© 2012 DJI Innovations. All Rights Reserved. 

### 1 | 

# Zenmuse Z15 User Manual

V 2.0

201 3

. 03

. 2 7 Revision

www.dji

- innovations.com© 2012 DJI Innovations. All Rights Reserved. 

## 2 

# Warning & Disclaimer
No adjusting or amending is allowed to Z15.
Z15 is specialized for Camera and Lens before it leaves the factory. Please mount your camera to Z1 5 when get it. No adjusting or amending is allowed to Z15. Do not modify or add any other component/device (such as filter, lens hood, etc.) to the camera ; m ake sure to use the original battery ; otherwise it may ends up with worse performance or even inter nal malfunction.
Z15 can only work with Autopilot system specified by DJI Innovations ( Ace One/ Ace WayPoint/ WooKong M) , so as to ensure the highest stability and precision .Plea se down load the corresponding assistant software and upgrade the autopilot sys tem MC firmware , otherwise may lead the Z15 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 o r flight pack battery, and keep children away 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. As 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 act of use, setup or assembly, the user accepts all resulting liability. D JI assumes no liability for damage(s) or injuries incurred directly or indirectly from the use of this product. DJI and Zenmuse is registe red trademark of DJI Innovation s Names of product, brand, etc., appearing in this manual are trademarks or registered trademarks of their respective owner companies. This product and manual are copyrighted by DJI Innovation s with all rights reserved. No pa rt of this product or manual shall be reproduced in any form without the prior written consent or authorization of DJI Innovation s . No patent liability is assumed with respect to the use of the product or information contained herein.

Note1: Upgrade WooKon g M firmware to V5.08 or above, ACE ONE firmware to V4.02 or above , or ACE WayPoint firmware
to V4.02 or above

. Note2: Specified Camera and Lens Type list for Z15

- N and Z15

- G

. ( Items in g ray italics font are not yet supported at present

. ) Z15 Type
Camera Type Lens Type Z15
- N Z15
- G

SONY Panasonic

NEX
- 5N NEX
- 7 NEX
- 5R GH2
Supported E 16mm f/2.8( SEL16F28) Lumix G14 mm/F2.5

Lumix G20 mm/F1.7

N ot yet supported Sonnar T*E 24mm F1.8 ZA Lumix G 1:2.5 / 14 ASPH


### Note 3 : All diagrams in the manual are for SONY NEX

- 5N with SEL16F28 u nless stated , since different camera or lens should use special component

.© 2012 DJI Innovations. All Rights Reserved. 

## 3 

# Product Profile

Z15 is an excellent gimbal designed for AP

. The gimbal has built

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

- in independent IMU module, special servos drive
module , HDMI

- AV module, etc. Excellent job can be done by Z15 in any working mode , including
Orientation

- locked control, Non orientation

- locked control and FPV Mode ( R eset ).



# Z15 Workin g Mode

Orientation
- locked Mode Non orientation
- locked
Mode FPV Mode ( R eset )

Gimbal Pointing G imbal pointing moves
with aircraft nose direction G imbal pointing stays unchanged when aircraft

nose moves. G imbal pointing stays
the same as aircraft
nose dire ction when
power up Gimbal and
Aircraft Nose Relative Angle G imbal pointing keep s the same relative angle with
aircraft nose direction R elative angle between gimbal pointing and aircraft nose direction may change Zero r elative angle between gimbal point ing
and aircraft nose
TX Control C ontrolled C ontrolled Not controlled Attitude stability YES YES YES
V ibration
R eduction YES YES YES

Stick Meaning ROLL is locked level in
0~2/3 c ommand stick and

rotate in 2/3 ~endpoint ;

c ommand stick stands for
rotati on angle limited to



## - + 45 o 

### in PAN; c ommand stick stands for gimbal rotation velocity in TILT. Command stick stands for gimbal rotation velocity , Stick center position is for 0 , its

endpoint is maximum velocity. ——

Command

Linearity YES YES

——

Note1: Gimbal pointing means gimbal PAN rotation direction.
Note2: Attitude stability means that gimbal ’ s ROLL/TILT will not follows the aircraft ’ s ROLL/PITCH

. Note3: Gimbal rotating maximum velocity is c orrespond ing to TX 100% end

- point.© 2012 DJI Innovations. All Rights Reserved. 

## 4 

# In B ox

Gimbal × 1

In the mechanical structure, the gimbal ha s built

- in slip ring s , preventing wire rod from winding up, which also enables free rotations
for the 3 axes rotating rods

. The gimbal has built

- in Z15 gimbal special servos drive module , independent IMU module and HDMI

- AV module.



# Gimbal Controller Unit (GCU) × 1

Connect the gimbal controller to the autopilot system by CAN bus.
The GCU will control the gimbal’s pan , roll and tilt axes rotation.



# Lens Retaining Ring × 1 , L
- Connector × 1 (Z15
- N)

For f ixing the camera lens

. (With jackscrew × 2 ) 

# Lens Retaining Ring Shim × 1 (Z15
- N)

For fastening the camera lens. 

# Mounting Bracket × 4

For gimbal and bi

- pod connection. 

# Camera Mount Screw × 1

For camera mount. 

# Lens Retaining Ring Screw × 1 (Z15
- N)

For fixing the lens retaining ring to the gimbal.


# H ot S hoe × 1 (Z15
- G )

For fastening the camera to gimbal

.© 2012 DJI Innovations. All Rights Reserved. 

## 5 

# Quick Twist Screw for H ot S hoe × 1 (Z15
- G )

For fixing the hot shoe to camera

. 

# Quick Twist Screw for Camera × 1 (Z15
- G )

For fixing the camera to gimbal

. 

# Screw × 10 (Z15
- N) or Screw × 8 (Z15
- G ) For mounting gimbal to aircraft ( 2.5 *8 Head

- cup screw × 8)

. ( Only Z15

- N needs ) For fixing the lens retaining ring ( M 2.5*5 Screw × 2 )

. 

# Gimbal Video Power Cable × 1

For gimbal control ler and Wireless Video Transmission Unit connecting, transmitting AV signal.



## Micro
- USB Cable × 1

For adjusting parameter and upgrading firmware via PC

.


