Hey, we have 4 SDS MK4i modules today and are thinking of swapping or converting 2 of our MK4i modules for a couple of normal MK4s. We saw on the SDS site that there is a kit for converting an MK4 to an MK4i but we haven’t seen any kits to do it the other alway around. What parts do we need to get in order to make the conversion?
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I can put together the list for you, but while I’m doing that, can you answer why your team is considering this?
If it’s just for extra frame clearance for an under-bumper intake (or similar), have you considered just mounting the frame to the top side of your front MK4i modules? You can achieve a similar frame clearance with this setup while still having well protected corners and wheels located far out in the corners.
Of course, there’s other reasons to go for a MK4 instead.
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Yes definitely! we already are planning to mount the frame on top of the MK4i baseplate. We’d like to swap for an MK4 in order to get a wider collection system while keeping it inside the frame and between the swerve modules
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You’ll need:
-Steering Pinion (NEO | Falcon) x1
-Main Plate x1
-Motor Plate x1
-Steering Shaft x1
-Drive Shaft Spacer (NEO only) x1
-10-32 3/8" Cap Screws, x2
All quantities are per-module.
You’ll notice I didn’t link the shaft spacer for the NEO. It’s only sold in a kit with the drive and steering pinions, which is sold out right now. It’s shorter than the spacer used in the MK4i, so I’d recommend cutting or grinding them down to size. Alternatively, they’re pretty simple pieces of aluminum if you want to save your MK4i-specific parts; you could try to make your own. You just need something to keep the gear from sliding around the shaft.
Similarly, the only extra screws needed are only sold in a screw kit by SDS that includes every screw for a MK4. I’d recommend sourcing those locally if you don’t already have them.
The steering gears are currently sold out. AndyMark has equivalents (Pinion: [NEO | Falcon], Driven Gear).
If using NEOs, you’ll need to either cut the shafts to size or purchase the spacer kits (x1 per module) EDIT: These are necessary for Falcons as well as NEOs. I’ve not verified if they’re necessary for Krakens.
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One caution for you with MK4 is you run a higher risk of bending the Main Plate.
In 2022 we rank MK4 and bent several of these. Most were caused by crossing the cable protector at high speeds. However, even on a completely flat field under defense or quick changes of direction you can end up on two wheels and slam down hard.
MK4i does a good job of sandwiching the 2x1 frame rails to mitigate that issue.
Just something to consider that if you’re set on MK4 we recommend you order an extra plate just to be safe.
I will second that with our 2023 robot. We ran Mk4’s with an L2 gear ratio, and there was numerous times in the season where we ran over the charge station with no hesitation and bent the main plates. And it was very noticeable.
@adam.kaza4590 One more note - those two 3/8" cap screws are unnecessary if you purchase the motor riser kits. They include 5/8" screws that replace the 3/8" screws to account for the extra length from the motor plate to the motor.
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