerve (BLDC)- User Guide (Rev 1) Page 23 wcproducts.com...

  • Page 24: Step 10

    Install the 3D printed mount using the 2 #10-32 x 1/2”L bolts. To install the Mag Encod- er, remove the board from the case and fit it into the cutout on the 3D printed mount. Use the mounting bolts from the Mag Encoder to attach the sensor. The CANcoder is an acceptable replacement if that is prefered. WCP SS Swerve (BLDC)- User Guide (Rev 1) Page 24 wcproducts.com...

  • Page 25: Kit Contents

    Name Swerve Bottom Plate Base Kit Swerve Top Plate Base Kit 100mm x 80mm x Base Kit 10mm Bearing 72T Custom Roation Base Kit Gear Wheel Forks Base Kit WCP SS Swerve (BLDC)- User Guide (Rev 1) Page 25 wcproducts.com...
  • Page 26 WCP SS Swerve (BLDC)- User Guide (Rev 1) Picture Name Wheel Base Kit Wheel Axle Base Kit 45T Bevel Gear Base Kit 15T Bevel Gear Base Kit Wheel Module Drive Base Kit Shaft WCP SS Swerve (BLDC)- User Guide (Rev 1) Page 26 wcproducts.com...
  • Page 27 (Rev 1) Picture Name Main Drive Shaft Base Kit Rotation Shaft Base Kit Rotation Sensor Shaft Base Kit 1/4”ID x 1/2”OD Base Kit Radial Bearing 8mm Thrust Bearing Base Kit WCP SS Swerve (BLDC)- User Guide (Rev 1) Page 27 wcproducts.com...
  • Page 28 Base Kit Flanged Bearing 1/2” ID x 1.125”OD Base Kit Flanged Bearing 70T GT2 3mm x 7mm Base KIt Belt 2mm Machine Key Base Kit 8mm Snapring Base Kit WCP SS Swerve (BLDC)- User Guide (Rev 1) Page 28 wcproducts.com...
  • Page 29 Name 1/2” Snapring Base Kit #10-32 x 3/8”L Bolt Base Kit #10-32 x 1/2”L Bolt Base Kit #10-32 x 1.75”L Bolt Base Kit #10-32 x 3”L Bolt Base Kit WCP SS Swerve (BLDC)- User Guide (Rev 1) Page 29 wcproducts.com...
  • Page 30 1/4”-20 x 3.25”L Bolt Base Kit #40-40 x 1”L Bolt Base Kit 1/4”-20 Thin Nut Base Kit 3D Printed Rotation Base Kit Pulley/Plate 3/8”OD x 9/16”L Spacer Base Kit WCP SS Swerve (BLDC)- User Guide (Rev 1) Page 30 wcproducts.com...
  • Page 31 3D Printed Rotation Base Kit Sensor Pulley 0.7”OD x 9/16”L Spacer Base Kit 3D Printed Spacer with Base Kit Chamfer CTRE Mag Encoder Base Kit Mount Mag Encoder Magnet Base Kit WCP SS Swerve (BLDC)- User Guide (Rev 1) Page 31 wcproducts.com...

  • Page 32: Recommened Parts To Buy

    Picture Name Falcon Drive Pinion Larger Gear of 1st Stage Distance Ratio Larger Gear of 2nd Stage Distance Ratio Smaller Gear of 2nd Stage Distance Ratio Falcon 8T Pinion WCP SS Swerve (BLDC)- User Guide (Rev 1) Page 32 wcproducts.com...
  • Page 33 24T Aluminum Spur Gear (20DP, 3/8” Hex Bore) 18T Aluminum Spur Gear (20DP, 3/8” Hex Bore) Falcon 500 Motor 3/8”OD x 2”L Spacer 1.5” Wide Roughtop Tread, 10ft Long (217-2888) WCP SS Swerve (BLDC)- User Guide (Rev 1) Page 33 wcproducts.com...

  • Page 34: Zeroing The Module

    To allign the wheel, determine the correct set of hole to use for the desired direction. Manually allign the wheel and then use a #10-32 x 2.5”L bolt for the final allignment. Lightly tighten the bolt while gently turning the module to get the perfect allignment. Once the position is calibrated, remove the bolts. WCP SS Swerve (BLDC)- User Guide (Rev 1) Page 34 wcproducts.com...
  • Page 35 Application Example - VersaTubing Low Ground Clearance This application is a good option for teams that want a lower overall frame and do not have the resources to machine custon rails. WCP SS Swerve (BLDC)- User Guide (Rev 1) Page 35 wcproducts.com...
  • Page 36 This application is a good option for teams that want plenty of ground clearance for going over obstacles and do not have the resources to machine custon rails. This option also protects the internals of the swerve module from being damaged. WCP SS Swerve (BLDC)- User Guide (Rev 1) Page 36 wcproducts.com...
  • Page 37 This option also protects the internals of the swerve module from being damaged and sets the module further into the frame for protection from field elements, such as the 2019 Cargo Ship. WCP SS Swerve (BLDC)- User Guide (Rev 1) Page 37 wcproducts.com...
  • Page 38 A: Any 1.5” Tread will work, the recommended options are the roughtop or wedgetop sold by WCP or McMaster. Q: Can I use other motors besides a Falcon? A: Yes you can. WCP SS Swerve (BLDC)- User Guide (Rev 1) Page 38 wcproducts.com...
  • Page 39 WCP SS Swerve (BLDC)- User Guide (Rev 1) Revision Table Revision Date Revision # Description 1/17/2020 First revision created. WCP SS Swerve (BLDC)- User Guide (Rev 1) Page 39 wcproducts.com...

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