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EasySwerve Module Assembly Instructions

We recommend first reading the Preparing to Build an EasySwerve Module then return here and choose your Motor Orientation from the options below to begin your EasySwerve Module Assembly.

Motor Orientation

Top Motor Orientation

Bottom Motor Orientation

Top Motor Orientation

  1. Get:

  • 1 - Base Plate

  • 7 - #10-32 Low Profile Nylon Lock Nut

Insert seven lock nuts into the locations shown on the underside of the base plate.

  1. Get:

  • 1 - 80mm Bearing - 100mm OD

Insert the 80mm bearing into the location shown.

  1. Get:

  • 4 - M3 x 8mm Flange Head Screw

  • 4 - M3 x 8mm Washer

Slide one washer onto each of the four M3 screws, apply threadlocker, then screw them into the locations shown to secure the 80mm Bearing.

  1. Get:

  • 2 - 10mm Bearing - 22mm OD

Insert two 10mm bearings into the locations show.

  1. Get:

  • 1 - Azimuth Gear

  • 1 - 1/2in Rounded Hex Shaft - 2.5in - Tapped

  • 1 - #10-32 Shaft End Screw V2 - 1/2in

Insert the 1/2in rounded hex shaft into the azimuth gear as shown. Secure the 1/2in rounded hex shaft with a shaft end screw, applying threadlocker to the screw.

  1. Insert the azimuth gear with 1/2in rounded hex shaft into the base plate as shown.

  1. Get:

  • 1 - Shaft Spacer 1/2in Round Hex, 1/8in Long

  • 1 - Bevel Pinion Shaft

Slide a shaft spacer onto the bevel pinion shaft as shown.

  1. Get:

  • 1 - 10mm Bearing - 22mm OD

Slide a 10mm bearing onto the bevel pinion shaft as shown.

  1. Get:

  • 1 - Live Fork

Press the bevel pinion shaft and 10mm bearing into the live fork as shown.

  1. Get:

  • 2 - #10-32 Low Profile Nylon Lock Nut

  • 2 - Socket Head Screws #10-32 x 1in

Insert two lock nuts into the live fork shaft as shown, then secure the fork to the azimuth gear with two 1in socket head screws.

  1. Get:

  • 1 - Static Fork

  • 2 - #10-32 Low Profile Nylon Lock Nut

  • 2 - Socket Head Screws #10-32 x 1in

Insert two lock nuts into the static fork shaft as shown, then secure the fork to the azimuth gear opposite the live fork with two 1in socket head screws.

  1. Get:

  • 1 - 10mm Bearing - 22mm OD

Press a 10mm bearing onto the bevel pinion shaft as shown.

  1. Get:

  • 1 - 20DP Speed Gear - 15t Spline - 18T

Slide the 18T speed gear onto the bevel pinion shaft as shown.

  1. Get:

  • 1 - #10-32 Shaft End Screw V2 - 1/2in

Secure the 18T speed gear with a shaft end screw, applying threadlocker to the screw.

  1. Get:

  • 1 - Traction Wheel - MAXSpline - 4in - Hard V2

  • 1 - Bevel Drive Gear

Insert the bevel drive gear into the 4in traction wheel as shown.

  1. Get:

  • 1 - 1/2in Rounded Hex Bearing - Flanged - 1in OD

Press a 1in rounded hex bearing into the bevel drive gear as shown.

  1. Get:

  • 1 - 1/2in Rounded Hex Bearing - Flanged - 1-1/8in OD

Press a 1-1/8in rounded hex bearing into the 4in traction wheel as shown opposite of the bevel drive gear.

  1. Get:

  • 1 - 1/2in Rounded Hex Shaft - 3.0in - Tapped

Insert the 1/2in rounded hex shaft into the live fork through the wheel and out the static fork as shown.

  1. Get:

  • 2 - #10-32 Shaft End Screw V2 - 1/2in

Secure the 1/2in rounded hex shaft with two shaft end screws until snug but still allowing the wheel to freely rotate.

  1. Get:

  • 1 - Steering Gear

Insert the steering gearing into the 10mm bearing as shown.

  1. Get:

  • 1 - 1/2in Rounded Hex Bearing - Flanged - 1-1/8in OD

Slide a 1-1/8in rounded hex bearing onto the 1/2in rounded hex shaft with the flange on the azimuth gear side as shown.

  1. Get:

  • 1 - 20DP Speed Gear - MAXSpline - 36T

Slide the 36T MAXSpline gear onto the 1-1/8in rounded hex bearing as shown.

