WCP SS Swerve (BLDC), User Manual

Page 1: ...WCP SS Swerve BLDC User Guide Rev 1 Page 1 WCP SS Swerve BLDC User Guide Rev 1 wcproducts com ...

Page 2: ...atios Recommended 6 Recommended Tools 7 Wheel Module Assembly Instructions 8 Wheel Module Step 1 9 Wheel Module Step 2 10 Wheel Module Step 3 11 Wheel Module Step 4 12 Wheel Module Step 5 13 WCP SS Swerve BLDC Assembly Instructions 14 Step 1 15 Step 2 16 Step 3 17 Step 4 18 Step 5 19 Step 6 20 Step 7 21 Step 8 22 Step 9 23 Step 10 24 Kit Contents 25 Recommened Parts to Buy 33 Zeroing the Module 35...

Page 3: ...SS Swerve BLDC User Guide Rev 1 wcproducts com Application Example VersaTubing Low Ground Clearance 36 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 ...

Page 4: ...d and modeled after Aren Hill s swerve and 1323 s past module The BLDC module is very compact at 5 5 x 5 5 wide and weighing 5lbs with motors Some features Aluminum wheel Hardened steel bevel gears Symmetrical Design No need for a Left hand or Right hand module Belt Azimuth Rotation for zero backlash position reading Natively supports Falcon 500 Shafts with Integrated spacers Quick Assembly ...

Page 5: ...Rev 1 Page 5 WCP SS Swerve BLDC User Guide Rev 1 wcproducts com Choosing Gear Ratios Recommended 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 ...

Page 6: ... Rev 1 Page 6 WCP SS Swerve BLDC User Guide Rev 1 wcproducts com 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 ...

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

Page 8: ...erve BLDC User Guide Rev 1 wcproducts com 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 ...

Page 9: ...DC User Guide Rev 1 Page 9 WCP SS Swerve BLDC User Guide Rev 1 wcproducts com 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 ...

Page 10: ...werve BLDC User Guide Rev 1 Page 10 WCP SS Swerve BLDC User Guide Rev 1 wcproducts com 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 ...

Page 11: ...t that aligns with the drive shaft needs a bearing Note Roll pins are optional and not included in the kit 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 th...

Page 12: ...ep 4 Insert the 45T bevel gear by either tapping it in with a deadblow or using an arbor press The 10 32 bolts can be used to pull the bevel gear flat 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 ...

Page 13: ... 1 Page 13 WCP SS Swerve BLDC User Guide Rev 1 wcproducts com 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 ...

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

Page 15: ... User Guide Rev 1 Page 15 WCP SS Swerve BLDC User Guide Rev 1 wcproducts com 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 ...

Page 16: ...1 Page 16 WCP SS Swerve BLDC User Guide Rev 1 wcproducts com 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 ...

Page 17: ...dule is installed from the bottom of the plate The wheel module should be a tight slip fit and may require a bit of rocking from side to side to get fully seated The bearing should sit flush with the plate 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 ...

Page 18: ... BLDC User Guide Rev 1 Page 18 WCP SS Swerve BLDC User Guide Rev 1 wcproducts com 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 ...

Page 19: ...e all gears and shafts into postion There is an option 1 2 snapring that can be in stalled onto the main drive shaft once it is in place This will help hold the shaft in place during installation but is not critical to the overall function 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 ...

Page 20: ... 1 Page 20 WCP SS Swerve BLDC User Guide Rev 1 wcproducts com 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 ...

Page 21: ...oducts com 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 ...

Page 22: ...ance We recommend intalling the motors and then making them to the desired length To retain the pinions we recommend that you use a If you do not want to cut the shafts we recommend using the Motor Space from Swerve 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 ...

Page 23: ...0 32 x 3 L bolts and the 4 2 L spaces to attach the two halves of the gear box The bolt locations can be seen highlighted in red These holes should be clearance holes for a 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 ...

Page 24: ... 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 ...

Page 25: ...25 WCP SS Swerve BLDC User Guide Rev 1 wcproducts com Picture Name QTY Kit Swerve Bottom Plate 1 Base Kit Swerve Top Plate 1 Base Kit 100mm x 80mm x 10mm Bearing 1 Base Kit 72T Custom Roation Gear 1 Base Kit Wheel Forks 2 Base Kit Kit Contents ...