## CAN
- Bus Cable × 1
U se CAN

- Bus to power and communicate with the autopilot system

. D J I D J I 

# Spare P ackage × 1
Damping units, Spare Screw
, and Mounting B racket.

Note: there are different between Z15

- N and Z15

- G.© 2012 DJI Innovations. All Rights Reserved. 

## 6 

# Contents

WARNING & DISCLAIMER

................................ ................................ ............................... 2

PRODUCT PROFILE

................................ ................................ ................................ .......... 3

IN BOX

................................ ................................ ................................ ............................ 4

CO NTENTS

................................ ................................ ................................ ...................... 6

MATTERS NEED ATTENTI ON

................................ ................................ ............................ 7

GIMBAL DESCRIPTION

................................ ................................ ................................ .... 8

CAMERA SE TUP

................................ ................................ ................................ ............ 10

MOUNT

................................ ................................ ................................ ........................ 12 CAMERA WIRING/SHUTTE R CONTROL

................................ ................................ ......... 15

VIDEO SIGNAL TR ANSMISSION

................................ ................................ ..................... 17

GIMBAL CONTROLLER WI RING

................................ ................................ ..................... 18
WORKING MODES/HDMI/A UX2/AUX3 SWITCH SETU P

................................ ...................... 20

ASSISTANT

................................ ................................ ................................ .................... 22

TEST

................................ ................................ ................................ ............................. 25

APPENDIX

................................ ................................ ................................ ..................... 27

1

- P ILOT 

# S OLUTION



# ................................ ................................ ................................ .............. 27 2

- P ILOT 

# S OLUTION



# ................................ ................................ ................................ .............. 28 P ORT 

# D ESCRIPTION



# ................................ ................................ ................................ .............. 29 G IMBAL 

# LED I NDICATOR



# ................................ ................................ ................................ ....... 30 G IMBAL 

# L ABEL 

# D ESCRIPTION



# ................................ ................................ ................................ . 30 T ROUBLE 

# S HOOTING



# ................................ ................................ ................................ ............ 31 S PEC IFICATIONS



# ................................ ................................ ................................ ................... 32© 2012 DJI Innovations. All Rights Reserved. 

## 7 

# Matters Need Attention
For safety reasons, please pay serious attention to all following items:

z 

## Ensure nothing blocks the servo driver module rotation, to avoid motor damage.

z 

## Camera ’ s HDMI r esolution s hou ld be set to 1080 i

.
z 

## Ensure to mount the side of servo driver module1 without ports to the aircraft nose
direction.

z 

## The gimbal center of gravity has been set, whose position directly determine gimbal performance. Please do not adjust the gimbal center of gr avity by yourself.

z 

## The gimbal is a high

- precision control device. Do not remove any other screws in the gimbal, which may result in bad performance or even damage.

z 

## Do not unplug any cable attaching to the gimbal ports , or even change the mechanical
structu re.

z 

## Make sure all wiring is correct, otherwise may lead to gimbal abnormal work or even
out of control.

z 

## Make sure to connect Video Transmission Unit to gimbal controller before power on the system.

z 

## The standard gimbal video power cable is recommended.

z 

## Mak e sure you solder the gimbal video power cable to the wireless video transmission unit correctly, to avoid the 12V power burn the gimbal or your own device. And
ensure the cables are insulated, to prevent from short circuit

.
z 

## Ensure the 12V power is safe for you own device when other power cable is used.

z 

## Make sure the wireless video transmission module current consumption does not exceed 1A, to prevent GCU from damage.

z 

## Pay attention to that S800 power supply voltage is within the defined limits (6S), when using one battery for both S800 and Gimbal power supply.

z 

## Different camera or lens should use special component

.
z 

## P revent the Gimbal from the power cable; otherwi se it may lead to the short circuit of
the Gimbal.© 2012 DJI Innovations. All Rights Reserved. 

## 8 

# Gimbal Description

Notices:

z Ensure nothing blocks the servo driver module rotation, to avoid motor damage.

z Clear obstacle at once if the rotating gimbal is blocked. 

# Tips:

z Servo driver module is with tw o motor command input ports and one encoder private port.

z HDMI

- AV module conver ts HDMI video signal to AV video signal with a cable connecting to camera HDMI port; also transform s TX signal into shutter control signal with a shutter control module

. z (Z15

- N) Shutter c ontrol m odule is for camera shutter control using an infrared signal emission head.

z Please read the related content according to your product ( Z15

- N or Z15

- G )

.



# Z15
- N

( T o G C U G 6 ) D a m p i n g U n i t

( T o G C U G 8 )

S e r v o D r i v e r M o d u l e P o r t

E n c o d e r P r i v a t e P o r t M o t o r C o m m a n d I n p u t P o r t 

## P a n ± 3 6 0 ° c o n t i n u o u s r o t a t i o n

S e r v o D r i v e r M o d u l e 3

C a m e r a l M o u n t P o s i t i o n

C a m e r a M o u n t S c r e w
- h o l e H D M I

- A V P o r t

I M U M o d u l e H D M I

- A V M o d u l e



## T i l t ± 3 6 0 ° c o n t i n u o u s r o t a t i o n ± 4 0 ° ( ± 3 6 0 ° m e c h a n i c c o n t i n u o u s r o t a t i o n ) 

## R o l l S e r v o D r i v e r M o d u l e 2

S h u t t e r C o n t r o l M o d u l e S e r v o D r i v e r M o d u l e 1 M o u n t i n g B r a c k e t M o t o r C o m m a n d I n p u t P o r t

P o r t o f 8

- P i n C a b l e

G i m b a l L E D I n d i c a t o r

L e n s R e t a i n i n g R i n g
L e n s R e t a i n i n g R i n g S h i m© 2012 DJI Innovations. All Rights Reserved. 

