©2013 DJI Innovations. All Rights Reserved. 

# ZENMUSE H3
- 2D Gimbal User Manual V 1

. 1 6

For Firmware IMU V 1

. 4 , GCU V1. 6 , CMU V 1.0 & Assistant Software V 1. 02 201 3

. 11

. 21 Revision



# www.dji.com©2013 DJI Innovations. All Rights Reserved. 2 

# Warning & Disclaimer No adjusting or amending is allowed to the H3

- 2D!!! Before use, m ake sure to mount the c amera to gimbal first, and then mount the gimbal to aircraft. After this, you can power on the gimbal

. H3

- 2D is specialized for Camera and Lens before it leaves the factory. Please mount your camera to H3

- 2D when get it. No adjusting or amending is allowed to H3

- 2D . Do not modify or add any other component/device (such as filter, lens hood, etc.) to the camera; make sure to use the original battery; otherwis e it may end up with worse performance or even internal malfunction. The gimbal can only work with Au topilot system specified by DJI Innovations (NAZA

- M/NAZA

- M V2/WooKong

- M), so as to ensure the highest stability and precision. Please download the corresponding assistant software and upgrade the autopilot system MC firmware, otherwise may lead t he gimbal work abnormally. Make sure the Autopilot system operates in the safest manner when the main power battery is connected. We strongly recommend customers to remove all propellers, use power supply from R/C system or flight pack battery, and keep children awa y during gimbal calibration and parameter setup. Please strictly follow these steps to mount and connect gimbal on your aircraft, as well as to install the assistant software on your computer. Please respect the AMA’s National Model Aircraft Safety Code.
A s DJI Innovations has no control over use, setup, final assembly, modification (including use of non

- specified DJI parts i.e. motors, ESCs, propellers, etc.) or misuse, no liability shall be assumed nor accepted for any resulting damage or injury. By the a ct of use, setup or assembly, the user accepts all resulting liability. DJI assumes no liability for damage(s) or injuries incurred directly or indirectly from the use of this product.

DJI and H3

- 2D are registered trademarks of DJI Innovations Names of pr oduct, brand, etc., appearing in this manual are trademarks or registered trademarks of their respective owner companies. This product and manual are copyrighted by DJI Innovations with all rights reserved. No part of this product or manual shall be reprod uced in any form without the prior written consent or authorization of DJI Innovations. No patent liability is assumed with respect to the use of the product or information contained herein.



# Product Profile

This product is an excellent gimbal designed fo r AP

. Excellent job can be done by this gimbal

. The gimbal has
built

- in slip ring in the mechanical structure, preventing wire rod from winding up. It als o has built

- in independent IMU ( I nertial M easurement U nit ) module, special servos drive module, etc.©2013 DJI Innovations. All Rights Reserved. 

### 3 

# In The Box
Gimbal × 1

The gimbal has built

- in special servos drive module , and independent IMU module. It controls both the tilt and the roll axis , to enhance the attitude stabilization

. 

### Damping Unit × 1 Connect the aircraft and the gimbal, in order t o reduce the

m echanical vibration. There are three types of Vibration A bsorber , the White is softest, the Black is hardest, and the Grey is in the
middle. It is recommended to use the White on DJI F450, not use

any on DJI F550, and the DJI PHANTOM can use any type

. 

## Gimbal Controller Unit (GCU) × 1

Connect the gimbal controller to the autopilot system by
CAN

- B us. A nd Use the 3S~6S power cable to supply power for the GCU and gimbal.


## Screw Pa ckage × 1
M2.5x6.3 : For fixing the camera to the gimbal.
M2.5x 5: For fixing the gimbal to the damping unit.
M 3 x 8 ( with M3 nut s and M3 spacers ): For mounting the damping
unit to the aircraft. 

## Gimbal Video signal Cable ×1 For the gimbal controller unit and your Wireless Video Transmission Unit connecting, transmitt ing the video signal. 

### CAN

- Bus Cable ×1

Use CAN

- Bus to communicate with the autopilot system.


