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WCP Swerve X User Manual
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WCP Swerve X User Manual

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Swerve X - User Guide
(Rev 1)
Table of Contents
Page 1
wcproducts.com

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Summary of Contents for WCP Swerve X

  • Page 1 Swerve X - User Guide (Rev 1) Table of Contents Page 1 wcproducts.com...
  • Page 2 Wheel Assembly and Installation - Step 2 ��������������������������������������������� 24 Available Kits ��������������������������������������������������������������������������������������������������� 25 KIT-0002: WCP Swerve X (Tube Mount) ������������������������������������������������ 26 KIT-0003: WCP Swerve X (Tube Mount, Flipped) ���������������������������������� 26 KIT-0004: WCP Swerve X (Corner Mount) ��������������������������������������������� 27 Table of Contents Page 2 wcproducts.com...
  • Page 3 KIT-0017: 7�80:1 Pulley Ratio (Swerve X, Cim) �������������������������������������� 31 WCP-0360: WCP Swerve X (Tube Mount) Base Kit ������������������������������ 32 WCP-0361: WCP Swerve X (Tube Mount, Flipped) Base Kit ���������������� 32 WCP-0362: WCP Swerve X (Corner Mount) Base Kit ��������������������������� 33 WCP-0363: WCP Swerve X (Corner Mount, Flipped) Base Kit �������������...
  • Page 4 (Rev 1) What is the Swerve X? WCP’s newest generation of the swerve drive module, designed from the ground up to utilize the powerful Falcon 500 brushless motor to improve performance and remove complexity. This new design is smaller, lighter, and more versatile than our previous module, and truly makes omnidirectional driving as simple as plug and play.
  • Page 5 Swerve X - User Guide (Rev 1) Choosing Ratios - Possible Issues When creating custom overall drive ratios, the gear set for the 2nd stage must be carefully selected. The driven gear for this stage cannot exceed a 26T tooth count, otherwise the gear will collide with the module spacers and sensor shaft as the wheel module rotates.
  • Page 6 Swerve X - User Guide (Rev 1) Choosing Ratios - Recommended For the 2nd stage of the drive ratio, a 26T or smaller driven gear provides the required clearance for the module as it rotates. Listed in the table below are some recommended gear sets.
  • Page 7 Swerve X - User Guide (Rev 1) Sensor Installation - Possible Issues The position of the Sensor Shaft determines the correct orientation for the belt installation in Step 11. 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.

