Technical information

Appendix A: Main Controller 33
DRV Operator’s Manual and Technical Reference (rev 1 0 June 30, 2000)
pos P gain: 0.0...100.0 0.80
velo P gain: 0.0...300.0 2.0
velo I gain: 0.0...100.0 1.8
velo D gain: 0.0...100.0 0.0
jstick scale: 0.0...35.0 30.0
min limit: 0.0...180.0 20.0
max limit: 0.0...180.0 100.0
Long Arm
Parameters
pos P gain: 0.0...100.0 0.80
velo P gain: 0.0...300.0 0.20
velo I gain: 0.0...100.0 0.45
velo D gain: 0.0...100.0 0.45
jstick scale: 0.0...35.0 30.0
min limit: 0.0...180.0 27.0
max limit: 0.0...180.0 107.0
Short Arm
Parameters
pos P gain: 0.0...100.0 0.80
velo P gain: 0.0...300.0 0.35
velo I gain: 0.0...100.0 0.7
velo D gain: 0.0...100.0 0.02
jstick scale: 0.0...35.0 12.0
min limit: 0.0...180.0 30.0
max limit: 0.0...180.0 81.0
Azimuth
Parameters
pos P gain: 0.0...100.0 1.0
velo P gain: 0.0...300.0 1.0
velo I gain: 0.0...100.0 2.5
velo D gain: 0.0...100.0 0.5
jstick scale: 0.0...35.0 1.0
min limit: 0.0...180.0 80.0
max limit: 0.0...180.0 100.0
Boom Parameters
pos P gain: 0.0...100.0 1.0
velo P gain: 0.0...100.0 2.4
velo I gain: 0.0...100.0 1.5
velo D gain: 0.0...100.0 1.75
Turntable
Parameters
pos P gain: 0.0...100.0 1.50
velo P gain: 0.0...100.0 5.0
velo I gain: 0.0...100.0 2.0
Copyright 2011, AHMCT Research Center, UC Davis