We have a swerve drive base with four SDS MK4i modules. When we mounted the motors we noticed that there was some binding in the gearing if the motor mounting screws were tightened to a reasonable amount of torque. The binding makes it difficult to directionally rotate the wheel. This binding can be relieved by pushing sideways on the back of the motor.
I can shim the motor to simulate this sideways push, and the binding also is relieved.
I suspect that with significant use, the gears will simply wear down a tiny bit and the binding will go away. The shimming is also another option, but it leaves just one extra thing to keep track of during a competition should a motor have to be replaced.
I am curious if anyone else has experienced this issue and perhaps developed a good solution.
It sounds like the screws are contacting the internal rotating body of the motor maybe? Are you sure it’s the gears at fault.
What motors are you using?
I had the kids take it all the way apart and reassemble it with close attention to the instructions. We didn’t notice anything that was assembled incorrectly, but I suspect that when originally assembled, some or many screws were not tightened properly, leading to some super small, but important twisting/deforming of the module.
Please put a straight edge onto the motor plate. If it is warped, check that the center column is properly aligned and seated into position on the main pulley. If the keyed features are not properly clocked and seated it will cause the motor plate to bow up in the center (and downwards/inwards where the motors mount). This then causes the steering motor pinion to bind on the mating 50t gear.