Motor Performance

Motor Performance Parameters

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
Power @ 40A	413(86.1%)	W(%Eff)
Power @ 30A	313(87.1%)	W(%Eff)
Power @ 20A	207(86%)	W(%Eff)
Power @ 10A	94(78%)	W(%Eff)

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
Power @ 40A	409(85.3%)	W(%Eff)
Power @ 30A	307(85.3%)	W(%Eff)
Power @ 20A	199(83.2%)	W(%Eff)
Power @ 10A	87(72.5%)	W(%Eff)

A Note About Peak Power

Referring to the peak power of the Kraken X60 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 X60 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.