WCP Swerve X2S/X2St Ratio Set – SplineXS Bore for Custom Swerve Drive Systems

WCP Swerve X2S Gear Ratio Sets provide modular, customizable gearing for high-performance swerve drive systems. Designed for use with WCP Swerve X2S modules and 8 mm SplineXS-bore input, these sets let teams fine-tune drivetrain speed and torque to match specific robot requirements. Engineered for FRC® and advanced mobile robotics, each gear set delivers compact, precise power transfer while preserving the modularity and durability of WCP swerve modules. 

Drive Ratio Options

• All Swerve X2S module versions accept the same ratio kits.
• There are three distinct gear sets — X1, X2, X3 — each offering three interchangeable pinion-gear options sharing the same pitch diameter. That gives nine possible “free-speed” configurations in total. 
• Free-speed values assume use of a Kraken X60 drive motor without field-oriented control (FOC) as the reference. 

Key Features

• Compatible with WCP Swerve X2S modules using 8 mm SplineXS bore input. 
• Provides X1, X2, and X3 ratio sets to tune drivetrain speed vs. torque. 
• Each set includes three pinions with shared pitch to ensure a smooth spread of free-speeds. 
• Compact and precise gearbox design optimized for high-performance robotics applications. 
• Maintains modularity and ease of integration with standard WCP swerve modules. 

Applications

• Optimize swerve-drivetrain speeds for FRC robots based on game needs
• Tuning drivetrain for torque-heavy or speed-heavy strategies
• Custom and mobile robotics needing flexible drivetrain gearing
• Swerve or omnidirectional drive systems requiring precise control

Gear Ratio Highlights (Free Speed with Kraken X60, no FOC)

• X1: ~15.3 to ~17.3 ft/s
• X2: ~18.5 to ~20.7 ft/s
• X3: ~22.3 to ~24.7 ft/s 

Steering Ratio
Steering gear ratio is 25.9:1 for all X2S configurations using the 8-tooth included steering pinion gear.

Explore CTRE’s WestCoast Products (WCP) lineup for competitive robotics and industrial automation, offering premium gears, sprockets, shafts, and drivetrain components built for reliable performance.