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2 | Part | Comment | MK4 | MK4i | MK3 to MK4 Wheel Upgrade Kit | MK4 To MK4i Conversion Kit | ||||||||||||||||||||||||||
3 | Falcon Motor | Kraken Motor | NEO or NEO Vortex | Falcon Motor | NEO Motor | Kraken Motor | NEO Vortex Motor | Falcon | Kraken | NEO | NEO Vortex | |||||||||||||||||||||
4 | L1 | L2 | L3 | L4 | L1 | L2 | L3 | L4 | L1 | L2 | L3 | L4 | L1 | L2 | L3 | L1 | L2 | L3 | L1 | L2 | L3 | L1 | L2 | L3 | ||||||||
5 | ||||||||||||||||||||||||||||||||
6 | Bearing, 6802ZZ | Supports the Double Gear, Center Column, and V3 Intermedate Shaft (not V1/V2) | 4 (three if using V1/V2 Intermediate Shaft) | - | - | |||||||||||||||||||||||||||
7 | Bearing, 688ZZ | MK4: Supports the 15T Bevel Gear MK4i: Supports the Idler Shaft, 15T Bevel Gear, and top of the Steering Shaft | 1 | 4 | - | 3 | ||||||||||||||||||||||||||
8 | Bearing, F689ZZ | Supports the top of the Steering Shaft | 1 | - | - | - | ||||||||||||||||||||||||||
9 | Bearing, FR6ZZ-10.25mmID (MK4, MK4i) | Supports the top of the Intermediate Shaft (V1/V2 only) | 1 | - | - | |||||||||||||||||||||||||||
10 | Bearing, R188ZZ (MK4, MK4i) | Supports the bottom of the Steering Shaft | 1 | - | - | |||||||||||||||||||||||||||
11 | Bearing, R6ZZ (MK4, MK4i) | Supports the side of the Wheel without the Bevel Gear | 1 | 1 | - | |||||||||||||||||||||||||||
12 | Bearing, R8ZZ (MK4, MK4i) | Supports the side of the Wheel with the Bevel Gear | 1 | 1 | - | |||||||||||||||||||||||||||
13 | Bearing, X-Contact, 3.500 x 4.000 x 0.250 | Supports the Base Pulley | 1 | - | - | |||||||||||||||||||||||||||
14 | Belt, Timing, HTD 320-5M-15 | Drives the Base Pulley | 1 | - | - | |||||||||||||||||||||||||||
15 | Column, Center (MK3/4/4i) | Supports the Double Gear | 1 | - | - | |||||||||||||||||||||||||||
16 | Gear, 20DP, 14T 8mm Bore | MK4/4i: NEO Drive Pinion Gear (L1/2/3) MK4i: NEO Steering Pinion Gear | - | 1 | - | 2 | - | 2 | - | - | 1 | 1 | ||||||||||||||||||||
17 | Gear, 20DP, 14T Falcon Spline Bore | MK4/4i: Falcon Drive Pinion Gear (L1/2/3) MK4i: Falcon Steering Pinion Gear | 1 | - | 2 | - | - | 1 | - | |||||||||||||||||||||||
18 | Gear, 20DP, 14T Kraken Spline Bore | MK4/4i: Kraken Drive Pinion Gear (L1/2/3) MK4i: Kraken Steering Pinion Gear | - | 1 | - | - | 2 | - | - | - | 1 | - | ||||||||||||||||||||
19 | Gear, 20DP, 16T 8mm Bore | NEO Drive Pinion Gear (L4) | - | 1 | - | - | - | |||||||||||||||||||||||||
20 | Gear, 20DP, 16T Falcon Spline Bore | Falcon Drive Pinion Gear (L4) | - | 1 | - | - | - | - | ||||||||||||||||||||||||
21 | Gear, 20DP, 16T Kraken Spline Bore | Kraken Drive Pinion Gear (L4) | - | 1 | - | - | ||||||||||||||||||||||||||
22 | Gear, 20DP, 16T, 3/8" Hex Bore | Offset Gear on the Base Pulley (L3/4) | - | 1 | - | 1 | - | 1 | - | 1 | - | 1 | - | 1 | - | 1 | - | - | ||||||||||||||
23 | Gear, 20DP, 17T, 3/8" Hex Bore | Offset Gear on the Base Pulley (L2) | - | 1 | - | 1 | - | 1 | - | 1 | - | 1 | - | 1 | - | 1 | - | - | - | |||||||||||||
