| Optional | 60mm, 80mm, 90mm, 120mm, 160mm |
| Rated output torque | 8.5nm-680nm |
| Gear ratio Single-stage | 3, 4, 5, 7, 10 |
| Gear ratio Double-stage | 12, 16, 20, 25, 28, 35, 40, 50, 70 |
| Gear ratio Three-stage | 64, 80, 100, 125, 140, 175, 200, 250, 350, 400, 500, 700, 1000 |
| Return gap | 12arc-min~ 18arc-min |
| Gear ratio | 3 | 4 | 5 | 7 | 10 | 12 | 16 | 20 | 25 | 28 | 35 | 40 | 50 | 70 |
| Rated output torque (nm) | 148 | 222 | 235 | 158 | 93 | 250 | 250 | 250 | 264 | 250 | 264 | 250 | 264 | 177 |
| Maximum output torque (nm) | 296 | 444 | 470 | 316 | 186 | 500 | 500 | 500 | 528 | 500 | 528 | 500 | 528 | 354 |
| Rated inertia(kgcm2) | 1.65 | 1.22 | 1.15 | 1.13 | 1.1 | 1.65 | 1.22 | 1.15 | 1.15 | 1.13 | 1.13 | 1.11 | 1.11 | 1.11 |
| Gear ratio | 64 | 80 | 100 | 125 | 140 | 175 | 200 | 250 | 280 | 350 | 400 | 500 | 700 | 1000 |
| Rated output torque (nm) | 310 | 310 | 310 | 329 | 310 | 329 | 310 | 329 | 310 | 329 | 310 | 329 | 220 | 130 |
| Maximum output torque (nm) | 620 | 620 | 620 | 658 | 620 | 658 | 620 | 658 | 620 | 658 | 620 | 658 | 440 | 260 |
| Rated inertia(kgcm2) | 1.15 | 1.15 | 1.15 | 1.15 | 1.13 | 1.13 | 1.11 | 1.11 | 1.11 | 1.11 | 1.11 | 1.11 | 1.11 | 1.11 |
