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Robot Joints: Integrated Joint Modules for Robotic Arms

Haozhi's integrated robot joint modules are rotary (revolute) joint actuators for robotic-arm axes. Each module combines five functions in one assembly: a frameless torque motor, an absolute encoder, a harmonic reducer, a drive, and safety functions (STO and SBC). You specify one joint per axis instead of selecting and matching a separate motor, encoder, reducer, driver and brake.
ParameterValue
Supply48 V DC
BusEtherCAT on the series; CANopen available on select models
Safety functionsSTO and SBC integrated
Safety ratingno PL or SIL certification is published for the module
Absolute encoder18-bit resolution, ±50″ accuracy, 0.001° repeatability
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Robot Joints: Integrated Joint Modules for Robotic Arms

Robot Joint Module Specifications

ParameterUnitDGMZ14DGMZ17DGMZ20DGMZ25DGMZ32
VoltageVDC4848484848
Rated torqueN·m10315287178
Maximum torqueN·m57.5164324363750
Speed at rated torquerpm35.834.61716.716.7
Continuous currentA RMS2.16.39.27.0514
Maximum currentA RMS6.41826.414.128
Torque constantN·m/A RMS0.110.0830.1020.140.22
Weight, T-typekg1.322.233.418.67
Weight, straight typekg11.223.295.81

Mounting dimensions are drawn per frame size (14, 17, 20, 25 and 32). Reduction ratio, backlash, IP rating, hollow bore and brake option are confirmed in the datasheet with the quote.

Request the datasheet and dimension drawings for the frame you are considering.

DIMENSIONS

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FEATURES

Five functions in one assembly

Each module combines five functions in one assembly: a frameless torque motor, an absolute encoder, a harmonic reducer, a drive, and safety functions (STO and SBC).

STO and SBC

Safety functions: STO and SBC integrated. Safety rating: no PL or SIL certification is published for the module.

48 V DC and EtherCAT

The series runs on 48 V DC with an EtherCAT bus (CANopen available on select models).

What's Inside the Robot Joint Module

Motors, rotors, stators and encoders are built in-house. Drives come from Infranor in Yverdon, acquired in 2020. Five frames cover 10 to 178 N·m rated and up to 750 N·m maximum, as a ready-to-mount robot joint actuator or robot joint motor assembly.

The exploded view shows the frameless torque motor, absolute encoder, harmonic reducer, drive and safety functions on one axis.

Diagram showing labeled parts of a robotic joint module including servo motor and harmonic reducer

Frameless torque motor

Rotor and stator are built into the joint. Torque constant is 0.083 to 0.22 N·m/A RMS. The standalone frameless torque motor lists 1% torque ripple and 3.5-times overload.

Absolute encoder

18-bit absolute feedback, ±50″ accuracy, 0.001° repeatability. A standalone time grating absolute encoder for robot joints is also listed.

Harmonic reducer

Cup and hat types are in the wave gearbox range. See how harmonic reducers work in robotic joints and harmonic joint modules for humanoid robots.

Integrated drive and safety functions

Safety rating: no PL or SIL certification is published for the module.

If your machine safety concept requires a certified rating, plan the safety chain around that fact from the start.

The large-hollow low-voltage robot joint driver carries EtherCAT, logic power and safety signals through the center, at 98% efficiency or above.

The compact brake mechanism for robot joints is 9.5 mm thick.

Common to all sizes:

±360°

Central-axis routing

Infinite

No central axis

18-bit

±50″ accuracy, 0.001° repeatability

EtherCAT

Communication bus

60 °C

Reducer temperature limit

Reading the table

Two derived figures change from frame to frame.

Derived valueDGMZ14DGMZ17DGMZ20DGMZ25DGMZ32
Maximum ÷ rated torque5.755.36.24.24.2
Rated torque per kg, straight type (N·m/kg)1026262631

Peak margin

About 5–6× rated on the 14, 17 and 20 frames, and about 4.2× on the 25 and 32. Size collision loads on maximum torque.

Torque density

10 N·m/kg on the smallest straight frame, 31 on the largest. Keep a distal axis on the lighter frame.

Speed

35.8 rpm at rated torque on the 14 frame, 16.7 rpm on the 25 and 32.