## 9 

# Z15
- G

( T o G C U G 6 ) D a m p i n g U n i t

( T o G C U G 8 )

S e r v o D r i v e r M o d u l e P o r t

E n c o d e r P r i v a t e P o r t M o t o r C o m m a n d I n p u t P o r t 

## P a n ± 3 6 0 ° c o n t i n u o u s r o t a t i o n

S e r v o D r i v e r M o d u l e 3

C a m e r a l M o u n t P o s i t i o n

C a m e r a M o u n t S c r e w
- h o l e H D M I

- A V P o r t

I M U M o d u l e H D M I

- A V M o d u l e



## T i l t ± 3 6 0 ° c o n t i n u o u s r o t a t i o n ± 4 0 ° ( ± 3 6 0 ° m e c h a n i c c o n t i n u o u s r o t a t i o n ) 

## R o l l S e r v o D r i v e r M o d u l e 2

S h u t t e r C o n t r o l C a b l e S e r v o D r i v e r M o d u l e 1 M o u n t i n g B r a c k e t M o t o r C o m m a n d I n p u t P o r t

P o r t o f 8

- P i n C a b l e

G i m b a l L E D I n d i c a t o r H o t S h o e© 2012 DJI Innovations. All Rights Reserved. 

## 10 

# Camera Setup

Configure your camera by following the settings , meet ing the requirements of Z15. Please read the related content according to your product ( Z15

- N or Z15

- G )

.



# Sony NEX
- 5N /7 / 5R

M e n u S h o t M o d e C a m e r a I m a g e S i z e

B r i g h t n e s s /

C o l o r P l a y b a c k S e t u p



### S h o t M o d e M

a n u a l E

x p

o

s u r e 

### C a m e r a D r i v e M o d e R e m

o t e C

d

r

. A F / M F S e l e c t M F 

### B r i g h t n e s s / C o l o r I S O W h i t e B a l a n c e N o t u s e A u t o 

### S e t u p L e n s C o m p : S h a d i n g O f f O f f O f f H D M I R e s o l u t i o n 1 0 8 0 i L e n s C o m p : C h r o

. A b e r L e n s C o m p : D i s t o r t i o n 1 / 6 0 F 3

. 5 M S h u t t e r A

p

e r t u r e N o t u s e A u t o



### z Please s et Shot Mode as Manual Exposure M

. z Shutter : Value 1/15~1/80 is recommended, do not set it bellow 1/80 ( like 1/ 12 0 )

. z Aperture : A ccording to exposure degree.

z Drive Mode : Set as Remote Cdr.
, so that camera shutter can be control led by TX.

z AF/MF Select: Select MF, otherwise output image would be flashing

. z ISO: Please fix a certain value instead of automatically

. z White Balance: Please do not set it to auto white balance mode.

z Lens Comp: Set Shading/Chro.Aber/Distortion Off.

z HDMI Resolution: S hould be set to 1080i

.



# Panasonic GH2

C 3 C 2 

### C

1 

## M S

A P S C N M

i A 

### M F 

## A F C A F

S

z Please s et Shot Mode as Manual Exposure M

.
z MF/AFC/AFS Select: Selec t MF 。
z Using the MOTION PICTURE Mode Menu, set the REC MODE as AVCHD(1080i) 。© 2012 DJI Innovations. All Rights Reserved. 

## 11 Tips: In the Menu setting s , the mandatory values are in red italic font while recommended values in blue. 

## Notices : Flashing image output may occur if not follow the recommended setti ngs.© 2012 DJI Innovations. All Rights Reserved. 

## 12 

# Mount

Mount Lens (Z15
- N)/ Mount Hot Shoe (Z15
- G) Please read the related content according to your product ( Z15

- N or Z15

- G )

. For Z15

- N, please read Mount
Lens , otherwise read Mount Hot Shoe for Z15

- G

.



# Mount Lens (Z15
- N) Step1 Step2 Step3

a l i g n

a l i g n C a m e r a R e t a i n i n g R i n g L e n s L

- C o n n e c t o r S c r e w

J a c k s c r e w

M a r k

S h i m 

### Step1 : Put retaining ring through lens before mount ing onto camera, a ccurate the alignment by matching the mark

. Step 2 : Slip the shim between lens and retaining ring, fix i n (but not tighten ) screw s (M 2.5*5 Screw × 2)

. Step 3 : The L

- C onnector is active.



# Mount Hot Shoe (Z15
- G) Step1 Step2 Step3

C a m e r a H o t S h o e Q u i c k T w i s t S c r e w

f o r H o t S h o e



### Step1 : I nsert the hot shoe into the camera. Step 2 : A djust the hot shoe and fix the quick twist screw. Step 3 : Finished.© 2012 DJI Innovations. All Rights Reserved. 

## 13 

# Mount Camera into Gimbal
Please r ead the related content according to your product ( Z15

- N or Z15

- G )

.



# Z15
- N

R e t a i n i n g R i n g S c r e w

C a m e r a M o u n t i n g S c r e w J a c k s c r e w s a n d O t h e r S c r e w s



### Step 4 : Mount the camera into the gimbal and tighten the camera mounting screw. Step 5 : Adjust the L

- Connector, and fix the retaining ring screw. Step 6 : Tighten the jackscrews and other screws. 

## Z15
- G :

C a m e r a M o u n t i n g S c r e w Q u i c k T w i s t S c r e w f o r C a m e r a



### Step 4 : Mount the camera into the gimbal. Step 5 : Adjust the camera and tighten the camera mounting screw. Step 6 : Tighten the quick twist screw for camera.© 2012 DJI Innovations. All Rights Reserved. 

## 14 

# Mount Gimbal to Bi
- pod
F ollowing diagram shows mounting gimbal to DJI Innovations S800 bi

- pod. You may mount the gimbal to a
bi

- pod prepared by you referring to the following diagram.



### C a m e r a G i m b a l

D J I S 8 0 0 B i

- p o d M o u n t i n g B r a c k e t



## A

i r c

r a

f

t N o

s

e P a r a l l e l



## X
Y Z S c r e w s

L e n s

Step 7 : Install gimbal to a b i

- pod with mounting bracket ; tighten up screws ( 2.5 *8 Head

- cup screw × 8 ) with appropriate screw glue. 

# Notices:

z Ensure to mount the side of servo driver module1 without ports to the aircraft nose direction.

z Make sure the top and bottom pl ates of damping unit stay parallel when mountin g, prevent ing the damping units from stretched and distorted.

z Keep overall balance when mounting, in order to make the center of gravity on the red line (Z axis).

z The gimbal center of gravity has been set, whose position directly determine gimbal performan ce.
Please do not adjust the gimbal center of gravity by yourself.

z The gimbal is high

- precision control led . Do not remove any other screws in the gimbal, which may
result in bad performance or even damage.

z Do not unplug any cable attaching to the gimbal po rts , or even change the mechanical structure.

z Make sure the wiring is correct, otherwise may lead to gimbal abnormal work or even out of control.© 2012 DJI Innovations. All Rights Reserved. 

