*IMPORTANT NOTE ABOUT LAYOUT: The adjacent MK4n Swerve Modules on a typical drivetrain are mirrored from each other, and there are consequently two layout options: "A" and "B". Most customer will want to buy two modules of each layout plus spares.
The MK4n Swerve Module leverages the proven MK4i architecture into a new form factor. With the narrow side being only 4" wide inside of the frame member, it helps enable:
- Wide game piece intakes between the swerve modules.
- Compact drivetrains (accommodates a flat mounted FRC battery in an 17.5" wide drivetrain).
Additional functional differences as compared to the MK4i include:
- Beyond supporting 0.25" magnet encoders it also supports 0.5" hex encoders. The hex encoder utilizes this Center Column.
- 16T drive and steering pinion gears for faster drive and steering speeds.
- 10-32 threaded holes in the motor plate for covers to be added.
Like the MK4i Swerve Module, the MK4n incorporates:
- On-axis steering encoder (zero backlash, and the module can be disassembled/reassembled without resetting encoder offset)
- All plates made out of 7075-T6 aluminum
- All steel gears
- Includes secondary plate to box in frame
- 10-32 mounting holes on main plate for subsystems (e.g., collector)
- Encoder guard to protect steering encoder
- Same frame-to-floor height as the MK4 and MK4i Swerve Modules
- Same L1+, L2, and L3+ drive ratios as the MK4c and MK4i Swerve Module equipped with the 16T Drive Pinion Gear Adapter Kit
- No 3D printed parts
- Includes wheel tread cut-to-length, drilled, and pre-installed on the Billet Wheel option
- Includes all hardware, including hardware to mount module to robot
We are offering the option to assemble the modules for you so you can hit the ground running:
- CANcoders shipping with the assembled version include pre-soldered wires for a true plug-and-play experience.
The steering gear ratio of the MK4n is 18.75:1. The MK4n is available in 3 different drive gear ratios. The tables below outline the drive gear ratios and free speeds.
The swerve module can be directly mounted to commonly available 2' x 1" aluminum tubing with pre-drilled 10-32 clearance holes.
Please note, the NEO Vortex pinion option requires for the NEO Vortex motors to have the 8mm keyed shaft.
Approximate weights:
- MK4n Swerve Module with Kraken X60 motors - 6.5 pounds (Includes encoder, lower mounting plate, mounting hardware, etc.)
- MK4n Swerve Module with NEO motors - 6.0 pounds (Includes encoder, lower mounting plate, mounting hardware, etc.)