### 8

- Pin Cable ×1
For the gimbal and the GCU connecting, 

## Spare Package ×1 Spare Screw©2013 DJI Innovations. All Rights Reserved. 

### 4 

# Index

WARNING & DISCLAIMER
................................ ................................ ............................... 2
PRODUCT PROFILE
................................ ................................ ................................ .......... 2
IN THE BOX
................................ ................................ ................................ ..................... 3
INDEX
................................ ................................ ................................ ............................. 4
ASSEMBLY
................................ ................................ ................................ ...................... 5
G IMBAL 

## D ESCRIPTION



## ................................ ................................ ................................ ............ 5 STEP1. M OUNT THE 

## G IMBAL TO THE 

## A IRCRAFT OR 

## L ANDING 

## G EAR



## ................................ ......... 5 STEP2. M OUNT THE 

## C AMERA TO THE 

## G IMBAL



## ................................ ................................ ..... 7 STEP3. D OU BLE 

## C HECK



## ................................ ................................ ................................ ... 7 AUTOPILOT SYSTEM, GCU AND GIMBAL WIRING
................................ ............................ 8
GCU P ORT 

## D ESCRIPTION



## ................................ ................................ ................................ ........ 8 STEP1. M OUNT THE 

## GCU HORIZONTALLY OR VERT ICALLY ON THE AIRCRA FT



## . .............................. 8 STEP2. C ONNECT 

## GCU AND 

## A UTOPILOT 

## S YSTEM



## ................................ ................................ . 8 STEP3. V IDEO 

## S IGNAL 

## T RANSMISSION



## ................................ ................................ .............. 11
ASSISTANT
................................ ................................ ................................ .................... 12
STEP1. I NSTALL 

## D RIVER AND 

## S OFTWARE



## ................................ ................................ ........... 12 STEP2. GUI

................................ ................................ ................................ ................ 12 STEP3. C HANNEL 

## S ETTING



## ................................ ................................ ............................. 12 STEP4. F IRMWARE 

## & S OFTWARE 

## U PGRADE



## ................................ ................................ ...... 13
TEST
................................ ................................ ................................ ............................. 14
STEP1. C HECK 

## L IST 

## B EFORE 

## E VERY 

## F LIGHT



## ................................ ................................ ........ 14 STEP2. G IMBAL 

## T EST



## ................................ ................................ ................................ .... 14
APPENDIX
................................ ................................ ................................ ..................... 15
T ROUBLE 

## S HOOTING



## ................................ ................................ ................................ ............ 15 S ETTINGS 

## U SING WITH THE 

## A2 F LIGHT 

## C ONTROL 

## S YSTEM



## ................................ ............................ 15 S PECIFICATIONS



## ................................ ................................ ................................ ................... 16©2013 DJI Innovations. All Rights Reserved. 

### 5 

# Assembly Gimbal Description Notes: (1) Mack sure nothing blocks the servo driver module rotation, to avoid Servo Driver Module damage. (2) Clear obstacle at once if the rotating gimbal is blocked.



# STEP1. Mount the Gimbal to the Aircraft or Landing Gear The following procedure applies to DJI F450 , DJI other type of aircraft or to your own aircraft. For DJI F450,
there are diagrams for your reference

. 1. Attach the Vibration Absorber to the Top Board of Damper Unit shown in Fig.1. 2. Mount the Top Board of Damper Unit to the Bottom Board of aircraft; fix the M3x 8 screws , M3 spacers
and M3 nuts shown in Fig.2. 3. Plug one port of the 8

- Pin cable into the 8

- Pin port on th e gimbal shown in Fig. 3

. 4. Tighten the M2.5x5 screws to fix the gimbal to the Bottom Board of Damper Unit shown in the Fig. 4 or Fig5, select one of the steps according the position of screw threads. 5. Attach the Vibration Absorber to the Bottom Board of Damper Unit shown in Fig. 6

. 6. Make sure the damping unit is horizontally mounted and both damping board s are parallel ed to the
bottom of the aircraft , further to make sure the gimbal is precisely and firmly assembled. 

## Notes:©2013 DJI Innovations. All Rights Reserved. 

### 6

(1) T his product does not include any extr a aircraft , landing gear or camera, please prepare them by yourself. (2) Make sure the Camera Mounting Base is pointing to the aircraft nose direction

. (3) The gimbal center of gravity has been set, whose position directly determine gimbal performance. Please
do n ot adjust the gimbal center of gravity by yourself. (4) The gimbal is high

- precision controlled. Do not remove any other screws in the gimbal, which may result
in bad performance or even damage. (5) Do not unplug any cable attaching to the gimbal ports, or even ch ange the mechanical structure. (6) The 8

- pin port on the H3

- 2 D gimbal should only be used for connecting to aircraft . Do not connect other devices (such as a video downlink transmitter) to this port, otherwise the gimbal may be damaged.

Fig.1 Fig.2

Fig. 3 Fig. 4

Fig. 5 Fig. 6©2013 DJI Innovations. All Rights Reserved. 