## 15 

# Camera Wiring/Shutter Control

Camera Wiring
C onnect the camera correctly, since the gimbal work s with a HD MI

- AV module for converting video signal format and transforming TX signal into shutter control signal. Please read the related content according to your product ( Z15

- N or Z15

- G )

. Ensure camera i s setup first, and then follow the procedures to connect came ra and gimbal. 

# Z15
- N

H D M I

- A V I n t e r f a c e

C a m e r a H D M I P o r t

I n f r a r e d S i g n a l E m i s s i o n U n i t



## C a m e r a S h u t t e r C o n t r o l M o d u l e

S h u t t e r

C a m e r a L e n s R e m o t e S e n s o r

G i m b a l L E D I n d i c a t o r H D M I

- A V

M o d u l e I M U



# Z15
- G

H D M I

- A V I n t e r f a c e

C a m e r a H D M I P o r t 

## C a m e r a S h u t t e r

C a m e r a L e n s C a m e r a S h u t t e r C o n t r o l C a b l e

G i m b a l L E D I n d i c a t o r H D M I

- A V

M o d u l e I M U



### Step1: Connect the gimbal HDMI

- AV module to camera HDMI port with a HDMI

- AV connection cable. Step2: For Z15

- N, m ake sure the infrared signal emission unit is align ed to the remote sensor.
For Z15

- G, connect the camera shutter control cable to the camera. 

# Notices :© 2012 DJI Innovations. All Rights Reserved. 

## 16 z When disconnect the cable between HDMI

- AV module and camera, dismount the camera, and unplug the HDMI

- AV interface

. z (Z15

- N) Make sure the infrar ed signal emission unit is aligned to the remote sensor.



# Shutter Control

Z15 enables transforming TX command into shutter control signal, please set one 2

- position switch /channel
for remote shutter control.

F or Z15

- N, s et the Drive Mode as Remote Cdr. i n Camera Menu , and make sure the shutter control module is correctly mounted and wired.

For Z15

- G, make sure camera shutter control cable is correctly wired.

Whichever 2

- position switch on your transmitter selected, wire the right channel of receiver to S HUT port. One switch toggle is for one shooting. For example, toggle twice will achieve two shootings. Position

- 1 Æ Position

- 2 : First shooting
Position

- 2 Æ Position

- 1 : Second shooting



# Notices:

z Set the camera of Z15

- G to “Manual Video”, the shutter can be used to record video

. One toggle is for start/stop recording.

z The video recording of Z15

- N is available by setting the AUX3 channel of the GCU. Please refer to
the AUX3 Switch Setup for details. 

# Tips:

z Following diagram shows how the shutter control works.

z If the shutter control works abnormal ly , please check each step.

T X

2
- P o s i t i o n S w i t c h R C R e c e i v e r

2
- P o s i t i o n S w i t c h C h a n n e l T X C o m m a n d 

### G C U

S H U T G i m b a l

H D M I
- A V M o d u l e W i r e l e s s I n t e r n a l C a b l e

C a m e r a S h u t t e r C o n t r o l M o d u l e


### I n f r a r e d U n i t S h u t t e r C o n t r o l S i g n a l

2
- P i n s C a b l e 

### C a m e r a
S h u t t e r T X C o m m a n d T X C o m m a n d

W i r e l e s s

S h u t t e r C o n t r o l S i g n a l 3
- P i n s C a b l e



### Z 1 5
- N

Z 1 5
- G C a m e r a S h u t t e r C o n t r o l C a b l e T x 

## 1 2

- P o s i t o n S w i t c h 

## 2© 2012 DJI Innovations. All Rights Reserved. 

## 17 

# Video Signal Transmission

A w ireless video transmission module is necessary for video signal access ing remotely

.

W i r e l e s s V i d e o T r a n s m i s s i o n M o d u l e



### A i r E n d

P o w e r ( R e d : 1 A @ 1 2 V ) V i d e o S i g n a l ( Y e l l o w : A V ) G N D ( B l a c k : ) P o w e r

V i d e o S i g n a l

G N D G i m b a l V i d e o P o w e r C a b l e

V i d e o S i g n a l P o r t



### Step1: Respectiv ely solder the Power/ Video Signal/GND cable s to wireless video transmission module (A ir E nd )

. Step2: Plug the gimbal video power cable head into the GCU Video Signal Port. 

# Notices:

z Make sure to connect W ireless Video Transmission Unit to GCU first, then power on.

z S et HDMI Resolution as 1080i for Z15

- N ; set the REC MODE as AVCHD (1080i) using Z15

- G;
otherwise the wireless video transmission module will work abnormally.

z The standard gimbal video power cable is recommended.

z Make sure you solder the gimbal v ideo power cable to the wireless video transmission unit correctly , to avoid the 12V power burn the gimbal or your own device . And ensure the cables are insulated, to prevent from short circuit

. Power Cable (1A @12V) Video Signal Cable (AV)
GND Cable

z Ensure the 12V power is safe for you own device when using othe r power cable

. z Make sure the wireless video transmission module current consumption does not exceed 1A, to prevent GCU from damage. 

# Tips:

z Following diagram shows how video signal transit when gimbal work ing

. z If video signal access fails , please check each step.

C a m e r a
H D M I G i m b a l

H D M I
- A V m o d u l e H D M I s i g n a l G C U

G 8 A V s i g n a l

W i r e l e s s v i d e o t r a n s m i s s i o n m o d u l e A i r e n d H D M I
- A V c a b l e 8
- P i n s c a b l e G i m b a l V i d e o P o w e r C a b l e

W i r e l e s s v i d e o t r a n s m i s s i o n m o d u l e

G r o u n d e n d W i r e l e s s s i g n a l M o n i t o r

A V i n p u t 5

. 8 G / 2

. 4 G / 1

. 2 G S e l f
- p r e p a r e d b y u s e r A V s i g n a l

A V s i g n a l© 2012 DJI Innovations. All Rights Reserved. 

