Check this spreadsheet for current swerve module lead times.
IMPORTANT: The adjacent MK4n Swerve Modules on a typical drivetrain are mirrored from each other, and there are consequently two kit layouts: "A" and "B". Scroll down to review how they are ordered, as well as ensuring you receive the correct encoder configuration.
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.
Please note:
- The NEO Vortex kit works for the 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), and the Semicircle Spacer kit is also needed.
Like the MK4i Swerve Module, the MK4n incorporates:
- On-axis steering encoder (not included). 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 the CANcoder (or equivalent) steering encoder
- Same frame-to-floor height as the MK4 and MK4i Swerve Modules
- Same L1+, L2, and L3+ drive ratios 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 MK4n Swerve Module has many parts in common with the MK4i Swerve Module, and the conversion kit is available.
The MK4n 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 (0.25" magnet encoder: CTRE CANcoder, Thrifty Absolute Magnetic Encoder, Redux HELIUM Canandcoder, or equivalent; 0.5" hex encoder: REV Through Bore Encoder, or equivalent)
Note: The above steering 0.25" magnet 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.
CIM motors are not compatible with the MK4n due to their larger diameter.
Because the MK4n Swerve Module does not have a symmetric footprint, a mirrored layout is required. The two layouts are known as "A" and "B". The following illustrates the two swerve module layouts in a typical drivetrain:
Important Ordering Information. Unless you specify otherwise in the Special Instructions field in the Cart (only visible when there is at least one product in the cart):
- Orders with an even number of MK4n Swerve Modules will receive an equal number of A and B layouts. If you want a different quantity of the A and B layouts, indicate it in the Cart's Special Instructions field.
- Orders with an odd number of MK4n Swerve Modules will receive the maximum equal number of A and B layouts, and then either an A or B layout for the final module. If you want a different quantity of the A and B layouts, indicate it in the Cart's Special Instructions field.
- The MK4n Swerve Module will be configured to support 0.25" magnet encoders (CTRE CANcoder, Thrifty Absolute Magnetic Encoder, or equivalent). If you want the modules configured for a 0.5" hex encoder (REV Through Bore Encoder, or equivalent), indicate it in the Cart's Special Instructions field.
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 (example).
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.)
CAD Files
- SDS MK4n Swerve Module, A, Kraken X60, Billet Wheel, CTRE CANcoder
- SDS MK4n Swerve Module, A, NEO, Colson Wheel, REV Through Bore Encoder
- SDS MK4n Swerve Module, B, Kraken X60, Billet Wheel, CTRE CANcoder
- SDS MK4n Swerve Module, B, NEO, Colson Wheel, REV Through Bore Encoder
