From: https://openr.aibo.com/openr/eng/perm/regi_faq4.html#03

The limit of angle speed for ERS-210

Primitive Locator         angle speed limit
                   (degree/frame  1frame=16msec)
----------------------------------------------------
/r1/c1-Joint2:j1          1.93
/r1/c1/c2-Joint2:j2       2.76
/r1/c1/c2/c3-Joint2:j3    2.76
/r1/c1/c2/c3/c4-Joint2:j4 4.01
/r2/c1-Joint2:j1          2.58
/r2/c1/c2-Joint2:j2       2.29
/r2/c1/c2/c3-Joint2:j3    2.60
/r3/c1-Joint2:j1          2.58
/r3/c1/c2-Joint2:j2       2.29
/r3/c1/c2/c3-Joint2:j3    2.60
/r4/c1-Joint2:j1          2.58
/r4/c1/c2-Joint2:j2       2.29
/r4/c1/c2/c3-Joint2:j3    2.60
/r5/c1-Joint2:j1          2.58
/r5/c1/c2-Joint2:j2       2.29
/r5/c1/c2/c3-Joint2:j3    2.60
/r6/c1-Joint2:j1          4.10
/r6/c2-Joint2:j2          4.10
----------------------------------------------------

The limit of angle speed for ERS-220

Primitive Locator         angle speed limit
                   (degree/frame  1frame=16msec)
----------------------------------------------------
/r1/c1-Joint2:j1          1.93
/r1/c1/c2-Joint2:j2       2.76
/r1/c1/c2/c3-Joint2:j3    2.76
/r2/c1-Joint2:j1          2.58
/r2/c1/c2-Joint2:j2       2.29
/r2/c1/c2/c3-Joint2:j3    2.60
/r3/c1-Joint2:j1          2.58
/r3/c1/c2-Joint2:j2       2.29
/r3/c1/c2/c3-Joint2:j3    2.60
/r4/c1-Joint2:j1          2.58
/r4/c1/c2-Joint2:j2       2.29
/r4/c1/c2/c3-Joint2:j3    2.60
/r5/c1-Joint2:j1          2.58
/r5/c1/c2-Joint2:j2       2.29
/r5/c1/c2/c3-Joint2:j3    2.60
----------------------------------------------------

NOTE: The motion file (*.mtn) which is created by AIBO Master Studio has
1 frame = 16msec. But minimum interval of motion of AIBO(ERS-210/220)
is 8msec. (Time of one frame that AIBO recognizes actually is 8msec)