## 18 

# Gimbal Controller Wiring

GCU Wiring

G i m b a l C o n t r o l l e r ( G C U )

R C R e c e i v e r

· T h e s e a r e e x a m p l e c o n n e c t i o n s

. P r e p a r e 2 T X s , o n e i s f o r g i m b a l c o n t r o l , t h e o t h e r o n e f o r a i r c r a f t c o n t r o l , r e f e r t o 2
- P

i l o t

s S o l u t i o n f o r m o r e d e t a i l i n A p p

e n d i x

.
· I f o n e r e c e i v e r i s u s e d f o r a i r c r a f t a n d g i m b a l c o n t r o l a t t h e s a m e t i m e , r e f e r t o 1
- P i l o t S o l u t i o n f o r d e t a i l i n

A p

p

e n d i x

.

· S e t u p A i l e r o n , E l e v a t o r , R u d d e r c h a n n e l s o n g i m b a l c o n t r o l T X

. C o m m a n d s t i c k s t a n d s f o r g i m b a l r o t a t i o n v e l o c i t y ,

c e n t e r p o s i t i o n i s f o r 0 , e n d p o i n t f o r m a x i m u m v e l o c i t y ( b o t h c l o c k w i s e a n d c o u n t e r c l o c k w i s e d i r e c t i o n s )

. ( E n d P o i n t i s 1 0 0 % )

· C h o o s e o n e 3

- p o s i t i o n s w i t c h / c h a n n e l a s Z 1 5 w o r k i n g m o d e s s w i t c h

. ( M O D E )

· C h o o s e o n e 2

- p o s i t i o n s w i t c h / c h a n n e l A s c a m e r a s h u t t e r c o n t r o l s w i t c h ( S H U T )
, o n e f o r H D M I s w i t c h ( A U X 1 )
, o n e

f o r c a m e r a l e n s o r i e n t a t i o n s w i t c h i n R e s e t M o d e ( A U X 2 )
, a n d a l s o o n e f o r Z 1 5

- N v i d e o c o n t r o l s w i t c h ( A U X 3 )

.
· P l e a s e r e f e r t o W K M / A C E O N E / A C E W a y p o i n t U s e r M a n u a l f o r a i r c r a f t c o n t r o l s e t t i n g

.
· C o n n e c t t h e r e c e i v e r t o G C U c o r r e c t l y

. B a t t e r y

· C o n n e c t t h e X T 6 0 t o t h e G I M B A L o n t h e c e n t e r f r a m e i f D J I S 8 0 0 u s e d

. · A t t e n t i o n t h a t S 8 0 0 p o w e r s u p p l y v o l t a g e s h o u l d b e w i t h i n t h e d e f i n e d

l i m i t s ( 6 S )
, w h e n u s i n g o n e b a t t e r y f o r b o t h S 8 0 0 a n d G i m b a l p o w e r s u p p l y

. · P l e a s e r e f e r t o S 8 0 0 U s e r M a n u a l f o r d e t a i l s

. 

# B a t t e r y ( 4 S ~ 1 2 S )

· M a k e s u r e p o r t s a r e a c c e s s i b l e w h e n i n s t a l l i n g M C s o a s t o f a c i l i t a t e w i r i n g a n d s o f t w a r e c o n f i g u r a t i o n

.

· I n 3

- p i n p o r t s , p i n s n e a r t h e n i c k s a r e s i g n a l p i n s

.

· 6

- p i n c a b l e f o r G 6 , 8

- p i n c a b l e f o r G 8

.

· D O N O T c o v e r t h e h e a t s i n k s , k e e p t h e m u n o b s t r u c t e d

.

· T h e I M U m o d u l e i s N O T w a t e r - p r o o f o r o i l

- p r o o f

. W i r e l e s s V i d e o T r a n s i t i o n M o d u l e A i r E n d

W K M / A C E O N E / A C E W a y p o i n t
P l e a s e r e f e r t o W K M / A C E O N E / A C E W a y p o i n t U s e r M a n u a l f o r a l l c o n n e c t i o n a n d c o n f i g u r a t i o n d e t a i l s

. 

## W K M / A C E O N E / A C E W a y p o i n t A n y s p a r e C A N p o r t o n D J I a u t o p i l o t s y s t e m R C R e c e i v e r ( A i r c r a f t c o n t r o l )

G 8 G 6 O r

R C R e c e i v e r ( F u t a b a / H i t e c ) 7 1 2 4 R C R e c e i v e r ( J R ) A U X 2 R U D D E L E V A I L E 2
- P o s i t i o n S w i t c h
2
- P o s i t i o n S w i t c h

2
- P o s i t i o n S w i t c h
2
- P o s i t i o n S w i t c h 8
- C h a n n e l

8
- C h a n n e l U S B P o r t P C c o n n e c t i o n f o r c o n f i g u r a t i o n a n d f i r m w a r e u p g r a d e s w i t h a n U S B c a b l e

.

H e a t S i n k s

E n s u r e t h e s i d e w i t h c o p p e r c o n t a c t s i s f a c i n g u p w a r d t o w a r d s t h e h e a t s i n k s

. G 8

G 6 G 6 2
- P o s i t i o n S w i t c h 2
- P o s i t i o n S w i t c h

S
- B u s R e c e i v e r ( F u t a b a ) S
- B u s O r

P P M R e c e i v e r P P M O r

T u r n t o n e x t p a g e t o o b t a i n t h e c o r r e s p o n d e n c e b e t w e e n t h e G C U c h a n n e l s a n d S

- B u s / P P M c h a n n e l s

.© 2012 DJI Innovations. All Rights Reserved. 

## 19 

# GCU Ports Indication

F ollowing table shows the GCU channels and TX channels connection.

TX C hannels GCU
C hannels Indication s JR Futaba/Hitec
AILE 1 ROLL For roll axis control ( left / right )

. Velocity is zero if disconnection

. ELEV 2 TILT For tilt axis control

. Velocity is zero if disconnection

. RUDD 4 PAN For pan axis control

. Velocity is zero if disconnection

. AUX2 7 MODE For Working Mode switch

.

2

- position swi tch channel SHUT For camera shutter control

. Off when n on - c onnection and
disconnection

.

2

- position switch channel AUX1 For HDMI

- AV conver sion switch

. Conversion function is on
while non

- c onnection or disconnection

.

