| Optional size | 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) | 16.5 | 27 | 29.5 | 19.5 | 8.5 | 30 | 30 | 30 | 33 | 30 | 33 | 30 | 33 | 21.5 |
| Maximum output torque (nm) | 33 | 54 | 59 | 39 | 17 | 60 | 60 | 60 | 66 | 60 | 66 | 60 | 66 | 43 |
| Rated inertia(kgcm2) | 0.107 | 0.094 | 0.092 | 0.091 | 0.091 | 0.107 | 0.094 |
0.092 |
0.092 | 0.091 | 0.091 | 0.091 | 0.091 | 0.091 |
| Gear ratio | 64 | 80 | 100 | 125 | 140 | 175 | 200 | 250 | 280 | 350 | 400 | 500 | 700 | 1000 |
| Rated output torque (nm) | 37.5 | 37.5 | 37.5 | 41 | 37.5 | 41 | 37.5 | 41 | 37.5 | 41 | 37.5 | 41 | 27 | 11.5 |
| Maximum output torque (nm) | 75 | 75 | 75 | 82 | 75 | 82 | 75 | 82 | 75 | 82 | 75 | 82 | 54 | 23 |
| Rated inertia(kgcm2) | 0.092 | 0.092 | 0.092 | 0.092 | 0.091 | 0.091 | 0.091 |
0.091 |
0.091 | 0.091 | 0.091 | 0.091 | 0.091 | 0.091 |