  • Page 8: Recommended Tools

    Swerve X - User Guide (Rev 1) Recommended Tools Picture Name Snapring Pliers for 1/2” and 3/8” Snaprings SAE/Inch Allen Set Table of Contents Page 8 wcproducts.com...
  • Page 9 Swerve X - User Guide (Rev 1) Swerve X Assembly Instructions Assembly instructions are interchangeable between the Corner and Tube Mount versions of the Swerve. Unless otherwise specified, this also goes for the Flipped and Non-Flipped versions of the Swerve. Note: Blue Loctite (McMaster P/N 1004A12) is recommended on all bolts that thread into a tapped hole�...
  • Page 10 Swerve X - User Guide (Rev 1) Step 1 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. Note: The 1/4” ID x 1/2” OD Bearing can be installed in either available bearing hole�...
  • Page 11 Swerve X - User Guide (Rev 1) Step 2 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. Table of Contents Page 11 wcproducts.com...
  • Page 12 Swerve X - User Guide (Rev 1) Step 3 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 both the Non-Flipped and Flipped configurations. It is critical that the flanges are on the correct side so that the motors will sit flat. Note: The position of the 3/8” ID x 7/8” OD flanged bearing must align with the 1/4” ID x 1/2”...
  • Page 13 Swerve X - User Guide (Rev 1) Step 4 The bearings will come installed in the 72T Main Rotation Gear. If removal is required, the bearings will be a light press fit. Table of Contents Page 13 wcproducts.com...
  • Page 14 Swerve X - User Guide (Rev 1) Step 5 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.
  • Page 15 Swerve X - User Guide (Rev 1) Step 6 The 1/4” ID x 1/2” OD bearing can be presed 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.
  • Page 16 Swerve X - User Guide (Rev 1) Step 7 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. Warning: Do NOT overtighten the #4-40 bolts, as this will crush the 3d printed part. Table of Contents Page 16 wcproducts.com...
  • Page 17 Swerve X - User Guide (Rev 1) Step 8 For the Non-Flipped configuration, the output shafts for the motors must be shortened for clearance. If you do not want to cut the shafts, we recommend installing Motor Spacers (WCP-0339). For all configurations, the motors are installed using #10-32 x 1/2”L bolts. For the Non-Flipped configuration, the pinions are bolted in using #8-32 x 1/2”L bolts. Note: The motor shaft length does not matter in the assembly of the Flipped Swerve�...
  • Page 18 Step 7. Note: For the Flipped 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 Non-Flipped configurations.
  • Page 19 Swerve X - User Guide (Rev 1) Step 10 For the Non-Flipped configurations, use the three #10-32 x 2 1/2”L bolts and the three 1 7/8” spacers to assemble the bottom and top subassemblies. For the Flipped configurations, in place of the 2 1/2” bolts and 1 7/8” spacers, use the 2” bolts and 1 3/8” spacers. For all configurations, the bolt locations are marked in green in the images below. Non-Flipped Flipped Table of Contents Page 19 wcproducts.com...
  • Page 20 Swerve X - User Guide (Rev 1) Step 11 This step is for the Flipped configurations only. Skip this step if you are assembling a Non-Flipped Module. When installing the belts, the 55T HTD 5mm Belt goes with the motor farthest from the Sensor Shaft and the 45T HTD 5mm Belt goes with the motor closest to the Sensor Shaft.
  • Page 21 Swerve X - User Guide (Rev 1) Step 12 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. Table of Contents Page 21...
  • Page 22 Swerve X - User Guide (Rev 1) Wheel Assembly and Installation Instructions Wheel assembly and installation can be done at any point after step 6. These instructions are the same across all configurations. Table of Contents Page 22 wcproducts.com...
  • Page 23 Swerve X - User Guide (Rev 1) Wheel Assembly and Installation - Step 1 Insert the 45T Bevel Gear by either tapping it in with a dead blow hammer or using an arbor press. Warning: Be sure to align the bolt holes in the Aluminum Swerve Wheel with the tapped holes in the 45T Bevel Gear.
  • Page 24 Swerve X - User Guide (Rev 1) Wheel Assembly and Installation - Step 2 When installing the Wheel Assembly, be sure the 45T Bevel Gear and 15T Bevel Gear are on the same side. Note: It is easier to install the tread on the wheel before installing the wheel in the module�...

