SDS MK4c Swerve Modules

The MK4c combines the non-inverted motor layout of the MK4 module with the corner bias of the MK4i module. This results in the smallest footprint SDS module yet. The MK4c occupies a 4” X 4” area measured from the inside edge of the chassis.

The MK4c 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)
• Same frame-to-floor height as the MK4, MK4i, and MK4n Swerve Modules
• Same L1+, L2, and L3+ drive ratios as the MK4n, as well as the 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

The steering gear ratio of the MK4c is 12.8:1 The MK4c is available in 3 different drive gear ratios. The tables below outline the drive gear ratios and free speeds. L1+ and L2+ ratios are the most popular ratios and are suitable for standard full weight competition robots. The L3+ ratio is more aggressive and is recommended for light weight robots.

The swerve module can be directly mounted to 2" x 1" aluminum tubing with pre-drilled 10-32 clearance holes.

The MK4c module ships unassembled, and the following components are not included:

• Drive motor (REV Robotics NEO, REV Robotics NEO Vortex, VEX Falcon 500, or WestCoast Products Kraken X60 recommended)
• Steering motor (REV Robotics NEO, REV Robotics NEO Vortex, VEX Falcon 500, or WestCoast Products Kraken X60 recommended)
• Steering encoder (CTRE CANcoder, Thrifty Absolute Magnetic Encoder, Redux HELIUM Canandmag, or equivalent)
• Optional: Use these Motor Risers to not have to otherwise reduce the length of both motor shafts by approximately 0.25".

Note: The above steering encoders come with the ⌀.250”x 0.500” magnet that gets installed in the Swerve Module's Center Column. That magnet is not included in the Swerve Module kit.

Please note:

• The NEO or NEO Vortex kit works for the NEO and NEO Vortex motors with the 8mm keyed shaft.
• The Falcon 500 kit is primarily for the Falcon 500 motor. It can also work for the NEO Vortex motor with the Falcon spline shaft, but the shaft spacers are not included (they are supplied with the Falcon motors). Going this route for the NEO Vortex utilizes a splined steering pinion gear, so no press/slip fit is needed there.

Approximate Weights:

• MK4c module with NEO motors - 5.4 pounds
• MK4c module with Kraken motors - 5.9 pounds