  1. Get:

  • 1 - 20DP Gear - MAXSpline - 62T

Slide the 62T MAXSpline gear into 36T MAXSpline gear as shown.

  1. Get:

  • 1 - 1/2in Rounded Hex Bearing - Flanged - 1in OD

Slide a 1in rounded hex bearing onto the 1/2in rounded hex shaft and into the 62T MAXSpline gear as shown.

  1. Get:

  • 1 - Drive Gear

Insert the drive gearing into the 10mm bearing as shown.

  1. Get:

  • 1 - Grease (Not Included in 4in Easy Swerve Module)

Apply about a teaspoon of grease across the Azimuth gear, steering gear, drive gear, and the 36T MAXSpline gear. You may need to lift the center stackup to access the 36T MAXSpline gear.

  1. Get:

  • 4 - 10mm Bearing - 22mm OD

Slide two 10mm bearings onto the drive and steering gears and then insert two 10mm bearings into the base plate as shown.

  1. Get:

  • 1 - Cover

  • 2 - #10-32 Low Profile Nylon Lock Nut

Press two lock nuts into the locations shown on the cover.

  1. Get:

  • 1 - 1/2in Rounded Hex Bearing - Flanged - 1-1/8in OD

Press a 1-1/8in rounded hex bearing into the cover as shown.

  1. Get:

  • 1 - Through Bore Encoder (Not Included in 4in Easy Swerve Module)

  • 2 - Socket Head Screws #10-32 x 1/2in

Secure a Through Bore Encoder onto the cover with two 1/2in socket head screws as shown.

  1. Get:

  • 2 - Motors (Not Included in 4in Easy Swerve Module)

  • 4 - Socket Head Screws #10-32 x 3/8in

Secure two motors onto the cover with two 3/8in socket head screws each as shown.

  1. Get:

  • 2 - 20DP Motor Gear - 8mm Keyed - 12T OR 2 - 20DP Motor Gear - 15t Spline - 12T

  • 8mm Keyed Shaft Retaining Hardware Pack (Optional)

Slide two 12T motor gears onto the motor shafts cover as shown. If your motors have 8mm Keyed shafts you will need the shaft key from the 8mm Keyed Shaft Retaining Hardware Pack.

  1. Get:

  • 7 - Socket Head Screws #10-32 x 1/2in

Secure the cover and motors onto the base plate using seven 1/2in socket head screws in the locations shown.

Bottom Motor Orientation

  1. Get:

  • 1 - Base Plate

  • 7 - #10-32 Low Profile Nylon Lock Nut

Insert seven lock nuts into the locations shown on the underside of the base plate.

  1. Get:

  • 1 - 80mm Bearing - 100mm OD

Insert the 80mm bearing into the location shown.

  1. Get:

  • 4 - M3 x 8mm Flange Head Screw

  • 4 - M3 x 8mm Washer

Slide a washer onto the four M3 screws, apply threadlocker, then screw them into the locations shown to secure the 80mm Bearing.

  1. Get:

  • 2 - 10mm Bearing - 22mm OD

Insert two 10mm bearings into the locations show.

  1. Get:

  • 1 - Azimuth Gear

  • 1 - 1/2in Rounded Hex Shaft - 2.5in - Tapped

  • 1 - #10-32 Shaft End Screw V2 - 1/2in

Insert the 1/2in rounded hex shaft into the azimuth gear as shown. Secure the 1/2in rounded hex shaft with a shaft end screw.

  1. Insert the azimuth gear with 1/2in rounded hex shaft into the base plate as shown.

  1. Get:

  • 1 - Shaft Spacer 1/2in Round Hex, 1/8in Long

  • 1 - Bevel Pinion Shaft

Slide a shaft spacer onto the bevel pinion shaft as shown.

  1. Get:

  • 1 - 10mm Bearing - 22mm OD

Slide a 10mm bearing onto the bevel pinion shaft as shown.

  1. Get:

  • 1 - Live Fork

Press the bevel pinion shaft and 10mm bearing into the live fork as shown.

  1. Get:

  • 2 - #10-32 Low Profile Nylon Lock Nut

  • 2 - Socket Head Screws #10-32 x 1in

Insert two lock nuts into the live fork shaft as shown, then secure the fork to the azimuth gear with two 1in socket head screws.

  1. Get:

  • 1 - Static Fork

  • 2 - #10-32 Low Profile Nylon Lock Nut

  • 2 - Socket Head Screws #10-32 x 1in

Insert two lock nuts into the static fork shaft as shown, then secure the fork to the azimuth gear opposite the live fork with two 1in socket head screws.

