We at CTR Electronics are thrilled to announce that our Talon FX motor controller is powering WestCoast Product's new best-in-class integrated brushless motor-and-controller, the Kraken X60!
Krakens are available for purchase (updated 2/13/2024), Click Here!
The Kraken X60 is a brushless motor developed by WestCoast Products that has been designed to withstand the rigors of the FIRST Robotics Competition. 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:
- 1,108W peak power (413W@40amp)*
- 87% max efficiency (@30A)*
- 7.09Nm stall torque*
- New SplineXS shaft
- Non-replaceable output shaft
- Versatile mounting options
- Robust mechanical design
Check out the latest Motor Performance Analysis Report for the latest dynamometer test results.
Read on for more details!
Talon FX Integrated Controller
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.
“All Match” Performance - High efficiency design reduces heat, provides more power and enables extended run-times under load while maintaining performance.
Integrated Motor/Controller Package - increases reliability and robustness by reducing failure modes.
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,
Imported from Detroit
Every single Talon FX PCB assembly is built on the electronics production line at the CTR Electronics HQ in Macomb, MI.
Additionally, CTR Electronics added an automated robotic assembly line at their HQ. This line will be used for final integration of the Talon FX and Kraken X60, ensuring quality and consistency during critical steps in the manufacturing process.
Furthermore, 100% of these units go through final QA testing and validation in Michigan before being shipped to customers.
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.
Benefits of FOC
More Efficient: The Kraken X60 will use less electrical power for the same mechanical power result.
Greater Acceleration: Higher maximum torque allows for greater acceleration.
Easier to Control: More accurate & smooth control of the motor in all uses because of consistent torque. This results in easier/faster tuning to reach the desired performance.
Higher RPM When Loaded: Higher power generally results in higher motor RPM when the motor has a load to drive. *Note that free-speed maximum RPM is slightly lower (see motor curves above and below for full profile).
Flexible Control Types: Multiple output types lets you choose the closed-loop output (Voltage, Duty Cycle, or Torque) while still gaining the power benefits of FOC.
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.
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.
Kraken X60 - Motor Performance
Trapezoidal Commutation
Field Oriented Control (FOC) Commutation
Kraken X60 Motor - 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
Dimensions
Diameter: 60mm / 2.37in
Effective Diameter w/ Bump: 63.5mm / 2.50in
Length: 75mm / 2.96"
Weight: 1.2 Lbs
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.
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.
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.
Spline Shaft Details:
15 teeth
0.5 module
30 degree pressure angle
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.
Shaft Retention Built In:
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.
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.
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.