Why Buy the Joint Integrated

Integrated module versus separate parts

Separate parts leave the ratio and motor open. An integrated joint module trades that for one source and five catalog frames.

Separate partsIntegrated joint module
Suppliers per axisMotor, encoder, reducer, drive and brake, each sourced and matchedOne source for the motor, encoder, reducer, drive and safety functions
WiringMotor, encoder and drive cabling per axisPrincipal motion components share one assembly
EnvelopeHousings and couplings between partsFrameless motor in a combined assembly for compact arms
Design effortValidate each joint from scratchPick a frame by torque and speed
FlexibilityFree choice of ratio and motorFive catalog frame sizes

Frames that fall between sizes can be adapted. For a conventional motor, see the servomotor guide and Servomotor Cost: Prices & What Affects Them.

A manufacturer of its own core components

In-house parts

Motors, rotors, stators, clamping systems and encoders.

Drives and motion control

Infranor Group, Yverdon, Switzerland (acquired 2020).

Robotics production

Robotics core components are within the stated scope of the third Guangzhou factory (2023).

Listing

GEM board of the Shenzhen Stock Exchange, code 300503.

Engineering

400+ R&D engineers.

Management systems

ISO 9001 quality and ISO 14001 environmental certificates.

Quality control

Three-stage inspection (initial, specialized, cross), with stated full traceability.

Choosing, Fitting and Ordering Robot Joints

Where the modules fit

Rotary axes on industrial and collaborative arms, on the same EtherCAT bus as the robot controller (1 ms cycle).

Industrial robot arm beside a machining center

Workpiece positioning

Direct-drive rotary options cover 4th-axis tables. 5 Axis Rotary Tables for CNC Machining cover tilt-rotate positioning.

Linear travel

For a gantry or track, see Linear Rail Explained: The Complete Guide, the motor guide and linear motor cost.

Machining end effectors

If the arm carries a motorized spindle, what is a spindle explains the selection logic.

Selecting a frame size

Torque

Rated 10 to 178 N·m, maximum 57.5 to 750 N·m. Larger frames sit toward the base of the arm.

Speed

16.7 to 35.8 rpm at rated torque.

Cabling

Central-axis routing is ±360°. Without a central axis, rotation is infinite.

Supply and bus

48 V DC and EtherCAT. Ask if you need CANopen.

Holding and safety

Decide if the axis needs a brake. STO and SBC are integrated.

Weight

1 to 8.67 kg, T-type and straight type.

Robot joint module on an engineering desk

How ordering works

Send torque, speed, bus, supply, routing, brake and envelope with the enquiry. An application engineer matches a frame, flags what would need adaptation, and you receive a quote. Pricing, minimum order quantities and lead times are confirmed per project.

Robot component line

Looking for robot joints for sale? Request a quote with your axis requirements, or talk to an application engineer about frame selection.

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APPLICATION

FAQ

What joints do robots use?

Robotic arms mainly use rotary (revolute) joints, and some axes use sliding (prismatic) joints. Haozhi's integrated module is a rotary joint actuator that packages the motor, encoder, reducer, drive and safety functions in one assembly.

Who manufactures integrated robot joint modules?

Haozhi (Guangzhou Haozhi Industrial Co., Ltd.) builds integrated robot joint modules. It is listed on the Shenzhen GEM board (300503), makes motors, rotors, stators and encoders in-house, and owns the Swiss servo-drive business Infranor.

Which communication bus do the modules use?

The series uses EtherCAT, and CANopen is available on select models. The supply is 48 V DC. Confirm the bus for a specific frame when you request the datasheet.

Can I buy the motor, encoder or reducer on their own?

Yes. Haozhi lists a standalone frameless torque motor, a time grating absolute encoder and a range of harmonic reducers, so you can build your own joint if the five catalog frames do not fit your axis.

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Share your machine type, machining process, performance targets or existing component specifications with Haozhi. Our technical team can support spindle selection, application matching, custom development and motion-component integration for new equipment and upgrade projects.
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