The Kraken X44 is an enclosed outrunner motor, just like other brushless motors of a similar size. The internal design of the Kraken X44 has a number of features to make it more robust and reliable. These features include:

Larger Bearings

The bearings used inside the Kraken X44 were sized to better handle higher radial loads typically seen in FRC. In addition, all the bearings used in the Kraken X44 are rated ABEC-5 and spec'd to handle the heat that the Kraken X44 can produce.

Integrated Output Shaft

The output shaft of the Kraken X44 is integrated into the motor, and cannot be replaced.

There are also multiple methods of rotationally and axially constraining the shaft to the rotor. This creates redundancy with the idea that if one fails, there's another method to keep the motor running.

Less Drag

The internals of the Kraken X44 was designed to reduce the potential for mechanical misalignment of the shaft bearings. This design yields a motor with less mechanical drag, which improves the no-load performance of the motor and allows the motor to be more efficient overall.

Cooling

The Kraken X44 was designed to keep heat away from the back of the motor where sensitive electronics are mounted.

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

The Kraken X44's output shaft is the all new SplineXS shaft. The SplineXS shaft was developed to improve upon other motor output shafts in the FRC market.

Features

8mm OD

The SplineXS has an 8mm OD, which means the shaft fits into a standard 8mm ID bearing. This features allows teams to better support the end of the SplineXS shaft when the application demands it.

Shaft Retention

The SplineXS shaft on the Kraken X44 has a #10-32 tapped hole at the end. Allows teams to retain items such as pinions and pulleys on the shaft without having to risk deforming the shaft by using a retaining clip like you would on a CIM motor.

Non-Replaceable Output Shaft

The Kraken X44's output shaft is permanently attached to the motor. It cannot be replaced to a different shaft, or replaced if cut. In addition, there are redundant methods to rotationally and axially lock the shaft to the rotor.

Spline Parameters

These are the parameters of SplineXS shaft.

Benefits of Spline Shafts

Splines have many benefits that cannot be matched by the round and keyed shafts typically used on FRC motors. These benefits include:

Low Backlash

Splines are known for having less backlash than keyed shafts. This is important for maintaining positional accuracy between the motor and the final output of a reduction. Positional accuracy is important for things like swerve modules.

Higher Torque Capacity

Keyed shafts transfer all their torque through a single key whereas spline shafts transfer torque through many teeth. This distributes the torque load and allows a spline shaft to transfer more torque before twisting and breaking.

Uniform Loading

Since keyed shafts transfer all their torque through a single key, it creates stress concentrations in the corner of the key slot. This stress concentration on a thin wall gear can cause the key slot to crack and fail.

Since spline shafts distribute their torque load, the stresses caused by torque transfer are distributed across all the teeth, which helps increase fatigue life and extend the life of the shaft.

Fewer Parts

There are no keys, which means you don't have to worry about losing one, or having one fall out during the middle of a match.

No Press-Fits

Press-fitting a pinion isn't the easiest thing to do. There are a number of things you have to worry about when pressing pinions onto round shafts (straightness, supporting the shaft, etc.). With splines, there are no press-fits, so all of these concerns go away.

The Kraken X44 is designed to be a drop in lower power replacement for a Kraken X44. This means the lower weight, lower power but similar rpm.

Diameter

Length

The length of the Kraken X44 depends on the version.

Weight

The weight of the Kraken X44 depends on version.

Mounting Holes

Kraken X44 has (11x) #10-32 mounting holes on a 1.375" bolt circle, spaced 30 degrees apart.

Blind Holes

Each mounting hole is blind, meaning it doesn't go through the mounting plate. By using blind mounting holes, teams cannot lock the motor's internal rotor by using too long of a screw.

Pilot Boss

The Kraken X44 also has the same 3/4" diameter pilot boss that the KrakenX60/CIM/MiniCIM/NEO/Falcon has.

The Kraken X44 powered by Talon FX is a Kraken X44 motor with an integrated Talon FX controller. This combines the best-in-class performance of the Kraken X44 with the latest technology from Cross The Road Electronics.

At a Glance

• Integrated brushless motor and controller

• Built-in high resolution encoder

• FOC capable (with purchase of Phoenix Pro license)

• Integrates with CTR software and hardware ecosystem

• Modular wiring

Electrical

• Communication Protocols: PWM, CAN

• Accommodates operating voltage up to 24V

  • Min/Max Voltage: 6V - 24V

• Reverse polarity protection

• PWM Input Pulse (High Time): 1 – 2 ms Nominal

• PWM Input Rate (Period): 2.9 – 100ms

• Deadband: Configurable in Phoenix

• PWM Deadband: 4%

Expert Control

The Talon FX provides access to the full CTR Software Ecosystem.