### 7 

# STEP2. Mount the Camera to the Gimbal
1. M ount the camera into the Cam era Mounting Base of gimbal and fix the camera by the Camera Fixed Mounting, shown as Fig .1

. 2. Plug the Camera Interface of gimbal into the System Port of camera, and make sure they are in good
contact, which are marked in Red shown as Fig.2. 3. T ighten the M2. 5x6.3 screw , shown as Fig.3. 4. Please put you hand at the position in red mark shown as Fig.4, and then remove the camera from gimbal with appropriate strengt h , as the Camera Interface is easily damaged

.

Fig .1 Fig.2

Fig.3 Fig. 4 

# STEP3. Double Check Make sure the Lens of camera is pointing to the aircraft nose direction.©2013 DJI Innovations. All Rights Reserved. 

### 8 

# Autopilot System, GCU and Gimbal Wiring GCU Port Description Gimbal Controller Unit (GCU) Port Description 3S~6S To the battery

. Power for the GCU and gimbal.

G8 To Gimbal, transmitting the signal.

Micro

- USB port: PC connection for configuration and firmware upgrades.

CAN

- Bus port: Use a CAN

- Bus cable to connect the GCU to the autopilot system. To Wireless Video Transmission Module, transmitting the Video signal.



### STEP1. 

# M ount the GCU horizontally or vertically on the aircraft. STEP2. 

# Connect GCU and Autopilot System Carry out the following procedures to finish the connection. 

### 1. Keep the Autopilot system in the same state as it was, and upgrade the Main Controller to the latest Firmware (shown as the following table).

WKM NAZA

- M V2 NAZA

- M
Assi stant Software V2.00 (or above) V2.1 2 ( or above ) V2.1 2 (or above)
Firmware Version V 5.22 (or above) V3.1 2 (or above) V3.1 2 (or above)



### 2. Connect the Autopilot S ystem (shown as the following table). For NAZA

- M user, you are asked to prepare a PMU V2 module (Acces sory of NAZA

- M V2) and do some reconnection of the system.
WKM NAZA

- M V2 NAZA

- M (1) Main Controller and PMU
connection Connect the X1 port of PMU to X1 port of Main Controller. Connect the X3 port of PMU V2 to X3 port of Main Controller.©2013 DJI Innovations. All Rights Reserved. 

### 9

(2)PMU Power Ca ble
connection Connect the Power Cable to a connecter, if DJI Multi

- rotor is used, solder the power cable to the power pad on aircraft. (3) GPS/Compass module and Autopilot system connection Connect the GPS/Compass module to any spare CAN

- Bus port on PMU. Connect the GPS/Compass module to the GPS port of PMU V2. Please refer to the following diagram s for more GCU connection details. And refer to the Autopilot system manual for more connection and configuration details.



### 3. Connect the GCU to Autopilot System . And then connect the 8

- Pin cable of gimbal to the G8 port of GCU.
WKM NAZA

- M V2 NAZA

- M (1) GCU and Autopilot System
connection Connect the GCU to any spare
CAN

- Bus port on the WKM system. Connect the GCU to the CAN

- Bus port on the PMU V2 module. (2) G CU Power Cable
connection Connect the GCU Power Cable to a connecter, if DJI Multi

- rotor is used, solder the power cable to the power pad on aircraft. (3) Gimbal TILT Control channel X 3 X1



### 4. Connection has been finished. They can come into use after power on.



### 5. The tilt direction of gimbal can be controlled by one channel of Autopilot System (WKM is X 3 , NAZA

- M and NAZA

- M V2 is X1). Y ou are asked to s et the corresponding channel on your Transmitter, and connect the corresponding port of Receiver to the Main Controller. Use the Gimbal Assistant Software to help you with configuration.



## Notes: (1) For H3

- 2D to work; it MUST be used in conjunction with Naza or WKM; do not power up the gimbal without Naza or WKM connected. (2) Make sure to power on the gimbal after came ra mounting, since the wrong center of gravity will cause motor overheating and then lead to damage. (3) Re

- do the Transmitter calibration after NAZA

- M Firmware upgrade and double check other item s
. (4) Make sure connections are correct; otherwise may lead to the gimbal work abnormally or damage , even cause the autopilot system working abnormally.