  1. Get:

  • 1 - 10mm Bearing - 22mm OD

Press a 10mm bearing onto the bevel pinion shaft as shown.

  1. Get:

  • 1 - 20DP Speed Gear - 15t Spline - 18T

Slide the 18T speed gear onto the bevel pinion shaft as shown.

  1. Get:

  • 1 - #10-32 Shaft End Screw V2 - 1/2in

Secure the 18T speed gear with a shaft end screw, applying threadlocker to the screw.

  1. Get:

  • 2 - Motors (Not Included in 4in Easy Swerve Module)

  • 4 - Socket Head Screws #10-32 x 3/8in

Secure two motors onto the base plate with two 3/8in socket head screws each as shown.

  1. Get:

  • 1 - Traction Wheel - MAXSpline - 4in - Hard V2

  • 1 - Bevel Drive Gear

Insert the bevel drive gear into the 4in traction wheel as shown.

=

  1. Get:

  • 1 - 1/2in Rounded Hex Bearing - Flanged - 1in OD

Press a 1in rounded hex bearing into the bevel drive gear as shown.

  1. Get:

  • 1 - 1/2in Rounded Hex Bearing - Flanged - 1-1/8in OD

Press a 1-1/8in rounded hex bearing into the 4in traction wheel as shown opposite of the bevel drive gear.

  1. Get:

  • 1 - 1/2in Rounded Hex Shaft - 3.0in - Tapped

Insert the 1/2in rounded hex shaft into the live fork through the wheel and out the static fork as shown.

  1. Get:

  • 2 - #10-32 Shaft End Screw V2 - 1/2in

Secure the 1/2in rounded hex shaft with two shaft end screws until snug but still allowing the wheel to freely rotate.

  1. Get:

  • 1 - Steering Gear

Insert the steering gearing into the 10mm bearing as shown.

  1. Get:

  • 1 - 1/2in Rounded Hex Bearing - Flanged - 1-1/8in OD

Slide a 1-1/8in rounded hex bearing onto the 1/2in rounded hex shaft with the flange on the azimuth gear side as shown.

  1. Get:

  • 1 - 20DP Speed Gear - MAXSpline - 36T

Slide the 36T MAXSpline gear onto the 1-1/8in rounded hex bearing as shown.

  1. Get:

  • 1 - 20DP Gear - MAXSpline - 62T

Slide the 62T MAXSpline gear into 36T MAXSpline gear as shown.

  1. Get:

  • 1 - 1/2in Rounded Hex Bearing - Flanged - 1in OD

Slide a 1in rounded hex bearing onto the 1/2in rounded hex shaft and into the 62T MAXSpline gear as shown.

  1. Get:

  • 1 - Drive Gear

Insert the drive gearing into the 10mm bearing as shown.

  1. Get:

  • 1 - Grease (Not Included in 4in Easy Swerve Module)

Apply about a teaspoon of grease across the Azimuth gear, steering gear, drive gear, and the 36T MAXSpline gear. You may need to lift the center stackup to access the 36T MAXSpline gear.

  1. Get:

  • 2 - 20DP Motor Gear - 8mm Keyed - 12T OR 2 - 20DP Motor Gear - 15t Spline - 12T

  • 8mm Keyed Shaft Retaining Hardware Pack (Optional)

Slide two 12T motor gears onto the motor shafts cover as shown. If your motors have 8mm Keyed shafts you will need the shaft key from the 8mm Keyed Shaft Retaining Hardware Pack.

  1. Get:

  • 4 - 10mm Bearing - 22mm OD

Slide two 10mm bearings onto the drive and steering gears and two 10mm bearings onto the 12T motor gears as shown.

  1. Get:

  • 1 - Cover

  • 2 - #10-32 Low Profile Nylon Lock Nut

Press two lock nuts into the locations shown on the cover.

  1. Get:

  • 1 - 1/2in Rounded Hex Bearing - Flanged - 1-1/8in OD

Press a 1-1/8in rounded hex bearing into the cover as shown.

  1. Get:

  • 1 - Through Bore Encoder (Not Included in 4in Easy Swerve Module)

  • 2 - Socket Head Screws #10-32 x 1/2in

Secure a Through Bore Encoder onto the cover with two 1/2in socket head screws as shown.

  1. Get:

  • 7 - Socket Head Screws #10-32 x 1/2in

Secure the cover and motors onto the base plate using seven 1/2in socket head screws in the locations shown.

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