  • Page 25: Available Kits

    (Rev 1) Available Kits Kit Number Name KIT-0002 WCP Swerve X (Tube Mount) KIT-0003 WCP Swerve X (Tube Mount, Flipped) KIT-0004 WCP Swerve X (Corner Mount) KIT-0005 WCP Swerve X (Corner Mount, Flipped) KIT-0006 6.54:1 Gear Ratio (Swerve X, Falcon) KIT-0007 7.13:1 Gear Ratio (Swerve X, Falcon)
  • Page 26 Name WCP-0360 WCP Swerve X (Tube Mount) WCP-0364 WCP Swerve X (Hardware Kit) WCP-0365 WCP Swerve X (4” Wheel, 1.125” Bearing Bore) WCP-0366 WCP Swerve X (Wheel Fork, 2-Pack) WCP-0367 WCP Swerve X (3D Printed Components) WCP-0233 45T Steel Bevel Gear (1.5 Module, Round Bore) WCP-0276 15T Steel Bevel Gear (1.5 Module, 3/8”...
  • Page 27 Name WCP-0362 WCP Swerve X (Corner Mount) WCP-0364 WCP Swerve X (Hardware Kit) WCP-0365 WCP Swerve X (4” Wheel, 1.125” Bearing Bore) WCP-0366 WCP Swerve X (Wheel Fork, 2-Pack) WCP-0367 WCP Swerve X (3D Printed Components) WCP-0233 45T Steel Bevel Gear (1.5 Module, Round Bore) WCP-0276 15T Steel Bevel Gear (1.5 Module, 3/8”...
  • Page 28 Swerve X - User Guide (Rev 1) KIT-0006: 6.54:1 Gear Ratio (Swerve X, Falcon) Part Number Name 217-6919 12T Steel Spur Gear (20 DP, Falcon Motor) 217-2706 34T Aluminum Spur Gear (20 DP 1/2” Hex Bore) 217-5465 26T Aluminum Spur Gear (20 DP 1/2” Hex Bore) 217-2701 20T Aluminum Spur Gear (20 DP 3/8”...
  • Page 29 Swerve X - User Guide (Rev 1) KIT-0009: 5.50:1 Pulley Ratio (Swerve X, Falcon) Part Number Name WCP-0454 12T x 9mm Wide Aluminum Pulley (HTD 5mm, Falcon Motor) 217-3227 24T x 9mm Wide Aluminum Pulley (HTD 5mm, 1/2” Hex Bore)
  • Page 30 Swerve X - User Guide (Rev 1) KIT-0012: 6.54:1 Gear Ratio (Swerve X, Cim) Part Number Name 217-3099 12T Steel Spur Gear (20 DP, Cim Motor) 217-2706 34T Aluminum Spur Gear (20 DP 1/2” Hex Bore) 217-5465 26T Aluminum Spur Gear (20 DP 1/2” Hex Bore) 217-2701 20T Aluminum Spur Gear (20 DP 3/8”...
  • Page 31 Swerve X - User Guide (Rev 1) KIT-0015: 5.50:1 Pulley Ratio (Swerve X, Cim) Part Number Name WCP-0076 12T x 9mm Wide Aluminum Pulley (HTD 5mm, Cim Motor) 217-3227 24T x 9mm Wide Aluminum Pulley (HTD 5mm, 1/2” Hex Bore)
  • Page 32 WCP-0360-001 Swerve X Bottom Plate (Tube Mount) WCP-0261 #10-32 x 2.5” L BHCS (Steel, Black Oxide) WCP-0387 Aluminum Spacers (.196”ID x 3/8” OD x 1 7/8”WD) WCP-0361: WCP Swerve X (Tube Mount, Flipped) Base Kit Part Number Name WCP-0361-001 Swerve X Top Plate (Flipped) WCP-0360-001 Swerve X Bottom Plate (Tube Mount) WCP-0259 #10-32 x 2” L BHCS (Steel, Black Oxide)
  • Page 33 WCP-0362-001 Swerve X Bottom Plate (Corner Mount) WCP-0261 #10-32 x 2.5” L BHCS (Steel, Black Oxide) WCP-0387 Aluminum Spacers (.196”ID x 3/8” OD x 1 7/8”WD) WCP-0363: WCP Swerve X (Corner Mount, Flipped) Base Kit Part Number Name WCP-0361-001 Swerve X Top Plate (Flipped) WCP-0362-001 Swerve X Bottom Plate (Corner Mount) WCP-0259 #10-32 x 2” L BHCS (Steel, Black Oxide)
  • Page 34 Swerve X - User Guide (Rev 1) WCP-0364: WCP Swerve X (Hardware Kit) Part Number Name WCP-0364-001 72T Rotation Gear 217-3489 0.250" ID x 0.500" OD x 0.188" WD (Radial Bearing) WCP-0041 0.250" ID x 0.625" OD x 0.196" WD (Radial Bearing) 217-3109 0.500"...
  • Page 35 Swerve X - User Guide (Rev 1) WCP-0367: WCP Swerve X (3D Printed Components) Part Number Name WCP-0367-001 .02" Hex Spacer WCP-0367-002 Pulley Plate WCP-0367-003 Shaft Pulley WCP-0367-004 Sensor Shaft Spacer WCP-0367-012 Sensor Mount WCP-0367-006 Bevel Gear Spacer WCP-0367-007 Flipped Shaft Pulley Top Cap...
  • Page 36 Depending on the location that the module is mounted, one of two sets of tapped holes in the 72T Main Rotation Gear will align with a set of holes in the Swerve X Top Plate. These sets of holes align the wheel to the module so that a zero can be set in code.
  • Page 37 Swerve X - User Guide (Rev 1) Q: What tread is recommended? 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 the Falcon 500? A: Yes you can.

  • Page 38: Revision Table

    Swerve X - User Guide (Rev 1) Revision Table Revision Date Revision # Description 11/17/2021 First revision created. Table of Contents Page 38 wcproducts.com...