Swerve modules
For four MK5n modules with Kraken X60 drive motors, X44 steering motors and Colson wheels, using the R1 drive ratio.
Build status, September 18: all four swerve modules are assembled. Continue with lower ring assembly. The assembly reference below is retained for service; wiring and powered testing are later work.
Materials
| Part | Quantity | Notes |
|---|---|---|
| MK5n / Colson kits | 4 | Two A, two B; supplied hardware and grease. |
| Kraken X60 | 4 | Reserve the fifth motor for the lift. |
| Kraken X44 | 4 | Steering motors. |
| CANcoder and encoder magnet | 4 sets | One per module. |
Keep each kit’s parts together. Check that the Colson wheels include their aluminum hubs and hardware. Motors and encoder magnets come separately from the module kit.
Tools
| Tool | Notes |
|---|---|
| 1/8″ and 5/32″ hex keys | Bondhus imperial set |
| T25 Torx driver | Wera Torx set |
| 3/8″ open-end wrench | TEKTON combination wrench |
| #1 Phillips bit, if present in the BOM-listed HOTO kit | Check the supplied bit markings and screw fit; a separate driver is not assumed owned. |
| Adjustable torque driver with 5/32″ hex bit | Wheeler F.A.T. Wrench |
| Internal circlip pliers | Knipex |
| Hook/pick | Your pick set |
The circlip pliers and pick help with retaining rings. Use the straight end of a hex key for final tightening. Keep the T8/T10 bits and 0.6/0.9 Nm motor-terminal drivers aside until wiring.
Consumables
- Loctite 243 threadlocker.
- Loctite 609 retaining compound for the encoder magnets.
- Grease packets supplied with the MK5n kits.
- BOM-listed 3M Scotch Super 33+ tape where the module instructions call for tape.
Don’t use threadlocker on the encoder or encoder-cover screws. Allow the magnet’s retaining compound to cure before continuing.
Assembly video
SDS illustrated assembly manual · Colson wheel and hub
Use the manual for assembly order and fasteners. Check the Colson note below before applying wheel-specific instructions.
Colson note
The main guide illustrates other wheel variants. SDS confirms your Colson hub uses six 10-32 × 1¼″ cap screws, but its Colson page doesn’t specify torque. Check the kit’s insert before applying the main guide’s wheel torque to that joint.
Official instructions and video
Kraken wiring
Keep the battery disconnected. These are WCP’s illustrations of the supplied ring-terminal leads. Use the printed terminal labels when the motor is rotated.
X60 drive motor
X44 steering motor
| Leads | Terminals | Supplied screws | Driver | Torque |
|---|---|---|---|---|
| Red / black power | + / − | #6-32 × 1/4 in | T10 | 0.9 Nm |
| Yellow / green CAN | H / L | #4-40 × 1/4 in | T8 | 0.6 Nm |
Both terminal screws are 1/4 inch long; they differ in diameter. Use the supplied screws, not longer replacements. These torques do not apply to the plastic cover.
The ring sits flat between the screw head and metal terminal. Keep paired same-color CAN wires together. Route leads through the cover exit, refit the cover without pinching them, and secure them away from the wheel and gears. Insulate free power ends separately; leave final cable lengths until the modules are on the frame.
Manufacturer references: X60 wiring · X44 wiring .
For battery connections and powered-test prerequisites, see power and CAN.