Page 26: ...ser Guide Rev 1 Page 26 WCP SS Swerve BLDC User Guide Rev 1 wcproducts com Picture Name QTY Kit Wheel 1 Base Kit Wheel Axle 1 Base Kit 45T Bevel Gear 1 Base Kit 15T Bevel Gear 1 Base Kit Wheel Module Drive Shaft 1 Base Kit ...

Page 27: ...Page 27 WCP SS Swerve BLDC User Guide Rev 1 wcproducts com Picture Name QTY Kit Main Drive Shaft 1 Base Kit Rotation Shaft 1 Base Kit Rotation Sensor Shaft 1 Base Kit 1 4 ID x 1 2 OD Radial Bearing 1 Base Kit 8mm Thrust Bearing 1 Base Kit ...

Page 28: ... WCP SS Swerve BLDC User Guide Rev 1 wcproducts com Picture Name QTY Kit 3 8 ID x 7 8 OD Flanged Bearing 4 Base Kit 1 2 ID x 1 125 OD Flanged Bearing 3 Base Kit 70T GT2 3mm x 7mm Belt 1 Base KIt 2mm Machine Key 1 Base Kit 8mm Snapring 1 Base Kit ...

Page 29: ... Rev 1 Page 29 WCP SS Swerve BLDC User Guide Rev 1 wcproducts com Picture Name QTY Kit 1 2 Snapring 4 Base Kit 10 32 x 3 8 L Bolt 28 Base Kit 10 32 x 1 2 L Bolt 2 Base Kit 10 32 x 1 75 L Bolt 1 Base Kit 10 32 x 3 L Bolt 4 Base Kit ...

Page 30: ...e 30 WCP SS Swerve BLDC User Guide Rev 1 wcproducts com Picture Name QTY Kit 1 4 20 x 3 25 L Bolt 1 Base Kit 40 40 x 1 L Bolt 4 Base Kit 1 4 20 Thin Nut 1 Base Kit 3D Printed Rotation Pulley Plate 1 Base Kit 3 8 OD x 9 16 L Spacer 4 Base Kit ...

Page 31: ...S Swerve BLDC User Guide Rev 1 wcproducts com Picture Name QTY Kit 3D Printed Rotation Sensor Pulley 1 Base Kit 0 7 OD x 9 16 L Spacer 1 Base Kit 3D Printed Spacer with Chamfer 1 Base Kit CTRE Mag Encoder Mount 1 Base Kit Mag Encoder Magnet 1 Base Kit ...

Page 32: ...Swerve BLDC User Guide Rev 1 wcproducts com Picture Name QTY Falcon Drive Pinion 1 Larger Gear of 1st Stage Distance Ratio 1 Larger Gear of 2nd Stage Distance Ratio 1 Smaller Gear of 2nd Stage Distance Ratio 1 Falcon 8T Pinion 1 Recommened Parts to Buy ...

Page 33: ...33 WCP SS Swerve BLDC User Guide Rev 1 wcproducts com Picture Name QTY 24T Aluminum Spur Gear 20DP 3 8 Hex Bore 1 18T Aluminum Spur Gear 20DP 3 8 Hex Bore 1 Falcon 500 Motor 2 3 8 OD x 2 L Spacer 4 1 5 Wide Roughtop Tread 10ft Long 217 2888 1 ...

Page 34: ... with a set of holes in the top plate These sets of holes should allign the wheel to the module so that a zero can be set in code 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 po...

Page 35: ...ge 35 WCP SS Swerve BLDC User Guide Rev 1 wcproducts com 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 ...

Page 36: ...m Application Example VersaTubing High Ground Clearance 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 ...

Page 37: ...eam 1323 prefers to use when mounting thier swerve modules The 2x2 is prefered over the 2x1 because it gives extra space in the corners in case any other mechanisms or bumpers need to be mounted there 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 ...

Page 38: ...8 WCP SS Swerve BLDC User Guide Rev 1 wcproducts com FAQ Q Which 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 a Falcon A Yes you can ...

Page 39: ...WCP SS Swerve BLDC User Guide Rev 1 Page 39 WCP SS Swerve BLDC User Guide Rev 1 wcproducts com Revision Table Revision Date Revision Description 1 17 2020 1 1 First revision created ...