> For the complete documentation index, see [llms.txt](https://docs.wcproducts.com/welcome/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.wcproducts.com/welcome/electronics/kraken-x44/kraken-x44-motor/overview-and-features/motor-performance.md).

# Motor Performance

## Motor Performance Parameters

{% hint style="info" %}
For the most up to date motor data and Raw Data visit [CTR's Motor Testing Lab.](https://motors.ctr-electronics.com/dyno/dynometer-testing/)
{% endhint %}

{% tabs %}
{% tab title="Trapezoidal Commutation" %}

<table><thead><tr><th width="353.66666666666663">Parameter</th><th width="122">Value</th><th>Unit</th></tr></thead><tbody><tr><td>Free Speed</td><td>7758</td><td>RPM</td></tr><tr><td>Free Current</td><td>3</td><td>A</td></tr><tr><td>Stall Torque</td><td>4.11</td><td>Nm</td></tr><tr><td>Stall Current</td><td>279</td><td>A</td></tr><tr><td>Peak Power</td><td>835</td><td>W</td></tr><tr><td>Max. Efficiency</td><td>81.5%</td><td>W(out) / W(in)</td></tr><tr><td>Power @ 41A</td><td>393(80.4%)</td><td>W(%Eff)</td></tr><tr><td>KT</td><td>14.91</td><td>mNm/A</td></tr></tbody></table>
{% endtab %}

{% tab title="Field Oriented Control (FOC) Commutation" %}

<table><thead><tr><th width="353.66666666666663">Parameter</th><th width="122">Value</th><th>Unit</th></tr></thead><tbody><tr><td>Free Speed</td><td>7368</td><td>RPM</td></tr><tr><td>Free Current</td><td>3</td><td>A</td></tr><tr><td>Stall Torque</td><td>5.01</td><td>Nm</td></tr><tr><td>Stall Current</td><td>329</td><td>A</td></tr><tr><td>Peak Power</td><td>966</td><td>W</td></tr><tr><td>Max. Efficiency</td><td>81%</td><td>W(out) / W(in)</td></tr><tr><td>Power @ 42A</td><td>402(80.4%)</td><td>W(%Eff)</td></tr><tr><td>KT</td><td>15.37</td><td>mNm/A</td></tr></tbody></table>
{% endtab %}
{% endtabs %}

## 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.&#x20;

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:&#x20;

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.&#x20;
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.


---

# Agent Instructions
This documentation is published with GitBook. GitBook is the documentation platform designed so that both humans and AI agents can read, navigate, and reason over technical content effectively. Learn more at gitbook.com.

## Querying This Documentation
If you need additional information that is not directly available in this page, you can query the documentation by asking a question.

Perform an HTTP GET request on the following URL with the `ask` and `goal` query parameters:

```
GET https://docs.wcproducts.com/welcome/electronics/kraken-x44/kraken-x44-motor/overview-and-features/motor-performance.md?ask=<question>&goal=<user_goal>
```

`ask` is the immediate question: it should be specific, self-contained, and written in natural language.
`goal` is what the user is ultimately trying to achieve, the reason they need the answer. Sharing it helps GitBook give you a better, more relevant answer. A goal is most helpful when it describes the outcome the user wants rather than restating the question. For example, with `ask=how do I create an API token`, a goal like `automate deployments from our CI pipeline` lets GitBook tailor the answer to that use case.

The response will contain a direct answer to the question and relevant excerpts and sources from the documentation.

Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.