UFACTORY PID

Lite6

Joint ID	torque constant(N·m/A)	position loop proportional gain	velocity loop proportional gain	velocity loop integral gain	current loop proportional gain	current loop integral gain	speed threshold
J1	0.0612	500	1000	8000	100	2000	3000
J2	0.0612	500	1000	8000	100	2000	3000
J3	0.0678165	500	1000	8000	100	2000	3000
J4	0.67	300	10000	3000	260	400	150
J5	0.67	800	2000	1500	260	200	150
J6	0.67	500	6000	3000	260	150	150

xArm5(1305)

Joint ID	torque constant(N·m/A)	position loop proportional gain	velocity loop proportional gain	velocity loop integral gain	position feedforward	position loop differential gain	current loop proportional gain	current loop integral gain	speed threshold
J1	0.067	260	2000	400	200	50	300	250	3000
J2	0.067	250	3000	500	200	50	300	250	3000
J3	0.0573	250	1000	300	200	50	200	250	3000
J4	0.056	200	1000	300	200	50	120	250	4500
J5	0.056	200	800	300	200	50	120	250	4500

xArm6(1305)

Joint ID	torque constant(N·m/A)	position loop proportional gain	velocity loop proportional gain	velocity loop integral gain	position feedforward	position loop differential gain	current loop proportional gain	current loop integral gain	speed threshold
J1	0.067	260	2000	400	200	50	300	200	3000
J2	0.067	250	3000	500	200	50	300	200	3000
J3	0.0573	250	1000	400	200	50	160	200	3000
J4	0.0573	200	800	300	200	50	250	200	4500
J5	0.056	200	1000	500	200	50	250	200	4500
J6	0.056	200	800	300	200	50	250	200	4500

xArm7(1305)

Joint ID	torque constant(N·m/A)	position loop proportional gain	velocity loop proportional gain	velocity loop integral gain	position feedforward	position loop differential gain	current loop proportional gain	current loop integral gain	speed threshold
J1	0.067	200	2000	400	200	50	300	400	3000
J2	0.067	200	2500	500	200	50	300	400	3000
J3	0.0573	200	1000	400	200	50	300	400	3000
J4	0.0573	200	1000	400	200	50	400	400	4500
J5	0.0573	200	1000	500	200	50	250	400	4500
J6	0.056	200	1000	500	200	50	250	400	4500
J7	0.056	200	800	300	200	50	250	400	4500

UFACTORY 850(8510)

Joint ID	torque constant(N·m/A)	position loop proportional gain	velocity loop proportional gain	velocity loop integral gain	position feedforward	position loop differential gain	current loop proportional gain	current loop integral gain	speed threshold
J1	0.0612	150	5000	450	260	200	3000
J2	0.0612	150	5000	450	260	200	3000
J3	0.0678165	150	2500	400	260	200	3000
J4	0.67	200	1500	400	800	400	4500
J5	0.67	250	1000	400	800	400	4500
J6	0.67	200	1000	400	800	400	4500