Engineered for integrated robotic motion.
The DGMZ Series combines a frameless torque motor, high-rigidity harmonic reducer, dual absolute encoders, and integrated drive electronics for compact robot joints and collaborative robots, with repeatability up to 0.001°.
Positioning Repeatability
Encoder Accuracy
Overload Capacity
The DGMZ Series is an integrated robot joint module designed for compact robotic arms and collaborative robots with payloads from 3 to 15 kg. It combines a frameless torque motor, high-rigidity harmonic reducer, dual multi-turn absolute encoders, brake mechanism, and integrated low-voltage drive into a compact joint architecture. With positioning repeatability up to 0.001°, the module supports precise motion, virtual force control, simplified integration, and reliable operation in space-constrained robotic systems.
Cogging-free motor architecture minimizes torque fluctuation, enabling smoother rotation and more precise force control during robotic motion.
Dual-channel absolute angle measurement provides accurate position feedback without homing, achieving repeatability up to 0.001°.
Large hollow routing and integrated electronics simplify central cable routing while reducing joint size and system complexity.
The DGMZ Series provides multiple joint module sizes for collaborative robot applications with payloads of approximately 3–15 kg.
| Product type | Robot Joint Module |
|---|---|
| Available sizes | DGMZ14 / DGMZ17 / DGMZ20 / DGMZ25 / DGMZ32 |
| Payload application | 3–15 kg collaborative robots |
| Power supply | 48 VDC |
| Communication bus | EtherCAT |
| Absolute encoder resolution | 18 bits |
| Absolute encoder accuracy | ±50 arcsec |
| Absolute encoder repeatability | 0.001° |
| Continuous torque | 10–178 N·m |
| Peak torque | 57.5–750 N·m |
| Torque constant | 0.083–0.22 N·m/A RMS |
| Continuous torque speed | 16.7–35.8 RPM |
| Central cable routing rotation range | ±360° |
| Rotation without central cable routing | Infinite rotation |
| Maximum reducer temperature | 60°C |
| T-module weight | 1.32–8.67 kg |
| Straight-module weight | 1.00–5.81 kg |
| Parameter | DGMZ14 | DGMZ17 | DGMZ20 | DGMZ25 | DGMZ32 |
|---|---|---|---|---|---|
| Continuous Torque (N·m) | 10 | 31 | 52 | 87 | 178 |
| Peak Torque (N·m) | 57.5 | 164 | 324 | 363 | 750 |
| Speed at Continuous 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 |
| T-module Weight (kg) | 1.32 | 2.20 | 3.00 | 3.41 | 8.67 |
| Straight-module Weight (kg) | 1.00 | 1.20 | 2.00 | 3.29 | 5.81 |
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