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Kraken X60

Kraken X60 Motor

Overview and Features

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

Physical Specifications

The Kraken X60 is designed to be a drop in replacement for a CIM/MiniCIM/NEO/Falcon. This means the size, weight, and mounting are similar to these motors.

Diameter

What is the bump?

The bump is where the internal motor's stator wires are routed to the back of the motor. This feature was added to allow there to be enough clearance so the wires couldn't contact the motor's rotor.

Length

The length of the Kraken X60 depends on the version

Weight

The weight of the Kraken X60 depends on version

Mounting Holes

Kraken X60 has (11x) #10-32 mounting holes on a 2" bolt circle, spaced 30 degrees apart.

The reason for the added mounting holes is to allow the Kraken to mount on the traditional 2-hole CIM mounting pattern, as well as applications that use the 6 and 8 hole patterns of the Falcon and NEO.

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 X60 also has the same 3/4" diameter pilot boss that the CIM/MiniCIM/NEO/Falcon has.

Motor Performance

Motor Performance Parameters

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:

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.
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.

SplineXS Shaft

The Kraken X60'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.

When Should You Use A Bearing?

The purpose of using a bearing is to support the motor shaft to prevent it from bending under high loads. Most FRC applications do not require a bearing. However, there are some applications where using a bearing on the motor shaft is beneficial. Some of these applications include those where there's really high radial (perpendicular to the axis of rotation) loads.

Shaft Retention

The SplineXS shaft on the Kraken X60 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 X60'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.

Description

Value

Unit

Teeth

Module

0.5

Pressure Angle

Degrees

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.

Cooling Port

To help with cooling, the Kraken X60 has (2x) #10-32 tapped holes on the side. This allows teams to install up to (2x) pneumatic fittings to assist with cooling motors between matches or while practicing at home for extended periods of time.

Having two cooling ports gives teams the option of plumbing motors together, allowing for a single inlet to push air through multiple motors at once.

The cooling ports provide a pathway into the motor and should be protected when not in use. An unprotected cooling port can allow debris to enter the motor and can cause permanent damage to the motor.

Is cooling required?

No. This is an optional feature that was added for teams practicing at home. Forcing cool air into the motors can reduce the downtime between practice matches. All thermal testing was done without actively cooling the motors.

Design & Construction

The Kraken X60 is an enclosed outrunner motor, just like other brushless motors of a similar size. The internal design of the Kraken X60 has a number of features to make it more robust and reliable. These features include:

Larger Bearings

The bearings used inside the Kraken X60 were sized to better handle higher radial loads typically seen in FRC. In addition, all the bearings used in the Kraken X60 are rated ABEC-5 and spec'd to handle the heat that the Kraken X60 can produce.

Integrated Output Shaft

The output shaft of the Kraken X60 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 X60 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 X60 was designed to keep heat away from the back of the motor where sensitive electronics are mounted.

How To Articles

The following sections provide detailed information on various use cases with the Kraken X60

Mounting Kraken X60

The Kraken X60 has eleven #10-32 mounting holes on a 2" bolt circle, spaced 30 degrees apart. Allowing the Kraken to mount on the traditional 2-hole CIM mounting pattern, as well as applications that use the 6 and 8 hole patterns of the Falcon and NEO.

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.

The additional mounting holes give teams the ability to change the direction of the wires.

Mounting Example

The table below shows the appropriate bolt length that should be used when mounting the Kraken X60.

Material Thickness

Recommended Bolt Length

0.0625"

0.250"

0.125"

0.375"

0.250"

0.500"

Installing Items on SplineXS

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

Use a combination of Kraken Spacers so that the pinion does not move on the SplineXS shaft.

Connecting Cooling Ports

Having two cooling ports gives teams the option of plumbing motors together, allowing for a single inlet to push air through multiple motors at once.

Is cooling required?

