Brushless Motors

Kraken X60 (Product Page | Manual)

The Kraken X60 is a brushless motor developed by WestCoast Products that has been designed to withstand the rigors of the FIRST Robotics Competition.

The Kraken X60 was designed to be easy for teams to integrate into their designs, and has a number of features that set it apart from other brushless motors in the FRC market, including:

• 1,100+W peak power*

• 87% max efficiency (@30A)*

• 7+Nm stall torque*

• New SplineXS shaft

• Non-replaceable output shaft

• Versatile mounting options

• Robust mechanical design

*= Using trapezoidal commutation

Motor Performance

Trapezoidal Commutation

Parameter	Value	Unit
Free Speed	6,000	RPM
Free Current	2	A
Stall Torque	7.09	Nm
Stall Current	366	A
Peak Power	1,108	W
Max. Efficiency	87%	W(out) / W(in)
Current @ Max. Efficiency	30	A

Field Oriented Control (FOC) Communtation

Parameter	Value	Unit
Free Speed	5,800	RPM
Free Current	2	A
Stall Torque	9.37	NM
Stall Current	483	A
Peak Power	1,405	W
Max. Efficiency	85.4%	W(out) / W(in)
Current @ Max. Efficiency	37	A

Kraken X44 (Product Page | Manual)

The Kraken X44 is a brushless motor developed by WestCoast Products that has been designed to withstand the rigors of the FIRST Robotics Competition.

The Kraken X44 was designed to be easy for teams to integrate into their designs and has a number of features that set it apart from other brushless motors in the FRC market, including:

• Integrated TalonFX controller

• SplineXS shaft

• Non-replaceable output shaft

• Versatile mounting options

• Robust mechanical design

Motor Performance

These values are preliminary test values. Final values will be updated before shipment of motors.

Parameter	Value	Unit
Free Speed	7530	RPM
Free Current	1.4	A
Stall Torque	4.05	Nm
Stall Current	275	A
Peak Power	823	W
Max. Efficiency	85%	W(out) / W(in)
Power @ 40A	397	W
KT	14.81	mNm/A

Accessories

Kraken X60 Powered by TalonFX PowerPole Adapter Board

The Kraken X60 Powered by TalonFX PowerPole Adapter Board was designed in a collaboration between WCP and Vivid-Hosting. The connector board allows teams to easily connectorize the power and CAN screw terminals on the back of the Talon FX. This helps simplify wiring and facilitates faster motor swaps.

In addition, one of the connectors outputs power and CAN, allowing you to power a CAN based sensor like a CANcoder.

Pinions

Motor Pinions are smaller gears that are design to fit on a motor shaft. These gears use a wider 3/4" face width to help strengthen the gear tooth.

Center Distance

Some pinions are designed with a profile shift. This profile shift does two things:

• Removes undercut on the tooth, making it stronger and easier to manufacture.

• Increases the center distance of the pinion.

You must account for the increase in center distance when using these pinions. For example, a 10T gear on 12T center distance, will act like a 10T gear when you're doing ratio calculations but act like a 12T gear when you're doing center distance calculations.

Another way to think about it is if you have a 12T (on 12T spacing) gear driving a 60T gear, it can be replaced with a 10T (on 12T spacing) without having to change the center distance. With the 12T (on 12T spacing) gear, the ratio was 5:1 (60/12). With a 10T (on 12T spacing) gear, the ratio is 6:1 (60/10)

20 DP Gear Pinions

12T Pinion

14T Pinion

16T Pinion

Center Distance	# of Teeth
12t	10, 11, 12
14t	12, 13, 14
16t	14, 15, 16

10DP Gear Pinions

• 10T Steel Spur Gear (10DP, 8mm SplineXS Bore)

10T Steel Pinion

#25 Chain Pinions

The #25 Motor pinions allow for teams to directly transfer motion throughout their system with the use of the #25 chain.

• 10T Steel Double Hub Sprocket (#25 Chain, 8mm SplineXS Bore)

• 12T Steel Double Hub Sprocket (#25 Chain, 8mm SplineXS Bore)

#25 Chain 10T Steel Sprocket

#25 Chain 12T Steel Sprocket

Pulleys

Theses pulleys allow teams to directly transfer motion throughout their system with the use of GT2 or HTD timing belts.

• 12T x 9mm Wide Aluminum Pulley (HTD 5mm, 8mm SplineXS Bore)

• 12T x 15mm Wide Aluminum Pulley (HTD 5mm, 8mm SplineXS Bore)

• 16t x 9mm Wide Double Flange Aluminum Pulley (GT2 3mm, 8mm SplineXS Bore)

• 16t x 15mm Wide Double Flange Aluminum Pulley (GT2 3mm, 8mm SplineXS Bore)

9mm Wide Aluminum Pulley

15mm Wide Aluminum Pulley

SplineXS Adapters

The adapters allow for teams to freely customize their systems while using the 8mm SplineXS supported hardware for their assemblies.

• 8mm SplineXS to 1/2" Rounded Hex Adapter (1" WD) (2-Pack)

• 8mm SplineXS to 3D Print Adapter (1/4" WD) (5-Pack)

SplineXS to 1/2" Rounded Hex Adapter

8mm SplineXS to 3D Print Adapter

SplineXS Spacers

This combination of spacers is designed to position motor pinions on the Kraken X60 shaft to ensure proper spacing and meshing of teeth.

The larger OD of these spacers is designed to help teams retain gears when using the SplineXS to 1/2" Rounded Hex Adapter.

Lengths Available:

• 1/16", 1/8", 1/4"

1/16"

1/8"

1/4"

Motor Spacers

We have upgraded our previous spacer to be more versatile. This works for all standard motors with a 2” BC and spacers are available in ¼” and ½”. Great for spacing up motors in a swerve drive without cutting the shaft.

• 1/4" L Kraken X60 Motor Spacer (60mm OD)

• 1/2" L Kraken X60 Motor Spacer (60mm OD)

• 5/8" L Kraken X60 Motor Spacer (60mm OD, .875" Nub)

1/4" L Kraken X60 Motor Spacer

1/2" L Kraken X60 Motor Spacer

5/8" L Kraken X60 Motor Spacer