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CORE Module

Introduction

  • CORE is smart actuator module for robot and automation system.
  • There are three types of CORE modules, CORE100, CORE200 and CORE500 which are 100W, 200W and 500W modules respectively.
  • Each CORE module is combination of harmonic drive , BLDC motor, brake, multi-turn absolute encoder 16-bit and motor driver.
  • CORE uses EtherCAT communication interface with CiA402 motion profile compliance.

Specification

CORE100

(NRMK_CORE100_Specs_R02_20190723.pdf)


Figure 1. CORE100

Parameter Symbol Units Value
Nominal voltage V Volts DC 48
Rated power Pout W 100
No-load output speed S deg/s 178
Full-load maximum output speed Sr deg/s 155
Stall continuous current (*) Ics Apeak 5.37
Peak current (*) Ipk Apeak 15.55
Rated output torque (**) Tr Nm 21
Torque constant Kt Nm/Apeak 0.058
Encoder resolution count/turn 6619136
Gear ratio HDratio 101
Brake supply voltage (***) Vbrk Volts DC 24
Size mm x mm Ø80 x 111
Weight M kg 1.45

Table 1. CORE100 specification

CORE200

(NRMK_CORE200_Specs_R02_20190723.pdf)


Figure 2. CORE200

Parameter Symbol Units Value
Nominal voltage V Volts DC 48
Rated power Pout W 200
No-load output speed S deg/s 150
Full-load maximum output speed Sr deg/s 125
Stall continuous current (*) Ics Apeak 6.79
Peak current (*) Ipk Apeak 21.5
Rated output torque (**) Tr Nm 47.5
Torque constant Kt Nm/Apeak 0.087
Encoder resolution count/turn 7929856
Gear ratio HDratio 121
Brake supply voltage (***) Vbrk Volts DC 24
Size mm x mm Ø90 x 151
Weight M kg 1.84

Table 2. CORE200 specification

CORE500

(NRMK_CORE500_Specs_R02_20190723.pdf)


Figure 3. CORE500

Parameter Symbol Units Value
Nominal voltage V Volts DC 48
Rated power Pout W 500
No-load output speed S deg/s 150
Full-load maximum output speed Sr deg/s 130
Stall continuous current (*) Ics Apeak 16.54
Peak current (*) Ipk Apeak 52.47
Rated output torque (**) Tr Nm 117.73
Torque constant Kt Nm/Apeak 0.0884
Encoder resolution count/turn 7929856
Gear ratio HDratio 121
Brake supply voltage (***) Vbrk Volts DC 24
Size mm x mm Ø142 x 163
Weight M kg 4.59

Table 3. CORE500 specification


Notes:
(*) Current (A) is peak (amplitude) of phase’s sine current.
(**) Output torque is computed with assumption that harmonic drive efficiency of 70%, actual value can be varied depending on friction.
(***) Beside main supplied voltage, an additional 24V (minimum 0.5A) source is needed for brake. Two power sources have common GND.