Step 1

Remove the (2x) #10-32 bolts located on the side of the Kraken X60 Motor

If only one pneumatic fitting is being installed, it is recommended to remove the second #10-32 bolt to allow air to flow out of the motor.

Step 2

Install the pneumatic fittings.

FAQ

Performance Questions

Why do you advertise the Kraken as a 1,100+W Motor?

Answer:

It is a common practice to refer to a motor by it's peak power rating.

However, teams will not be able to produce this much power within the FRC ecosystem. There are several limiting factors including (but not limited to) how much current can be sourced from the battery, the robot's main breaker, and the PDP breaker.

The higher peak power is important for two primary reasons:

Higher peak power allows the motor to run at a better place on the power curve. This enables the motor to be more efficient in the typical FRC usage range. For example, the Kraken X60's efficiency is greater than 80% between 10A and 50A. Higher efficiency means less power is being lost to heat, which allows the motor to run cooler.
The breakers used on an FRC robot are thermal breakers and can allow more than their rated current for very short periods of time. This means that the higher peak power will enable the robot to accelerate at a faster rate. Higher acceleration means the robot will get up to full speed or change direction faster.

Will my motor catch on fire with all this power?

Answer:

The additional power of the Kraken X60 doesn't make it more likely to catch on fire.

When used on an FRC robot, there are also two systems (the PDP breaker, and the main breaker) that limit how much current can be drawn by the Kraken X60.

Mounting Questions

Why are there so many mounting holes?

Answer:

The Kraken X60 has additional mounting holes to give teams options on how they can mount the motor. WestCoast Products recommends using at least (2x) mounting holes to mount a Kraken X60.

SplineXS Questions

How do I know SplineXS pinions are going to fit on the SplineXS shaft?

Answer:

We can't guarantee that every pinion will fit every time. However, we can guarantee that WestCoast Products has invested in setting up a strong quality control regimen with the factories supplying the SplineXS and SplineXS accessories. This regimen includes creating custom QC tooling, controlling how many pinions get inspected, etc.

Can I buy a SplineXS broach to make custom parts?

Answer:

Not at this time. This is something WestCoast Products wants to make and continues to investigate. So far, we feel all of our options for this would be too expensive to be beneficial to teams.

However, we do have some options for teams wanting to design custom SplineXS parts:

We sell a number of steel and aluminum pinions and adapters. These can be pressed into a custom part to create a SplineXS bore.

Can I purchase a Kraken X60 with a CIM shaft?

Answer:

No. There isn't a version of the Kraken X60 with CIM shaft (8mm w/ 2mm keyway).

I cut the SplineXS shaft. Is there a way to replace the shaft?

Answer:

No. The Kraken X60's SplineXS shaft is not replaceable.

Cooling Port Questions

Is cooling required?

Answer:

Can I use the cooling ports to cool a Kraken X60 during a match?

Answer:

You should always refer to the latest version of the FRC Game Manual to determine if this is legal.

The primary reason why the cooling ports exist is to give teams the option of using them between matches, or while practicing for long periods of time.

How much of a difference do the cooling ports make?

Answer:

WestCoast Products has not conducted this testing yet. When we do, it'll be posted to this site.

Kraken X60 + TalonFX

Overview & Features

The Kraken X60 powered by Talon FX is a Kraken X60 motor with an integrated Talon FX controller. This combines the best-in-class performance of the Kraken X60 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

Under the Hood:

Accommodates operating voltage up to 24V.
Reverse polarity protection
CAN FD Compatible and is supported by CANivore.
Trapezoidal commutation
DutyCycle and Voltage Control Output Types.
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
Integrated PID control running at 1Khz
Independent limits for supply current and stator current

Expert Control

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

The Phoenix 6 software package:

Best-in-class simulation support.
Native standard unit support.
Better data management over CAN through utilization of signal timestamps.
Better device management with improved tools for optimization of CAN bus utilization.
Native wrap-around support for closed loop control
Native Kalman based velocity filter.
Automatic Signal Logging (position, velocity, supply current, input & motor voltage)

Tuner X:

Device updating and configuration from your phone or PC.
Self-test and live-data plotting from your devices to aid development and troubleshooting of your robot.
Control the motor of an enabled robot with your device.
Swerve Generator allows for easy configuration of your motors and sensors (Pigeon 2, 4x CANcoders) then generates your initial swerve code for you.

