diff --git a/ergoCubSN000/hardware/motorControl/left_arm-eb23-j7_10-mc.xml b/ergoCubSN000/hardware/motorControl/left_arm-eb23-j7_10-mc.xml
index 3f9e40ccbd..4b93958f04 100644
--- a/ergoCubSN000/hardware/motorControl/left_arm-eb23-j7_10-mc.xml
+++ b/ergoCubSN000/hardware/motorControl/left_arm-eb23-j7_10-mc.xml
@@ -48,9 +48,9 @@
         <param name="outputType">               pwm             </param>
         <param name="fbkControlUnits">          metric_units    </param>
         <param name="outputControlUnits">       machine_units   </param>
-        <param name="kp">                       -200        -200        -200        -200    </param>
-        <param name="kd">                       -10         -10         -10         -10     </param>
-        <param name="ki">                       -10         -10         -10         -10     </param>
+        <param name="kp">                       -200       -246        -246        -200    </param>
+        <param name="kd">                       -10           0           0         -10     </param>
+        <param name="ki">                       -10         -33         -33         -10     </param>
         <param name="maxOutput">                2700        2700        2700        2700    </param>
         <param name="maxInt">                   1000        1000        1000        1000    </param>
         <param name="stictionUp">               0           0           0           0       </param>
diff --git a/ergoCubSN000/hardware/motorControl/right_arm-eb22-j7_10-mc.xml b/ergoCubSN000/hardware/motorControl/right_arm-eb22-j7_10-mc.xml
index 1cf6a5bde3..4a937206ec 100644
--- a/ergoCubSN000/hardware/motorControl/right_arm-eb22-j7_10-mc.xml
+++ b/ergoCubSN000/hardware/motorControl/right_arm-eb22-j7_10-mc.xml
@@ -48,9 +48,9 @@
         <param name="outputType">               pwm             </param>
         <param name="fbkControlUnits">          metric_units    </param>
         <param name="outputControlUnits">       machine_units   </param>
-        <param name="kp">                       -200        -200        -200        -200    </param>
-        <param name="kd">                       -10         -10         -10         -10     </param>
-        <param name="ki">                       -10         -10         -10         -10     </param>
+        <param name="kp">                       -200       -246        -246        -200     </param>
+        <param name="kd">                       -10           0           0         -10     </param>
+        <param name="ki">                       -10         -33         -33         -10     </param>
         <param name="maxOutput">                2700        2700        2700        2700    </param>
         <param name="maxInt">                   1000        1000        1000        1000    </param>
         <param name="stictionUp">               0           0           0           0       </param>