24 | Gear, 20DP, 19T, 3/8" Hex Bore | Offset Gear on the Base Pulley (L1) | 1 | - | 1 | - | 1 | - | 1 | - | 1 | - | 1 | - | 1 | - | - | - | ||||||||||||||
25 | Gear, 20DP, 50T, 3/8" Hex Bore | Idler Gear, and first stage Steering Gear | - | 2 | - | 2 | ||||||||||||||||||||||||||
26 | Gear, 20DP, Double, 25T-50T | Double Gear on the Center Column (L1) | 1 | - | 1 | - | 1 | - | 1 | - | 1 | - | 1 | - | 1 | - | - | - | ||||||||||||||
27 | Gear, 20DP, Double, 27T-50T | Double Gear on the Center Column (L2) | - | 1 | - | 1 | - | 1 | - | 1 | - | 1 | - | 1 | - | 1 | - | - | - | |||||||||||||
28 | Gear, 20DP, Double, 28T-48T | Double Gear on the Center Column (L4) | - | 1 | - | 1 | - | 1 | - | - | - | |||||||||||||||||||||
29 | Gear, 20DP, Double, 28T-50T | Double Gear on the Center Column (L3) | - | 1 | - | 1 | - | 1 | - | 1 | - | 1 | - | 1 | - | 1 | - | - | ||||||||||||||
30 | Gear, 32DP, 15T, 8mm Bore | NEO Steering Pinion Gear | - | 1 | - | - | - | |||||||||||||||||||||||||
31 | Gear, 32DP, 15T, Falcon Spline Bore | Falcon Steering Pinion Gear | 1 | - | - | - | ||||||||||||||||||||||||||
32 | Gear, 32DP, 15T, Kraken Spline Bore | Kraken Steering Pinion Gear | - | 1 | - | |||||||||||||||||||||||||||
33 | Gear, 32DP, 32T, 3/8" Hex Bore | First stage Steering Gear | 1 | - | - | - | ||||||||||||||||||||||||||
34 | Gear, Bevel, 15T, 1545 | Drives the Wheel | 1 | 1 | - | |||||||||||||||||||||||||||
35 | Gear, Bevel, 45T, 4515 | Mounted to the Wheel | 1 | 1 | - | |||||||||||||||||||||||||||
36 | Hub, Wheel, Colson, 4"OD x 1.5"W (MK4/4i) | Supports the wheel and wheel bearings | 1 (supplied only for Colson Wheel configuration) | 1 (supplied only for Colson Wheel configuration) | - | |||||||||||||||||||||||||||
37 | Key, Machine, 2mm x 2mm x 12mm (MK4, MK4i) | MK4/4i: For the NEO Drive Pinion Gear MK4i: For the NEO Steering Pinion Gear | - | 1 | - | 2 | - | 2 | - | - | 1 | 1 | ||||||||||||||||||||
38 | Mount, Wheel, A (MK1/2/3/4/4i) | Wheel Mount without the Bevel Gear | 1 | 1 | - | |||||||||||||||||||||||||||
39 | Mount, Wheel, B (MK4/4i) | Wheel Mount with the Bevel Gear | 1 | 1 | - | |||||||||||||||||||||||||||
40 | Plate, Bottom (MK4i) | Reinforces the corner of the Drivetrain Frame | - | 1 | - | 1 | ||||||||||||||||||||||||||
41 | Plate, Encoder Guard (MK4i) | Guards the Steering Encoder | - | 1 | - | 1 | ||||||||||||||||||||||||||
42 | Plate, Main (MK3/4) | Primary Swerve Module structure | 1 | - | - | - | ||||||||||||||||||||||||||
43 | Plate, Main (MK4i) | Primary Swerve Module structure | - | 1 | - | 1 | ||||||||||||||||||||||||||
44 | Plate, Motor (MK3/4) | Mounts the Motors | 1 | - | - | - | ||||||||||||||||||||||||||
45 | Plate, Motor (MK4i) | Mounts the Motors | - | 1 | - | 1 | ||||||||||||||||||||||||||
46 | Pulley, Base (MK3/4/4i) | Main Steering Pulley | 1 | - | - | |||||||||||||||||||||||||||
47 | Ring, Retaining, External, E-Type, 5/16 (MK4, MK4i) | Secures the Gear to the Intermediate Drive Shaft (V2/V3 only) | 1 | 1 | - | |||||||||||||||||||||||||||
