| Before Improvement-YK-220X | ||||
| Axis | X | Y | Z | R |
| No. of axis movements per min (n) | 10 | 21 | 15 | 9 |
| Average turn per axis movement (θ) | 0.06 | 0.18 | 0.07 | 0.10 |
| Speed (%) | 100 | 100 | 100 | 100 |
| Speed reduction ratio (N) | 50 | 50 | 12 mm | 50 |
| Operation time/day (h) | 24 | 24 | 24 | 24 |
| Operation time/year (d) | 365 | 365 | 365 | 365 |
| Replacement period (years) | 9 | 2 | 5 | 6 |