Software

• Supported Commutation Types: Trapezoidal and FOC

• DutyCycle and Voltage Control Output Types

• Motion Magic motion profiles

• Brake configuration via Brake/Coast config in API or Phoenix Tuner X

• Reset to Factory Default via Phoenix Tuner X

• Out-of-the-box PWM Calibration compatible with FRC

• CAN bus or PWM control automatically detected over the same wires (pioneering feature of CTR-Electronics controllers)

• LED indicators blinking proportionately to output speed for easier debugging

• Follower Mode - Talon FX can auto follow output of another Talon FX or Talon FXS

• Integrated PID control running at 1Khz

• Independent limits for supply current and stator current

• Phoenix 6 API Compatible

Performance. Control. Ecosystem.

The Kraken X44 powered by Talon FX uses the latest BLDC motor control technology from CTR Electronics. The integrated Talon FX unlocks the full performance of the Kraken X44 BLDC motor while providing best-in-class motion control. Since the Talon FX fully integrates with the rest of the CTR Electronics software and hardware ecosystem, you’ll have a suite of world class tools to maximize your robot’s potential.

The following sections provide detailed information on various use cases with the Kraken X44.

Motor Performance Parameters

A Note About Peak Power

Referring to the peak power of the Kraken X44 is not an attempt to mislead, or deceive customers. It's a common practice to refer to a motor by its peak power performance, which is why WCP refers to the Kraken X44 by its peak power.

In full disclosure, teams will not be able to use all of the Kraken's peak power on an FRC robot. This is because each motor is limited by a 40A breaker, and the motor needs over (4x) this current to produce the peak power of the Kraken. However, higher peak power is still important in the context of an FRC robot for a two major reasons:

1. The breakers used in FRC are thermal breakers and do not trip at exactly their rated current. It's common that some breakers can allow current well above its rating for brief (less than a second) periods of time. This means that more peak power can have an impact on acceleration. By having faster acceleration, the motor can get up to speed faster when starting from a dead stop or changing directions.

2. By having a higher peak power, the Kraken can operate at a better place on the power curve during an FRC match. This allows the motor to run more efficiently, which means less electrical power is being converted to heat, which means it can run longer before doing permanent damage to the windings.

The Kraken X44 has eleven #10-32 mounting holes on a 1.375" bolt circle, spaced 30 degrees apart.

Mounting Holes

The blind mounting holes are 0.250" deep, meaning they don't go through the mounting plate. By using blind mounting holes, teams cannot lock the motor's internal rotor by using too long of a screw.

Mounting Example

The table below shows the appropriate bolt length that should be used when mounting the Kraken X44.

Integrated Motor/Controller Package

Increases reliability and robustness by simplifying wiring and reducing failure modes.

The SplineXS has an 8mm OD, which means the shaft fits into a standard 8mm ID bearing. This features allows teams to better support the end of the SplineXS shaft when the application demands it.

Installing Items

The SplineXS shaft on the Kraken X44 has a #10-32 tapped hole at the end, perfectly designed to fit the #10-32 x .250" L PHCS () offered by WCP.

Manual Updates

Product Updates

Status Light Reference

Wiring & Modularity

The Kraken X44 comes with full thread high-engagement #6-32 Power Terminals and #4-40 CAN Terminals providing modularity and user serviceability.

Each Kraken X44 comes with 1 set of 18” Long 10AWG Power Leads and 22AWG Twisted CAN Cables pre-crimped with ring terminals. Teams can utilize the included wires or make their own (or replace the wires over and over without ever worrying about cutting them too short).

We recommend (and include) these larger gauge power leads (10AWG) to reduce resistance, reduce voltage drop, and maximize motor performance.

Screw Terminal Specs

Here are all the products that are compatible with the SplineXS shaft.

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 distribute torque over a wider area.

20 DP Gear Pinions

10DP Gear Pinions

#25 Chain Pinions

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

Pulleys

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

Hex Adapter

The SplineXS to 1/2" Rounded Hex Adapter allows teams to directly power their systems using their preferred gear ratios.

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:

3D Print Inserts

The SplineXS 3D Print Insert allows teams to add a steel Spline XS bore to their 3D printed part, while removing the fear of the spline bore stripping out.

“All Match” Performance

The Talon FX's high efficiency design reduces heat, provides more power and enables extended run-times under load while maintaining performance.

Built-in High Resolution Encoder

A built in high resolution encoder not only provides feedback but allows for CTR’s full set of on-board motion control modes including Position, Velocity, MotionMagic, MotionMagic Velocity.

FOC Capable

By purchasing a license of Phoenix Pro, teams can unlock the added power and efficiency benefits of Field Oriented Control (FOC). FOC also allows for Torque control of the motor output which opens up additional motion control options.