Since we’ve upgraded to Phoenix 6 at the beginning of this season, three TalonFX controlled motors (two Kraken60Xs and one Falcon500) have been exhibiting abnormal (wrong) behavior.
These motors operated normally for about a week. However, we observed a concerning trend where, while following their commands, they began to overheat rapidly (reaching approximately 82 degrees Celsius within 1.5 minutes of driving) and were drawing significantly more current than usual. Notably, they were consistently hotter than other motors in use.
Mechanically, everything appears normal. After swapping out the motors, our system seems to be functioning correctly.
As can be seen and heard in the videos below, when blinking the motor through the Phoenix Tuner X the motor makes an atypical sound and moves although it isn’t supposed to.
(Both sides of the motor at the same time)
The Falcon served as a Follower for shooter wheels, while the Krakens were new drive motors on different Swerve modules that had not been used previously. All three motors were operating in Velocity control mode, with the Krakens having a supply current limit of 60 amperes and the Falcon 30 amperes supply with a 220 amperes triggerThreshhold.
In this graph you can see the reported supply current difference between the faulted Kraken (the darker blue) and the rest of the drive Krakens on our swerve, without using FOC:
Even during short test drives, the faulty motor consistently ran significantly hotter than the others.
This issue is unprecedented for us, and we are concerned about its frequency and magnitude. The sole modification made to the control system was the upgrade to Phoenix 6 (and Phoenix 6 Pro).
Despite attempts to address the problem, such as running the Krakens with and without FOC, the outcome remains unchanged.
Has any team experienced anything similar to that?
Do you have a clue to why it had happened?