Robotic arm rotary module for robots DGMZ series

Overview
Haozhi integrated robot joint modules combine a frameless torque motor, harmonic reducer, absolute encoder, drive electronics and brake in a compact assembly to simplify joint design for industrial robot arms. The DGMZ series supports 48V DC operation, EtherCAT and CANopen communication, integrated STO and SBC safety functions, and multiple torque sizes for different payloads and reach requirements.

Technical data
Parameter | Unit | DGMZ14 | DGMZ17 | DGMZ20 | DGMZ25 | DGMZ32
Voltage | VDC | 48V | 48V | 48V | 48V | 48V
Max current (RMS) | A | 6.4 | 18 | 26.4 | 14.1 | 28
Continuous current (RMS) | A | 2.1 | 6.3 | 9.2 | 7.05 | 14
Rated torque | N·m | 10 | 31 | 52 | 87 | 178
Maximum torque | N·m | 57.5 | 164 | 324 | 363 | 750
Speed at rated torque | RPM | 35.8 | 34.6 | 17 | 16.7 | 16.7
Torque constant | N·m/A RMS | 0.11 | 0.083 | 0.102 | 0.14 | 0.22
Encoder resolution | bits | 18 | 18 | 18 | 18 | 18
Joint range | ° | ±360 (central-axis internal routing) / Infinite rotation (routing without central axis)
Reducer max temperature | ℃ | 60 | 60 | 60 | 60 | 60
Weights (T / Straight) | Kg | 1.32 / 1.00 | 2.2 / 1.2 | 3.0 / 2.0 | 3.41 / 3.29 | 8.67 / 5.81

Dimensions (symbols A–V)
A | 102 | 111.1 | 128 | 135.5 | 151.1
B | 11 | 11.5 | 14.5 | 16 | 21
C | 37.5 | 23 | 44 | 44.5 | 59.6
D | 38.5 | 51.6 | 38.3 | 45 | 57
E | 70 | 80 | 90 | 110 | 142
F | 50 | 60 | 70 | 85 | 110
G | 65 | 75 | 84 | 96 | 120
I | 64 | 74 | 84 | 102 | 132
J | 44 | 54 | 62 | 77 | 100
V (bore / countersink) | φ3.4 / φ6 (14–25) | φ3.4 / φ6 | φ3.4 / φ6 | φ3.4 / φ6 | φ4.4 / φ10
... (full dimension and fastener table available in datasheet)

Features / specifications

• Series/models: DGMZ14, DGMZ17, DGMZ20, DGMZ25, DGMZ32.
• Operating voltage: 48 V DC; communication via EtherCAT (primary) with CANopen support.
• Integrated safety: STO (Safe Torque Off) and SBC (Safe Brake Control).
• Motor/drive integration: frameless torque motor, harmonic reducer and 18-bit absolute encoder integrated with drive electronics for compact joints.
• Torque range (rated): 10–178 N·m; maximum torque up to 750 N·m (model dependent).
• Joint rotation: ±360° with central-axis routing; infinite rotation when routed without a central axis.
• Reducer maximum operating temperature: 60 ℃. Detailed mechanical dimensions and fastener specifications provided in the datasheet.