### GCU and DJI Autopilot System Connection©2013 DJI Innovations. All Rights Reserved. 

### 10 Fig. 1 GCU and WKM Connection Diagram

Fig. 2 GCU and NAZA

- M V2 Connection Diagram

Fig. 3 GCU and NAZA

- M Connection Diagram with PMU V2 (NAZA

- M V2 Accessory )©2013 DJI Innovations. All Rights Reserved. 

### 11 

# STEP3. Video Signal Transmission A wireless video transmission module is necessary for video signal accessing remotely.

1. Respectively solder th e Video Signal/GND cables to wireless video transmission module (Air End).
2. Plug the gimbal video signal cable head into the GCU Video Signal Port. 

## Notes (1) Make sure to connect Wireless Video Transmission Unit to GCU first, then power on. (2) The standard gimbal video signal cable is recommended. Make sure you solder the gimbal video signal cable to the wireless video transmission unit correctly. And ensure the cables are insulated, to prevent
from short circuit

. Disconnected Video Signal Cable(AV)
GND Cable (3) P lease refer to your wireless vedio transmitter module manual to supply po wer, since GCU can't supply power for it. 

## Tips: (1) Following diagram shows how video signal transit when gimbal working. (2) If video signal access fails, please check each step.©2013 DJI Innovations. All Rights Reserved. 

### 12 

# Assistant STEP1. Install Driver and Software
1. Make sure dri ver is i nstalled correctly, which has been installed before you use W oo K ong - M , NAZA

- M or NAZA

- M V2

. 2. Please download H3

- 2D gimbal assistant software from DJI Innovations website. 3. C lick assistant software Installer and follow the steps to finish installation

. 4. Run the assistant software.


# STEP2. GUI
Connect GCU and PC via a Micro

- USB cable, power on GCU.



# STEP3. Channel Setting
TILT : Slide the TX switch, the corresponding slider of cursor will move , and you can see the gimbal moving by rotating the pitch axis, shown as the following chart

.

Fig.1 Moving Upwards Fig. 2 Moving Downwards©2013 DJI Innovations. All Rights Reserved. 

### 13 

# STEP4. Firmware & Software Upgrade Firmware Upgrade Please strictly follow the operation procedures for firmware upgrade; otherwise the gimbal might not work properly.
1. Make sure your computer is connected to the Internet.
2. Please close all the other applications during firmware upgrade, including anti

- virus software and firewall.
3. Make sure the power supply is securely connected. DO NOT un - plug the power supply until firmware upgrade has finished. 4. Connect the GCU to PC with a Micro

- USB cable, DO NOT break connection until firmware upgrade has
finished.
5. Run the Software and wait for connection.
6. Select Upgrade  Main Control, IMU and CMU

. 7. DJ I Innovations server will check current firmware version, and get the latest firmware prepared for the
unit.
8. If there is a firmware version more up

- to

- date than your current version, you will be able to click the Upgrade Version

. 9. Wait until Assistant softw are finishes Upgrade

. 10. Click OK and power cycle the unit after at le ast 5 seconds.



## Notes: (1) CMU is short for C amera M ulti U nit , which is used for camera functions control. (2) D uring IMU and CMU upgrade, i t is recommended to unplug the CAN

- Bus cable between GCU and MC to avoid MC disturbing the upgrade

. (3) After firmware upgrade, please re

- recognize setup using Assistant software. (4) If it is notified that the network or DJI Innovations server is busy, please try again later with above procedures. (5) If firmware upgrade failed, please try again with the above procedures. 

### Software Upgrade
Click Info  Software Info , i f there is a software version more up

- to

- date than your current version, you will be able

to download the Upgrade Version

. You can also check the product ver sion via Info  SN . This includes Hardware ID , IMU , GCU , Software. SN is a 32 digits authorization code for unit function activations. We had already filled in the authorization code for your unit after manufacture. You might be asking to fill in the new SN in the future if you brought new function upgrades. Fill in the SN and then click Write button. If you filled in an invalid SN over 30 times, your product will be locked and you have to contact our customer support.©2013 DJI Innovations. All Rights Reserved. 

### 14 

# Test STEP1. Check List Before Every Flight For safety reasons, please pay serious attention to all following items Before Every Flight

. (1) Gimbal is installed firmly to aircraft , and camera mounted correctly and stably. Make sure the Lens of camera is pointing to the aircraft nose direction. (2) All cables ar e in correct and firm connection, without anyone in backwards. (3) Gimbal video signal cable is in good soldered condition if wireless video transmission module used. Make

sure to connect Wireless Video Transmission Unit to GCU first, then power on. (4) Correct T X settings. (5) Correct camera settings. (6) Normal connection between GCU and autopilot system. (7) Upgrade Autopilot System MC Firmware.