2

- position switch channel
O r Futaba S

- B u s channel AUX 2 W hen AUX 2 is connected to a 2

- position switch channel, it is
used as camera orientation ( down or forward) switch in FPV
Mode (Reset)

. The camera orientation is forward while

non - c onnection or disconnection

. If S

- Bus receiver is used, it sho uld be connected to AUX 2 port

.

2

- position switch channel
O r PPM channel AUX 3 W hen AUX 3 is connected to a 2

- position switch channel, it is
used for Z15

- N video recording control

. If PPM receiver is used, it should be connected to AUX 3 port.

F ollowing tab le shows the correspond ing relationship between the GCU and the S

- Bus/PPM channels.
S
- Bus/PPM Channels GCU Channel
1 ROLL
2 TILT
4 PAN
7 MODE
5 SHUT
8 AUX1
9 AUX2
6 AUX3© 2012 DJI Innovations. All Rights Reserved. 

## 20 

# Working Modes/HDMI /AUX2 /AUX3 Switch Setup

Gimbal Work ing Mode Switch Set

Whichever 3

- position switch selected as working mode switch, wire the right channel of receiver to MODE port. At each switch position, use end

- point fine tuning, set the channel AUX2 (JR) /7( Futaba/Hitec ) for the
three Working mode s. Orientation
- locked Mode MODE channel end
- point 60%~ 90%
FPV Mode ( R eset ) back to center
Non orientation
- locked Mode MODE channel end
- point 60%~ 90%



# Notices:

z The gimbal will work in Orientation
- locked Mode , if not connect to MODE

. z Gimbal default work s in FPV Mo de after power on.

z The gimbal will maintain the Working Mode from last moment , if the cable between MODE and RC receiver is disconnecting while working

. 

# Tips:

z For 3

- position switch, you may assign:
Position

- 1 to Non orientation
- locked
Position

- 2 to FPV Mode ( R eset )
Position

- 3 to Orientation
- locked
Position

- 1 and Position

- 3 can be reverse assign ed

. z One 2

- position switch can be assign ed for any two of the working modes as you like.



# HDMI Switch Set

HDMI

- AV module can be set on/off by TX. Please e n sur e camera HDMI port is connected to gimbal correctly.
Whichever 2

- position switch selected as HDMI switch, wire the right channel of receiver to AUX1 port.

Y

ou may assign: Position

- 1 to ON ; Position

- 2 to OFF ; or reverse the assignment.



# Notices:
The came ra HDIM will be on if AUX1 and RC receiver is disconnect ed

. T x 

### 1 2

- p o s i t i o n s w i t c h 

### 2 T x 

## 1 2 3 3

- P o s i t i o n

S w i t c h© 2012 DJI Innovations. All Rights Reserved. 

## 21 

# AUX2 Switch Set

Z15 supports to control the camera lens down or forward in Reset Mode

. Please wire the right channel of
receiver to AUX2 port . Y ou may assign: Position

- 1 to DOWN ; Position

- 2 t o FORWARD ; or reverse the assignment.



# Notices:

z This function can only work in FPV Mode (R eset )

. z When this function is on, if the working mode switch from other modes to FPV Mode (R eset ) , the gimbal will force the camera lens to face forward or down depe nding on AUX2 Switch

. z The camera orientation is forward while non

- c onnection or disconnection

. 

# Tip s:
W hen AUX 2 is connected to Futaba S

- Bus channel it is used as the S

- Bus channel input.



# AUX 3 Switch Set

Z15

- N supports camera video recording

. Please w ire the right channel of receiver to AUX 3 port

. E very toggle is for start/stop recording.



# Notices:

z O nly Z15

- N gimbal needs to set the AUX3 channel when using the camera for video recording

.
z Z15

- G gimbal controls the camera to record video by setting the camera to “ Manual Video”

. T x 

### 1 2

- p o s i t i o n s w i t c h 

### 2© 2012 DJI Innovations. All Rights Reserved. 

## 22 

# Assistant

Install Driver and Software

STEP1: Make sure driver is i nstalled correctly, whic h has been installed before you use WKM , ACE
ONE or ACE WAYPOINT

. STEP2: Please download assistant software ZenmuseInstaller.exe from DJI Innovations website.
STEP3: D ouble click ZenmuseInstaller.exe file and follow the steps to finish installation.
STEP4: Run DJI Zenmuse Assistant

.



# GUI

Connect GCU and PC via USB cable, power on G C U.

1

2

4 3 5 1 D J I

· T o o l s : U p g r a d e

. F o r u p g r a d i n g t h e

g i m b a l f i r m w a r e

· L a n g u a g e : 中 文 o r E n g l i s h

· H e l p : A b o u t

. F o r v e r s i o n a n d S N a c c e s s

2 G i m b a l

· B a s i c : F o r R o l l / T i l t / P a n / M o d e o b s e r v a t i o n

· F u n c t i o n : F o r S h u t t e r / H D M I / A U X 2 o b s e r v a t i o n

C o m m u n i c a t i o n i n d i c a t o r

· B l u e L E D O n : W i t h o u t c o m m u n i c a t i o n

· G r e e n L E D B l i n k : C o m m u n i c a t i n g w i t h P C 4 · B l u e L E D O n : D i s c o n n e c t e d w i t h P C

· G r e e n L E D O n : C o n n e c t e d w i t h P C 3

T e x t D e s c r i p t i o n 5 C o n n e c t i o n i n d i c a t o r

· M o u s e o v e r e a c h i t e m w i l l d i s p l a y t h e

c o r r e s p o n d i n g c o n t e n t© 2012 DJI Innovations. All Rights Reserved. 

## 23 

# Firmware Upgrade

Please strictly follow the op eration procedure s for firmware upgrade, otherwise Z15 might not work properly:

Step1: Make sure your computer is connected to the Internet. Step2: Please close all the other applications during firmware upgrade, including anti

- virus software and
firewal l. Step3: Make sure the power supply is securely connected. DO NOT un

- plug the power supply until firmware upgrade has finished. Step4: Connect GCU to PC with a Micro

- USB cable, DO NOT break connection until firmware upgrade
has finished. Step5: Run Sof tware and wait for connection. Step6: Select DJI Æ T ools Æ Upgrade

. Step7: DJI Innovations server will check current firmware version, and get the latest firmware prepared
for the unit. Step8: If there is a firmware version more up

- to

- date than your curren t version, you will be able to click
the Upgrade button. Step9: Wait until Assistant software finish es read ing gimbal and GCU

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

# Notices:

z After firmware upgrade, please re

- recognize setup using Assistant software.

z If abnormal ly read or writ e , c lose software and power off, and then restart software and power up

. z If it is notified that the network or DJI Innovations server is busy, please try again later with above procedures.

z If firmware up grade failed, please try again with the above procedures.