48 | Ring, Retaining, External, Push-On, 8mm (MK4, MK4i) | MK4/4i: Retains the Drive Pinion Gear on the NEO Motor Shaft MK4i: Retains the Steering Pinion Gear on the NEO Motor Shaft | - | 1 | - | 2 | - | 2 | - | - | 1 | 1 | ||||||||||||||||||||
49 | Screw, 1/4-20 x 1 Cap (MK4, MK4i) | Secures the Wheel Mount A | 2 | - | - | |||||||||||||||||||||||||||
50 | Screw, 1/4-20 x 5/8 Cap (MK4, MK4i) | Secures the Wheel Mount B and Center Column | 3 | - | - | |||||||||||||||||||||||||||
51 | Screw, 10-32 x 1 Cap | Secures the 45T Bevel Gear (Colson Wheel) | 3 (supplied only for Colson Wheel configuration) | 3 (supplied only for Colson Wheel configuration) | - | |||||||||||||||||||||||||||
52 | Screw, 10-32 x 1-1/2 Cap | Secures the Motors | - | 8 | - | 8 | ||||||||||||||||||||||||||
53 | Screw, 10-32 x 1/2 Button | Kraken: Screws the pinion gears Billet Wheel: Secures the Tread | 2 (supplied only for Kraken Configuration) 8 (supplied only for Billet Wheel configuration) | 8 (supplied only for Billet Wheel configuration) | - | |||||||||||||||||||||||||||
54 | Screw, 10-32 x 1/4 Button (MK4, MK4i) | Secures the 4" Bearing | 5 | - | - | |||||||||||||||||||||||||||
55 | Screw, 10-32 x 2-1/2 Cap (MK4, MK4i) | MK4: Secures the Motor Plate MK4i:Secures the Swerve Module to Frame (10-32 Main/Bottom Plates only) | 4 | 6 | - | 2 | ||||||||||||||||||||||||||
56 | Screw, 10-32 x 2-1/4 Cap | Secures the Motor Plate and Bottom Plate | - | 4 | - | 4 | ||||||||||||||||||||||||||
57 | Screw, 10-32 x 3/4 Button | Secures the 45T Bevel Gear (Billet Wheel) | 6 (supplied only for Billet Wheel configuration) | 6 (supplied only for Billet Wheel configuration) | - | |||||||||||||||||||||||||||
58 | Screw, 10-32 x 3/8 Cap | Secures the Motors | 2 | - | - | - | ||||||||||||||||||||||||||
59 | Screw, 12-24 x 1/2 Flat (MK4, MK4i) | Secures the Gear to the Intermediate Drive Shaft (V1 only) | 1 | - | - | |||||||||||||||||||||||||||
60 | Screw, 8-32 X 1/2 Torx Button (MK4, MK4i) | Secures the Gears and Spacers to the Falcon Motors | 2 | - | 2 | - | - | - | ||||||||||||||||||||||||
61 | Screw, 8-32 x 2-1/2 Cap | Secures the Swerve Module to Frame (8-32 Main/Bottom Plates only) | - | 6 | - | - | ||||||||||||||||||||||||||
62 | Screw, 8-32 x 7/8 Button | Secures the Encoder Guard | - | 3 | - | 3 | ||||||||||||||||||||||||||
63 | Screw, Shoulder, 3/8 x 2-1/2 x 5/16-18 (MK4, MK4i) | Secures the Wheel Spacer | 1 | - | - | |||||||||||||||||||||||||||
64 | Shaft, Idler (MK4i) | Supports the 50T Idler Gear | - | 1 | - | 1 | ||||||||||||||||||||||||||
65 | Shaft, Intermediate, V1 (MK4/4i) | Drives the 15T Bevel Gear (replaced with V2 version) | 1 | - | - | |||||||||||||||||||||||||||
66 | Shaft, Intermediate, V2 (MK4/4i) | Drives the 15T Bevel Gear (replaced with V3 version) | 1 | 1 | - | |||||||||||||||||||||||||||
67 | Shaft, Intermediate, V3 (MK4/4i) | Drives the 15T Bevel Gear | 1 | - | - | |||||||||||||||||||||||||||
68 | Shaft, Steering (MK2/3/4) | Drives the Steering Timing Belt | 1 | - | - | - | ||||||||||||||||||||||||||
69 | Shaft, Steering (MK4i) | Drives the Steering Timing Belt | - | 1 | - | 1 | ||||||||||||||||||||||||||
