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.
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.
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.
DO NOT use longer screws in either location. Use of longer screws may damage the controller. The exception to this is with the use of the Kraken Powerpole Adapter board. Refer to that page here for the proper length screws.
| 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
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.
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
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
The Talon FX provides access to the full CTR Software Ecosystem.
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)
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.
The Talon FX's high efficiency design reduces heat, provides more power and enables extended run-times under load while maintaining performance.
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.
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.