# Product Information

You can check the product version via Help Æ About . 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.© 2012 DJI Innovations. All Rights Reserved. 

## 24 

# Basic Make sure your setup s according to Basic

. ROLL / PAN / TILT : Push the joystick on TX to obtain the stick direction and the gimbal rotation direction. If you use the DJI iOSD , you may obtain the gimbal attitude information (PAN/ TILT/ ROLL) on the bottom right corner of the display screen.
The f ollowing diagram shows the gimbal rotation direction and the cursor slide direction on assistant

.

C u r s o r s l i d e r i g h t P A N a x i s r o t a t i o n

T I L T a x i s r o t a t i o n

R O L L a x i s r o t a t i o n C u r s o r s l i d e l e f t

C u r s o r s l i d e r i g h t

C u r s o r s l i d e l e f t C u r s o r s l i d e l e f t C u r s o r s l i d e r i g h t



### MODE : Toggle the 3

- position switch, the corresponding slider of cursor will turn red

.



# Function

SHUT / AUX1 / AUX 2 / AUX 3 : Toggle the 2

- position switch, the corresponding slider of cursor will turn

red

.© 2012 DJI Innovations. All Rights Reserved. 

## 25 

# Test

Check B efore F light



# Notice s:

z Gimbal is installed firmly to bi

- pod, and camera mounted correctly and stably.

z All cables are in correct connection, without anyone in b ackwards.

z Gimbal video power cable is in good soldered condition if wireless video transmission module used.

z Correct TX settings.

z Camera shutter control module is correct ly mount ed

. z Correct c amera setups.

z C orrect connection between GCU and RC receiver.

z N ormal connection between GCU and autopilot system.

z Upgrade Autopilot S ystem MC Firmware. 

# Tips:

z G imbal LED flashing red quickly when camera and gimbal connection fails

. z Gimbal LED stays solid green when camera and gimbal is successful connection

.
z Please t urn to Trouble Shooting in Appendix i f abnormal situation occurs

.



# Test Step1: Ensure batteries are fully charged for transmitter, GCU and all the other devices on your aircraft. Step2: M ake sure all connections and wirings are in good condition. Step 3: Switch on the TX

. Step4: Power on gimbal and wait for self

- testing, whose three axes will rotat e quickly at the same time. Step5: After self

- testing, camera lens will point to aircraft nose direction , that is, the three axes of gimbal
should be in th e condition as the following diagram shows. Step6: Gimbal goes into initializ ation , at this time the three axes will rotat e very slowly. Step7: Gimbal is at a standstill after initialization, and ready for us age

. Step8: Toggle the W orking M odes switch o n your transmitter, and make sure it is working properly. Step9: Switch the Working M odes to Non orientation
- locked , FPV Mode ( R eset )
, Orientation
- locked respectively, and then try to push your sticks lightly in Roll, Tilt and Pan to feel if your gimbal

m oves to the corresponding direction. If not, go back to Gimbal Working mode Switch Set to correct your settings.© 2012 DJI Innovations. All Rights Reserved. 

## 26 

# Notices: If the gimbal is abnormal (unlike the diagram show s ) after initializing, please turn to Trouble Shootin g in Appendix

.© 2012 DJI Innovations. All Rights Reserved. 

## 27 

# Appendix

1
- Pilot Solution

R C R e c e i v e r ( F u t a b a ) 3
- P o s i t i o n S w i t c h 3
- P o s i t i o n S w i t c h 3
- P o s i t i o n S w i t c h 3
- P o s i t i o n S w i t c h

2
- P o s i t i o n S w i t c h 2
- P o s i t i o n S w i t c h

G i m b a l C o n t r o l A i r c r a f t C o n t r o l 

### T x 1 4
- C h a n n e l

7 1 2

4 3

5 6 ( A I L E ) ( E L E V ) ( T H R O ) ( R U D D ) ( G E A R ) ( C o l l e c t i v e P i t c h ) ( C o n t r o l M o d e S w i t c h ) 2
- P o s i t i o n S w i t c h



# o r



# · This is example connection . Prepare one 14

- channel TX/ RC receiver for aircraft and gimbal control.



# · Setup Aileron, Elevator, Throttle , Rudder channels on TX for aircraft roll, elevator, throttle, rudder control,

and TX AUX2 for aircraft c ontrol modes( Please refer to Autopilot S ystem User Manual ).



# · Choose three 3

- position switches for ROLL, TILT, and PAN rotation control. Switch center pos ition is 0 velocity and end positions are maximum velocity.



# · Choose one 3

- position switch/channel as Z15 W orking M odes switch (MODE)

.



# · Choose one 2

- position switch/channel as camer a shutter control switch (SHUT) , and one as HDMI switch (AUX1).



# · Connect the r eceiver to GCU and Autopilot S ystem MC correctly.© 2012 DJI Innovations. All Rights Reserved. 

## 28 

# 2
- Pilot Solution

O r

R C R e c e i v e r ( F u t a b a / H i t e c ) 7 1 2 4 

### R C R e c e i v e r ( J R ) A U X 2 R U D D E L E V A I L E 2
- P o s i t i o n S w i t c h
2
- P o s i t i o n S w i t c h

2
- P o s i t i o n S w i t c h
2
- P o s i t i o n S w i t c h 8
- C h a n n e l

8
- C h a n n e l



### R C R e c e i v e r ( J R )

A U X 2 R U D D

T H R O A I L E E L E V A U X 2



### R C R e c e i v e r ( F u t a b a / H i t e c ) 1 2 3 4 7



### F u t a b a S
- B u s S
- B u s



### O r

O r T x 1

T x 2 R x 1

R x 2 

### G i m b a l C o n t r o l

A i r c r a f t C o n t r o l

W K M

A C E O N E

R C R e c e i v e r ( J R )

A U X 2 R U D D

T H R O A I L E E L E V A U X 2



### R C R e c e i v e r ( F u t a b a / H i t e c ) 5 4 3 2 1 

### O r R x 2

7 6 

### O r

G E A R A U X 1 8
- C h a n n e l

8
- C h a n n e l

8
- C h a n n e l

8
- C h a n n e l 2
- P o s i t i o n S w i t c h 2
- P o s i t i o n S w i t c h



# o r A C E W a y p o i n t S
- B u s R e c e i v e r ( F u t a b a ) S
- B u s

P P M R e c e i v e r P P M 

### O r

O r



### Prepare 2 TXs and 2 RXs.
TX 1 and RX1 are for gimbal control

. TX 2 and RX2 are for aircraft control

. Please refer to Gimbal Controller Wiring for more details.© 2012 DJI Innovations. All Rights Reserved. 

