In contrast to TLC, Apalache infers types for the TLA+ specifications. However, it cannot infer all the types, especially the types of CONSTANTS and VARIABLES. To make your specification work with Apalache, you have to annotate the types of CONSTANTS and VARIABLES. The Typechecker tutorial explains how to write type annotations.
Looking at CoffeeCan.tla, it looks like the annotations should be like follows:
CONSTANT
\* @type: Int;
MaxBeanCount
VARIABLES
\* @type: { black: Int, white: Int };
can