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	P_out	W	100
No-load output speed	S	deg/s	178
Full-load maximum output speed	S_r	deg/s	155
Stall continuous current (*)	I_cs	A_peak	5.37
Peak current (*)	I_pk	A_peak	15.55
Rated output torque (**)	T_r	Nm	21
Torque constant	K_t	Nm/A_peak	0.058
Encoder resolution		count/turn	6619136
Gear ratio	HD_ratio		101
Brake supply voltage (***)	V_brk	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	P_out	W	200
No-load output speed	S	deg/s	150
Full-load maximum output speed	S_r	deg/s	125
Stall continuous current (*)	I_cs	A_peak	6.79
Peak current (*)	I_pk	A_peak	21.5
Rated output torque (**)	T_r	Nm	47.5
Torque constant	K_t	Nm/A_peak	0.087
Encoder resolution		count/turn	7929856
Gear ratio	HD_ratio		121
Brake supply voltage (***)	V_brk	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	P_out	W	500
No-load output speed	S	deg/s	150
Full-load maximum output speed	S_r	deg/s	130
Stall continuous current (*)	I_cs	A_peak	16.54
Peak current (*)	I_pk	A_peak	52.47
Rated output torque (**)	T_r	Nm	117.73
Torque constant	K_t	Nm/A_peak	0.0884
Encoder resolution		count/turn	7929856
Gear ratio	HD_ratio		121
Brake supply voltage (***)	V_brk	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.