diff --git a/ergoCubSN002/calibrators/left_arm-calib.xml b/ergoCubSN002/calibrators/left_arm-calib.xml
index d84d2aaf31..666fd9c0fd 100644
--- a/ergoCubSN002/calibrators/left_arm-calib.xml
+++ b/ergoCubSN002/calibrators/left_arm-calib.xml
@@ -18,7 +18,7 @@
 	<group name="CALIBRATION">
 		<param name="calibrationType">        10                 10              10          10        12           12            12            12           14          12           14          14             14      </param>
 		<param name="calibration1">           4000               -3000           -3000       4000      9385         30845         3031          0            300         0            300         300            300     </param>
-		<param name="calibration2">           0                  0               0           0         0            0             0             0            0           0            0           0              0       </param>
+		<param name="calibration2">           0                  0               0           0         0            0             0             0            728         0            1092        1092           1092       </param>
 		<param name="calibration3">           0                  0               0           0         0            0             0             0            0           0            0           0              1       </param>
 		<param name="calibration4">           0                  0               0           0         0            0             0             0            0           0            32768       0              16384   </param>
 		<param name="calibration5">           0                  0               0           0         0            0             0             0            17603       0            56397       5625           47131   </param>
diff --git a/ergoCubSN002/hardware/mechanicals/left_arm-eb23-j7_10-mec.xml b/ergoCubSN002/hardware/mechanicals/left_arm-eb23-j7_10-mec.xml
index a66bfcfdec..b99efb7e0b 100644
--- a/ergoCubSN002/hardware/mechanicals/left_arm-eb23-j7_10-mec.xml
+++ b/ergoCubSN002/hardware/mechanicals/left_arm-eb23-j7_10-mec.xml
@@ -23,10 +23,10 @@
     </group>
 
     <group name="LIMITS">
-        <param name="hardwareJntPosMax">    90              90              90              90         </param>
-        <param name="hardwareJntPosMin">    0               0               0               0          </param>
-        <param name="rotorPosMin">         -31500          -31500          -31500          -31500     </param>
-        <param name="rotorPosMax">         -100            -100            -100            -100       </param>
+        <param name="hardwareJntPosMax">    98              98              98              98         </param>
+        <param name="hardwareJntPosMin">    4               6               6               6          </param>
+        <param name="rotorPosMin">         -34291           -34291           -34291         -34291     </param>
+        <param name="rotorPosMax">         -1496            -2193            -2193          -2193       </param>
     </group>
 
     <group name="COUPLINGS">
diff --git a/ergoCubSN002/hardware/motorControl/left_arm-eb23-j7_10-mc.xml b/ergoCubSN002/hardware/motorControl/left_arm-eb23-j7_10-mc.xml
index f070f93768..fd164aa3ed 100644
--- a/ergoCubSN002/hardware/motorControl/left_arm-eb23-j7_10-mc.xml
+++ b/ergoCubSN002/hardware/motorControl/left_arm-eb23-j7_10-mc.xml
@@ -11,17 +11,17 @@
     <xi:include href="../motorControl/left_arm-eb23-j7_10-mc_service.xml" />
 
     <!-- joint number                           0                   1                   2                   3                   -->
-    <!-- joint name                             thumb               index               medium              pinky               -->    
+    <!-- joint name                             thumb               index               medium              pinky               -->
     <group name="LIMITS">
-        <param name="jntPosMin">                0                   0                   0                   0                  </param>
-        <param name="jntPosMax">                90                  90                  90                  90                 </param>
+        <param name="jntPosMin">                4                   6                   6                   6                  </param>
+        <param name="jntPosMax">                98                  98                  98                  98                 </param>
         <param name="jntVelMax">                1000                1000                1000                1000               </param>
         <param name="motorOverloadCurrents">    2000                2000                2000                2000               </param>
         <param name="motorNominalCurrents">     1100                1100                1100                1100                </param>
-        <param name="motorPeakCurrents">        1500                1500                1500                1500               </param>    
+        <param name="motorPeakCurrents">        1500                1500                1500                1500               </param>
         <param name="motorPwmLimit">            3360                3360                3360                3360               </param>
-    </group>       
-    
+    </group>
+
     <group name="TIMEOUTS">
         <param name="velocity">                 100                 100                 100                 100                 </param>
     </group>
@@ -30,7 +30,7 @@
         <param name="stiffness">                0.0                 0.0                 0.0                 0.0                 </param>
         <param name="damping">                  0.0                 0.0                 0.0                 0.0                 </param>
     </group>
-    
+
     <group name="CONTROLS">
         <param name="positionControl">          POS_PID_DEFAULT     POS_PID_DEFAULT     POS_PID_DEFAULT     POS_PID_DEFAULT     </param>
         <param name="velocityControl">          POS_PID_DEFAULT     POS_PID_DEFAULT     POS_PID_DEFAULT     POS_PID_DEFAULT     </param>
@@ -42,7 +42,7 @@
 
 
     <!-- default position PID: begin -->
-    
+
     <group name="POS_PID_DEFAULT">
         <param name="controlLaw">               minjerk         </param>
         <param name="outputType">               pwm             </param>
@@ -61,14 +61,14 @@
     <!-- default position PID: end -->
 
 
-    <!-- other default PIDs: begin -->   
+    <!-- other default PIDs: begin -->
     <!-- other default PIDs: end -->
 
 
-    <!-- custom PIDs: begin -->    
+    <!-- custom PIDs: begin -->
     <!-- custom PIDs: end -->
-    
+
 </device>
 
 
-        
+