## 29 

# Port Description

Gimbal Controller

ROLL For roll axis control

TITL For tilt axis control

PAN For pan axis control

MODE For Working Mode s witch

SHUT For camera shutter control

AUX1 For HDMI s witch

AUX 2 For Gimbal orientation (down or forward) swi tch in FPV Mode S

- Bus Receiver

AUX 3 For Z15

- N video recording control PPM Receiver

To wireless video transmission unit, transmitting AV signal

XT60 To battery (To GIMBAL if DJI Innovations S800 use d)

G6 To Gimbal, transmitting motor command

G8 T o Gimbal, transmitting video signal

Micro

- B USB port: PC connection for conf iguration and firmware upgrades

CAN

- Bus port: U se CAN

- Bus to connect GCU to the autopilot system 

# Gimbal

HDMI
- AV Port To Camera HDMI port
Motor Command Input Port To GCU G6

8
- Pin Cable Port To GCU G8© 2012 DJI Innovations. All Rights Reserved. 

## 30 

# Gimbal LED Indicator

Description LED Indicator
C amera and gimbal connected
C amera and gimbal disconnected



# Gimbal Label Description

C a m e r a T y p e

_ L e n s T y p e

N E X 5 N

_ 1 6

C a m e r a T y p e S O N Y N E X

- 5 N L e n s T y p e E 1 6 m m f / 2

. 8 ( S E L 1 6 F 2 8 ) F o r e x a m p l e© 2012 DJI Innovations. All Rights Reserved. 

## 31 

# Trouble Shooting

NO. What Why How to

1 Gimbal keep s drifting
after initialization (1) TX trims are too much (1) Adjust the TX trims (2)GCU and autopilo t system
is dis connected (3) Z15 mounting direction is disaccording to aircraft nose (2) Connect GCU and autopilot system (3 )Ensure Z15 mounting direction
is the same with aircraft nose

2 T he gimbal is abnormal after initializing A bnormal c alibration after
manufacture Please contact local dealer or DJI
Innovations customer service

3 Can ’ t distinguish gimbal pointing when using BVR flight Switch to FPV Mode first , then to
another Working Mode needed

4 Gimbal LED flashing red (1) The g imbal and camera
d iscon nect ed (2) Camera is off (3) Camera setup failure (1) Make sure cable connect ed (2) Please power on camera (3) Set HDMI resolution as 1080i

5 Gimbal green LED is on
but without video display (1) W ireless video
transmission unit d isconnect ed (2) Wrong power supply for
wireless video transmission
unit (1) Check the wireless video
transmission unit connection (2) Ensure the power supply for
wireless video transmission unit is
12V© 2012 DJI Innovations. All Rights Reserved. 

## 32 

# Specifications

General
Built
- In Functions z Three Working Modes
 O rientation

- locked control
 Non orientation

- locked control
 FPV mode ( Reset )

z Built

- in independent IMU module

z DJI gimbal special servos drive module

z HDMI

- AV module

z Wireless video transmission support

z Camera shutter control support

z Z15

- N video recording control support

z Wide range voltage input support

z S

- Bus/PPM Receiver support 

# Peripheral Supported Camera z SONY NEX

- 5N

z SONY NEX

- 7

z SONY NEX

- 5R

z Panasonic GH2 Supported Lens Currently z SONY : E 16mm f/2.8( SEL16F28)

z Panasonic : Lumix G14 mm/F2.5
Lumix G20 mm/F 1.7 GCU Input Power 4S~12S LiPo (Recommend 6S if with S800 ) Control Requirement F our spare receiver channels at least Assistant Software System Requirement Windows XP SP3; Windows 7 

# Mechanical& Electrical Characteristics Working Current z Static curre nt: 200mA (@25V)

z Dynamic current: 400mA (@25V)

z Locked

- rotor current: 4A (@25V) Operating Temperature

- 10 °C ~ 50 °C Weight z Z15

- N 

## : 1.25Kg

z Z15

- G 

## : 1.3Kg
Dimensions 200 mm × 200 mm × 230 mm Frame Dimensions For Camera (Inside) z Z15

- N 

## : 115 mm × 75 mm© 2012 DJI Innovations. All Rights Reserved. 

## 33 z Z15

- G : 142mm × 76 mm GCU BEC Output 10A@12V
GCU Wireless Video Transmission Power 1A @12V
GCU Weight 6 3 g GCU Dimensions 64.2 mm × 34.1 mm × 19.5 mm 

# Working Performance Load Weight (Reference Value) 336 g(@ Sony NEX

- 5N with Lens and Battery )
417 g(@ Sony NEX

- 7 with Lens and B attery )
344 g(@ Sony NEX

- 5 R with Lens and Battery ) 489g ( @ Panasonic GH2 with Lumix G14 mm/F2.5 and Battery 

### )
534 g ( @ Panasonic GH2 with Lumix G20 mm/F1.7 and Battery ) 

### Controlled Angle Accuracy ±0.05°
Max imum Controlled Rotation Speed Pan axis: ±130°/s
Tilt axi s: ±130°/s
Roll axis: ±30°/s Controlled Rotation Range Pan axis control : ±360° continuous rotation
Tilt axis control : ±360° continuous rotation
Roll axis control : ±40° (±360° mechanic continuous rotation) 

# Regulatory Approvals FCC (USA) Yes IC (Canada ) Yes ROHS(EU) Yes