# PowerPole Adapter Board

## Kraken X60 Powered by TalonFX PowerPole Adapter Board ([Product Page](https://wcproducts.com/products/kraken))

<figure><img src="/files/xkgzbvJdQT0QKzk7HojZ" alt="" width="563"><figcaption></figcaption></figure>

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.&#x20;

In addition, one of the connectors outputs power and CAN, allowing you to power a CAN based sensor like a CANcoder.&#x20;

### Connector Port Descriptions

<figure><img src="/files/yJ1i10ngMszv33nC2yN0" alt="" width="563"><figcaption></figcaption></figure>

<figure><img src="/files/ptrXWKZoLoWoth2s71Me" alt="" width="563"><figcaption></figcaption></figure>

| 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  | 1   |
| WCP-1380-901 | Adapter Board        | 1   |
| \~           | #4-40 x 0.75"L Bolt  | 2   |
| \~           | #4-40 x 0.375"L Bolt | 2   |
| \~           | #6-32 x 0.25"L Bolt  | 2   |

{% file src="/files/d4qDwimoSWUWxhuDkJc7" %}

## Assembly Instructions

### Step 1

Attach the Adapter Board onto the Kraken X60 using the bolts shown below.&#x20;

| 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     |

<figure><img src="/files/HiV5o9DK2nK75iO1ISWm" alt="" width="563"><figcaption></figcaption></figure>

### Step 2

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

<figure><img src="/files/WNKnlisrjxS16UEdb7at" alt="" width="563"><figcaption></figcaption></figure>

## 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

<table><thead><tr><th width="143">Part Number</th><th width="493">Description</th><th>Link</th></tr></thead><tbody><tr><td>50579402</td><td>SL Crimp Housing, Single Row, Version G, Positive Latch, 2 Circuits, Black</td><td><a href="https://www.digikey.com/en/products/detail/molex/0050579402/115029?s=N4IgjCBcoLQBxVAYygMwIYBsDOBTANCAPZQDaIAnAAxUD8ArgC4C2A%2BtkfQE5K4C81KiAC6AX1GEATGRA0ArFTkB2CgBYq0sUA&#x26;utm_campaign=buynow&#x26;utm_medium=supplier">DigiKey</a></td></tr><tr><td>50579404</td><td>SL Crimp Housing, Single Row, Version G, Positive Latch, 4 Circuits, Black</td><td><a href="https://www.digikey.com/en/products/detail/molex/0050579404/115057?s=N4IgjCBcoLQBxVAYygMwIYBsDOBTANCAPZQDaIAnAAxUD8ArgC4C2A%2BtkfQE5K4C81KiAC6AX1GEATGRA0ArFTkB2CgBYqqkaKA&#x26;utm_campaign=buynow&#x26;utm_medium=supplier">DigiKey</a></td></tr><tr><td>16020103</td><td>SL Crimp Terminal, Series 70058, Female, 22-24 AWG, with Gold Plated Contact, Bag</td><td><a href="https://www.digikey.com/en/products/detail/molex/0016020103/115063?s=N4IgTCBcDaIAxwIwDY5iXAzCAugXyA">DigiKey</a></td></tr></tbody></table>

### 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.

{% hint style="info" %}
Any combination of two of the 2 pin Molex SL or Weidmuller connectors can be used.&#x20;
{% endhint %}

<div><figure><img src="/files/b5v4KNImkwRzVmkxSeYM" alt=""><figcaption><p>Using 2-Pin Molex SL Ports</p></figcaption></figure> <figure><img src="/files/VGxE6rT3q7JzemdL92Gt" alt=""><figcaption><p>Using Weidmuller Ports</p></figcaption></figure></div>

<figure><img src="/files/yVjqn9zb98okuqvZ417y" alt="" width="375"><figcaption><p>Using 2-Pin Molex SL and Weidmuller Ports</p></figcaption></figure>

### Daisy Chaining with CANcoder

{% hint style="info" %}
Any combination of the CAN ports can be used for the connections into and out of Adapter Boards.&#x20;
{% endhint %}

<figure><img src="/files/IaHXC2G3Gu71Uh4Sfdzh" alt=""><figcaption></figcaption></figure>

### Daisy Chaining with CANcoder Stub

{% hint style="warning" %}
The stub length for the CANcoder should be 12" or less. Make as short as possible.
{% endhint %}

{% hint style="info" %}
Any combination of the CAN ports can be used for the connections into and out of Adapter Boards.&#x20;

No terminating resistor is needed after the CANcoder.
{% endhint %}

<figure><img src="/files/A5j5vYI6vXjQArE6ncRb" alt="" width="563"><figcaption></figcaption></figure>

## Power Wiring

### Mating Connector

<table><thead><tr><th width="143">Part Number</th><th width="425">Description</th><th>Link</th></tr></thead><tbody><tr><td>1327</td><td>Powerpole Connector Housing, Red</td><td><a href="https://powerwerx.com/anderson-powerpole-colored-housings">Powerwerx</a></td></tr><tr><td>1327G6</td><td>Powerpole Connector Housing, Black</td><td><a href="https://powerwerx.com/anderson-powerpole-colored-housings">Powerwerx</a></td></tr></tbody></table>

### Securing Powerpole

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

<figure><img src="/files/PZfalbQz0H5v2obEgLR8" alt="" width="563"><figcaption></figcaption></figure>


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