| 关节 | vmax | amax | jmax |
| 1 | 260˚/s | 1300˚/s2 | 7800˚/s3 |
| 2 | 300˚/s | 1500˚/s2 | 9000˚/s3 |
| 3 | 650 mm/s | 3250 mm/s2 | 19500 mm/s3 |
| 4 | 280˚/s | 1400˚/s2 | 8400˚/s3 |