70 | Shim, 8mm x 14mm x 1mm (MK4: here; MK4i: here and here) | MK4/4i: Goes under the 15T Bevel Gear MK4i: Goes under the NEO Steering Pinion Gear | 1 | 2 | 1 | 2 | - | - | 1 | 1 | ||||||||||||||||||||||
71 | Spacer, 0.170 x 0.250 x 0.531 | On the Encoder Guard mounting screws | - | 3 | - | 3 | ||||||||||||||||||||||||||
72 | Spacer, 0.196 x 0.313 x 1.125 | On the Motor mounting screws | - | 8 | - | 8 | ||||||||||||||||||||||||||
73 | Spacer, 0.196 x 0.313 x 1.875 (MK4, MK4i) | MK4: Between the Main Plate and Motor Plate MK4i: Three between the Main Plate and Motor Plate, and one between the Main Plate and Bottom Plate | 4 | - | - | |||||||||||||||||||||||||||
74 | Spacer, 0.315 x 0.438 x 0.188 | Goes above the Drive Pinion Gear on the NEO Motor Shaft | - | 1 | - | - | - | |||||||||||||||||||||||||
75 | Spacer, 0.315 x 0.438 x 0.438 | Goes below the Drive Pinion Gear on the NEO Motor Shaft | - | 1 | - | 1 | - | - | 1 | 1 | ||||||||||||||||||||||
76 | Spacer, 0.375 x 0.526 x 0.500 | Mounts above the Gear on the Steering Shaft | - | 1 | - | 1 | ||||||||||||||||||||||||||
77 | Spacer, Semicircle, 2.000 BC x 0.063 Th | Between the motor and motor spacers | - | 2 | - | - | 2 | - | 2 | |||||||||||||||||||||||
78 | Spacer, 0.315 x 0.438 x 0.125 | MK4: Goes above the Drive Pinion Gear on the Motor Shaft | - | 2 | - | - | 2 | - | ||||||||||||||||||||||||
79 | Spacer, 0.315 x 0.438 x 0.375 | MK4: Goes above the Drive Pinion Gear on the Motor Shaft | - | 2 | - | - | 2 | - | ||||||||||||||||||||||||
80 | Spacer, Wheel (MK4/4i) | Supports the Wheel | 1 | 1 | - | |||||||||||||||||||||||||||
81 | Tread, Black Neoprene, 4 x 1.5 (MK4/4i) | Traction material on the Wheel | 1 (supplied only for Billet Wheel configuration) | 1 (supplied only for Billet Wheel configuration) | - | |||||||||||||||||||||||||||
82 | Wheel, Billet, 4 x 1.5 (MK4/4i) | Drive Wheel | 1 (supplied only for Billet Wheel configuration) | 1 (supplied only for Colson Wheel configuration) | - | |||||||||||||||||||||||||||
83 | Wheel, Colson, 4 x 1.5 (MK4/4i) | Drive Wheel | 1 (supplied only for Colson Wheel configuration) | 1 (supplied only for Billet Wheel configuration) | - | |||||||||||||||||||||||||||
84 | ||||||||||||||||||||||||||||||||
85 | ||||||||||||||||||||||||||||||||
86 | Parts that need to be acquired separately | |||||||||||||||||||||||||||||||
87 | Part | Quantity | ||||||||||||||||||||||||||||||
88 | Drive motor (REV Robotics NEO, REV Robotics NEO Vortex (with 8mm keyed shaft), VEX Falcon 500, or WCP Kraken X60 recommended) | 1 | ||||||||||||||||||||||||||||||
89 | Steering motor (REV Robotics NEO, REV Robotics NEO Vortex (with 8mm keyed shaft), VEX Falcon 500, or WCP Kraken X60 recommended) | 1 | ||||||||||||||||||||||||||||||
90 | Steering encoder (CTRE CANcoder, Thrifty Absolute Magnetic Encoder, or equivalent) | 1 | ||||||||||||||||||||||||||||||
91 | ||||||||||||||||||||||||||||||||
92 | Note: The above steering encoders come with the ⌀.250”x 0.500” magnet that gets installed in the Swerve Module's Center Column |