# STEP2. G imbal Test

1. Make sure the batteries are fully charged for transmitter, GCU and all the other devices on your aircraft. 2. Switc h on the TX. 3. Turn on the camera first then power up the gimbal and wait for gimbal self

- testing. 4. After initializing , camera lens will point to aircraft nose direction, that is, the three axes of gimbal should be in the condition as the above diagram shows. 5. Toggle the Tilt Control switch on your transmitter, and make sure it is working properly. Then try to feel if your gimbal moves to the corresponding direction. If not, check your settings. 6. W hen finishing test, please power off the gimbal first then turn o ff the camera. 

## Note:

 If the gimbal is abnormal (unlike the diagram shows) after initializing, turn to Trouble Shooting in Appendix

.  Keep the power - on gimbal system still and horizontally during test. I f you have to hold and move the©2013 DJI Innovations. All Rights Reserved. 

### 15

aircraft with power

- on gimbal, the inclination angle of the aircraft should not exceed 35 °

.  P lease do not land the aircraft with power

- on gimbal on uneven ground ( such as grass lawn or rocky roads), in which environment there may have external forces act on the gimbal or the gi mbal will get shocked, then the gimbal will enter into Hibernation Mode.

 Hibernation Mode for gimbal protection. I n the condition that the camera is not mounted on the gimbal the gimbal will enter into Hibernation Mode, in which the gimbal is out of contro l from Transmitter

. Y ou must mount the camera correctly and power cycle the system to activate the gimbal.
 Hibernation Mode for gimbal protection. W hen certain external forces act on the gimbal, it will enter
Hibernation Mode too. Y ou must take notes to av oid too large forces affecting the normal working status of gimbal and power cycle the system to activate the gimbal.
 It’s better to use separate battery pack to test the gimbal at the beginning to ensure functionality before making step s to power on of fl ight controller, gimbal, OSD, FPV gears etc. 

# Appendix Trouble Shooting NO. What Why How to

1 Gimbal keeps drifting
after initialization (1) TX trims are too much (1) Adjust the TX trims (2)GCU and autopilot system is
disconnected (3)Gimbal mounting d irection is disaccording to aircraft nose (2)Connect GCU and autopilot
system (3)Ensure Gimbal mounting direction
is the same with aircraft nose

2 The gimbal is abnormal after initializing Abnormal calibration after
manufacture Please contact local dealer or DJI
Innovations customer service

3 Can’t distinguish gimbal pointing when using BVR flight Try to use a wireless video
transmission module. 

# Settings Using with the A2 Flight Control System
Users should configure the H3

- 2D ’ s pitch control in the A2 a ssistant software when using with the A2 Flight Control System. M ap the H3

- 2D channel to a switch on the transmitter . It is recommended to use a Knob switch channel, which is only used for H3

- 2D pitch control on the “ Channel Map ” page (as the following dia gram shown)

.©2013 DJI Innovations. All Rights Reserved. 

### 16 

# Specifications General
Built

- In Functions (1) 2

- axis gimbal (2) DJI gimbal special servos d rive module (3) All aluminum alloy manufacture (4) Built

- in independent IMU module (5) L ight

- weight (6) WKM, NAZA

- M , NAZA

- M V2 ,PHANTOM supported (7) GoPro 3 supported (8) Based on Zenmuse technology 

## Peripheral Supported Camera GoPro 3 S ilver and B lack GCU Input Power 3S~6S LiPo (12 V ~26V) Assistant Software System Requirement Windows XP SP3; Windows 7; Windows 8 

## Mechanical& Electrical Characteristics Working Current  Static current: 400mA (@12V)

 Dynamic current: 600mA (@12V) Gimbal In put Power 3S~6S (12 V ~26V) Oper ating Temperature

- 10 °C ~ 50 °C Gimbal Weight 230g( With G o P ro 3 ) Gimbal Dimensions (With Damping Unit) 99.5 mm × 85.5 mm × 92.75 mm GCU Weight 22g GCU Dimensions 42 mm X32 mm X9.3 mm 

## Working Performance Controlled Angle Accuracy 0.08° Maximum Controlled R otation Speed Roll axis:±30°/s Tilt axis: ±130°/s Controlled Rotation Range Roll axis control : ±39° Tilt axis control : - 130~+50° 

## Regulatory Approvals FCC (USA) Yes CE ( EU ) Yes ROHS(EU) Yes