Ecosystem

Performance. Control. Ecosystem.

The Kraken X60 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 X60 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.

Integrated Controller

Integrated Motor/Controller Package

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

How Does An Integrated Controller Simplify Wiring?

An integrated motor controller takes care of the wiring between the controller and the motor, which is one less wire run teams have to worry about.

Since the controller is built into the motor, teams don't have to reserve space on their robot to mount standalone motor controllers.

Motor Performance

“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.

What Is FOC?

FOC is a motor commutation strategy that allows the motor to produce more torque in exchange for a lower free speed.

Wiring & Modularity

The Kraken X60 comes with full thread high-engagement #6-32 Power Terminals and #4-40 CAN Terminals providing modularity and user serviceability.

Each Kraken X60 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

Location

Screw Size

Driver Size

Torque Value

Power Terminals

#6-32 x 1/4"

IP10 or T10

0.9 N*m

CAN Terminals

#4-40 x 1/4"

IP8 or T8

0.6 N*m

Status Lights

Status Light Reference

Please refer to the Status Lights page in the CTR Phoenix v6 documentation for the most up to date LED codes.

Kit Contents

Accessories

SplineXS Bore

Here are all the products that are compatible with the new 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.

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

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.

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.

Connector Port Descriptions

Description

Connector Type

Input Power

Anderson Powerpole (PP45)

CAN

4 x Weidmuller / 2 x 2-pin Male Molex SL

CAN + Power

1 x 4-pin Male Molex SL

Kit Contents

Part Number

Description

QTY

WCP-1380-001

Adapter Board Cover

WCP-1380-901

Adapter Board

#4-40 x 0.375"L Bolt

88KB

WCP-1380 - Kit Contents.pdf

pdf

Assembly Instructions

Step 1

Attach the Adapter Board onto the Kraken X60 using the bolts shown below.

Location

Screw Size

Driver Size

Torque Value

Power Terminals

#6-32 x 1/4"

T10

0.9 N*m

CAN Terminals

#4-40 x 3/8"

T10

0.6 N*m

Step 2

Attach the Adapter Board Cover onto the Assembly from Step 1 using two #4-40 x 3/4"L bolts.

CAN Wiring

There are multiple options for connecting CAN to the Kraken X60 Powered by TalonFX PowerPole Adapter Board. The following are some examples.

Mating Connectors

Part Number

Description

Link

50579402

SL Crimp Housing, Single Row, Version G, Positive Latch, 2 Circuits, Black

50579404

SL Crimp Housing, Single Row, Version G, Positive Latch, 4 Circuits, Black

16020103

SL Crimp Terminal, Series 70058, Female, 22-24 AWG, with Gold Plated Contact, Bag

Daisy Chaining

All CAN connections on the adapter board are directly connected to the screw terminals on the TalonFX. You want to have one CAN wire in and one CAN wire out.

Any combination of two of the 2 pin Molex SL or Weidmuller connectors can be used.

Daisy Chaining with CANcoder

Any combination of the CAN ports can be used for the connections into and out of Adapter Boards.

Daisy Chaining with CANcoder Stub

The stub length for the CANcoder should be 12" or less. Make as short as possible.

Any combination of the CAN ports can be used for the connections into and out of Adapter Boards.

No terminating resistor is needed after the CANcoder.

Power Wiring

Mating Connector

Part Number

Description

Link

1327

Powerpole Connector Housing, Red

1327G6

Powerpole Connector Housing, Black

Securing Powerpole

A pass through hole was added to the Adapter Board to allow the Powerpole connector to be secured with a ziptie.