33
•
Set the Gain value using the "
+/-
" switch using the tables
below as a guideline. Right and left Gain settings are
polarized for direction as shown in
Table 6
.
NOTE: Gain values depend on many more factors than just
speed, and therefore are best set automatically or by
an experienced operator.
NOTE: Test the response at a sensitivity (
Sensi
) of five,
because the
Sensi
setting will scale the Gain settings
(Section 5.1.1). If the booms are not reacting quickly
enough a higher Gain setting will make the boom
respond faster. If the booms are too jerky or unstable,
you must lower the Gain setting or improve the boom’s
mechanical damping.
Table 6 – Right, Left Booms
Boom Speed
(in/s)
Up Gain Setting
(
↑
KP
)
Down Gain Setting
(
↓
KP
)
Less than 5
Too Slow
Too Slow
5-15 225-175 100-70
15-25 175-150 70-50
25-40 150-100 50-30
40-70 100-50 30-15
Greater than 70
50-1
15-1
Table 7 – Main (Center) Boom
Boom Speed
(in/s)
Gain Setting
(
KP
)
1-5 100-75
5-10 75-50
10-15 50-30
15-20 30-15
Table 8 – Roll Section
Boom Speed
(in/s)
Gain Setting
(
KP
)
<10 225-254
10-15 175-225
15-20 175-200
>20 150-100
