MK4i Swerve Module
Assembly Guide
v20231101a
Recommendations:
se Loctite 243 Threadlocker on all bolts, excluding those used to mount
U
the encoder
Lubricate all gears with white lithium grease after assembly
Secure encoder wires to motor plate with cable ties
MK4i Swerve Module Assembly Guide [Link] Page2
Step 1: Main Bearing Mounting
ecure with five #10-32 X .25 Button Head Screws. Nonobvious screw
S
positions are indicated by adjacent drilled dots.
MK4i Swerve Module Assembly Guide [Link] Page3
Step 2: Wheel Assembly
he MK4i Module uses the 4"D X 1.5"W Billet Wheel from SDS. Tread
T
comes pre-installed. Mount 45t Bevel Gear withsix#10-32 X .75 Button
Head Screws. Insert .5” ID Bearing and Wheel Spacer on 45t Bevel Side,
insert .375” ID Bearing on opposite side.
MK4i Swerve Module Assembly Guide [Link] Page4
Step 3: Intermediate Shaft Assembly
Install Bearing
or V1/V2 Intermediate Shaft
F
Insert FR6ZZ-10.25mmID
FlangedBearing and Shaft
or V3 Intermediate Shaft
F
Insert 6802ZZ Bearing (not
flanged) and Shaft
Secure Shaft and 20DP .375 Hex Bore Gear
or V1 Intermediate Shaft
F
Install #12-24 X .5” Flat Head Screw
or V2/V3 Intermediate Shaft
F
Install E-Clip into Shaft’s groove
MK4i Swerve Module Assembly Guide [Link] Page5
Step 4: Center Column Assembly
Insert encoder magnet (provided separately with encoder) into Center
Column and retain with Loctite 609 Retaining Compound (wipe off excess),
ensuring magnet is flush with top of Center Column. Insert two 6802ZZ
Bearings into Double Gear and capture with Center Column and 1/4”-20 X
.625” Socket Head Cap Screw.
MK4i Swerve Module Assembly Guide [Link] Page6
Step 5: Pulley Mounting
apture Steering Belt between Steering Shaft and Base Pulley. Insert 20DP
C
50t gear with .375” Hex bore onto Steering Shaft and between Base Pulley
and Double Gear. Insert R188ZZ Bearing in Main Plate before continuing
with assembly.
MK4i Swerve Module Assembly Guide [Link] Page7
Step 5: Pulley Mounting (Cont.)
Insert Base Pulley Assembly, aligning Base Pulley with X-Contact Bearing
and Steering Shaft with R188ZZ Bearing. Insert 15t Bevel Gear, followed by
1mm Shim and 688 Bearing.
MK4i Swerve Module Assembly Guide [Link] Page8
Step 6: Wheel and Motor Mount Prep.
ttach Wheel Mount B with two 1/4-20 X .625 Socket Head Cap Screws.
A
Place three 688 Bearings, 20DP 50t Gear, .5”OD .375”ID Spacer and
6802ZZ Bearing on respectiveshafts.
MK4i Swerve Module Assembly Guide [Link] Page9
Step 7: Motor Plate Mounting
ine up the three bearing bores and attach Motor Plate. Be sure all three
L
bearings are seated in the bearing bores and secure with three #10-32 X
2.25” screws through three #10 X 1.875” Spacers.
MK4i Swerve Module Assembly Guide [Link] Page10
Step 8: Motor Configurations
Falcon 500:
or usage with Falcon 500 Motors, use the acetal spacers that are provided
F
with the Falcon 500 motors.
rive Motor .125” and .25” spacers before pinion, 20DP 14t Pinion, .25” and
D
.0625” after. Secure with 8-32 X 1/2" truss head screw.
teering Motor: 20DP 14t Pinion, 2 X .25”, .125”, .0625” spacers after.
S
Secure with 8-32 X 1/2" truss head screw.
Assemble with medium strength retaining compound on retaining screw.
Drive
MK4i Swerve Module Assembly Guide [Link] Page11
Step 8: Motor Configurations (Cont.)
NEO Brushless Motor:
Drive Motor: .437” spacer before pinion, 20DP 14t Pinion, retaining ring after
teering Motor: .5mm spacer before pinion, 20DP 14t Pinion, retaining ring
S
after.
lace spacers on NEO Motor shafts, followed by machine keys, gears, and
P
retaining rings.
Drive
MK4i Swerve Module Assembly Guide [Link] Page12
Step 9: Motor Mounting
ttach Falcon 500s with four #10-32 X 1.5” screws and #10 X 1.125”
A
spacers. Attach NEO Motors with three #10-32 X 1.5” screws and #10 X
1.125” spacers.
MK4i Swerve Module Assembly Guide [Link] Page13
Step 10: Wheel Mounting
Insert Shoulder Bolt partially through Wheel Mount A with integral spacer
facing wheel. Slide wheel subassembly module and screw Shoulder Bolt in
partially. Secure Wheel Mount A with two 1/4-20 X 1” Socket Head Cap
Screws. Screw in Shoulder Bolt.
MK4i Swerve Module Assembly Guide [Link] Page14
Step 11: Encoder Mounting
egin by mounting housing base with both #3 – 48 screws included with the
B
encoder (without thread locking compound) before inserting encoder circuit
board (attaching data cable if using SRX Mag Encoder or soldering on CAN
wires if using CANcoder). Choose the mounting holes that result with the
wire direction you prefer. Place housing cap and follow CTR Electronics
instructions: “DO NOT OVER TIGHTEN THE 2-28 SCREW AS THIS MAY
RESULT IN PERMANENT DAMAGE TO THE HOUSING. HAND TIGHTEN
UNTIL RESISTANCE IS FELT.” Cable tie encoder wires to Motor Plate using
machined keeper features. Finally mount machined Encoder Enclosure
using three provided 8-32 X .875” Button Screws and three #8 X .531”
Spacers.
MK4i Swerve Module Assembly Guide [Link] Page15
Step 12: Module Mounting
ttach final #10 X 1.875” spacer to module with #10-32 X 2.25” Socket
A
Head Cap Screw. Mount to box tube with six provided 2.5” Socket Head
Cap Screws (#8-32 or #10-32, depending on swerve module configuration).
Lubricate gears with white lithium grease before usage.
MK4i Swerve Module Assembly Guide [Link] Page16
