Zenmuse Z15-A7

V1.2 2015.09

User Manual 
2 ©2015 DJI. All Rights Reserved.

Warning & Disclaimer

The Z15-A7 gimbal has been calibrated specifically for the designated camera and lens before it leaves the 

factory. Please mount only the designated camera and lens to the Z15-A7. Do not add any other component/

device (such as filters, etc.) to the camera. Please use the original camera battery, otherwise performance 

may be hindered and internal malfunctions or damage may occur.

Only use the Z15-A7 gimbal with Flight Control Systems developed by DJI (such as the A2 or WooKong-M, 

and please upgrade to the latest firmware) for the greatest stability and precision. Please download the 

corresponding Assistant software and upgrade your Flight Control System’s firmware, otherwise the Z15-A7 

may not function properly. When the main battery power is connected, please be careful and operate the 

Flight Control System in the safest way possible. It is strongly recommended that you remove all propellers, 

use the R/C or flight pack battery power system, and keep children away during gimbal calibration and 

parameter setup. Carefully follow the appropriate steps to mount and connect the gimbal to your aircraft. Use 

this manual as well as the related Assistant. Please respect the AMA’s National Model Aircraft Safety Code.

As DJI has no control over the 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. DJI 

assumes no liability for damage(s) or injuries incurred directly or indirectly from the use of this product. 

DJI and Zenmuse are registered trademarks of DJI. Names of products, brands, etc., appearing in this 

manual are trademarks or registered trademarks of their respective owner companies. This product and 

manual are copyrighted by DJI with all rights reserved. No part of this product or manual shall be reproduced 

in any form without the prior written consent or authorization of DJI. 

Manual Tips

Legend

Important Tips

Designated Camera and Lens Type for the Z15-A7 Gimbal

Camera Type: Sony ILCE-7S, Sony ILCE-7R

Lens Type: Sony FE 35mm f2.8 ZA

Camera Battery Type for the Z15-A7 Gimbal: NP-FW50 (new version)

Ensure to use the new NP-FW50 battery for the Sony ILCE-7S and Sony ILCE-7R camera, which 

has been produced by Sony after Jun 1, 2014. It is all black and weighs 40 g. 

The Z15-A7 supports both Sony ILCE-7S and Sony ILCE-7R camera. It has been calibrated for the 

Sony ILCE-7S camera by default. Balancing the tilt and pan axis is required if you are using the 

Sony ILCE-7R on the Z15-A7. 

Firmware versions of supporting DJI Flight Control Systems

WooKong M: V5.26A2: V2.1 or above
©2015 DJI. All Rights Reserved. 3

Contents

Warning & Disclaimer 2

Manual Tips 2

Product Profile 4

In the Box 5

Z15-A7 Diagram 7

Mount 8

Mounting the Sony ILCE-7S Camera 8

Mounting the Sony ILCE-7R Camera 8

Mounting the Gimbal to the Landing Gear 10

Video Signal Transmission 11

A. AV Wireless Video Transmission 11

B. DJI iOSD Mark II and AV Wireless Video Transmission 11

C. DJI Lightbridge Air System 12

D. DJI Lightbridge 2 13

GCU Wiring 15

GCU Wiring 15

GCU Ports 16

Working Mode/AUX2 Switch Setup 17

Working Mode Switch Settings 17

AUX2 Switch Settings 17

Shutter Control 18

Video Recording Control 18

PC Assistant Tuning 19

Installation and Usage 19

Basic Settings 19

Upgrade 20

Info 20

Pre-Flight Checklist 21

Pre-Flight Checklist 21

Flight Test 22

Appendix 23

Attention 23

1-Pilot Solution 23

2-Pilot Solution 24

Port Descriptions 25

Gimbal LED Indicator 25

Troubleshooting 26

Specifications 27
4 ©2015 DJI. All Rights Reserved.

Product Profile

The Z15-A7 is a sophisticated gimbal specifically designed for aerial creativity. It has a built-in independent 

IMU module, special servo drive module, HDMI-HD/AV module, infrared remote control module, and more. 

The Z15-A7 performs well in all modes, including Orientation-locked, Non orientation-locked, and FPV (Reset).

Working Modes

Orientation-locked Non orientation-locked FPV (Reset)

Gimbal 

Direction Gimbal pans with aircraft's nose.

Gimbal pan and 

aircraft's nose move 

separately.

Gimbal pan and 

aircraft's nose are 

synchronized.

Gimbal and 

Aircraft's Nose 

Relative Angle 

The gimbal direction maintains the 

same relative angle to the aircraft's 

nose.

The relative angle 

between the gimbal 

direction and aircraft's 

nose is controllable.

The relative angle 

between the gimbal 

direction and 

aircraft's nose is 0°.

TX Control Controllable Controllable Uncontrollable

Attitude 

Stability* YES YES YES

Vibration 

Reduction YES YES YES

Stick 

Movement 

Definition

Roll is locked level in stick 

commands from 0-2/3 and rotates 

in commands from 2/3-endpoint; 

Pan stick commands control the 

rotation angle and are limited to 

360。; Tilt stick commands control 

the rotation velocity of the gimbal.

Stick commands for 

gimbal rotation velocity 

are relative to total stick 

movement. The stick’s 

center position velocity 

is 0°/s. Its endpoint is 

the maximum velocity.

——

Linear Control YES YES ——

Note*: Attitude stability means that the gimbal’s Roll/Tilt will not follow the aircraft’s Roll/Pitch movement.

Product Profile
©2015 DJI. All Rights Reserved. 5

In the Box

Gimbal × 1

The Z15-A7 gimbal includes built-in servo drive 

modules, an independent IMU module, an infrared 

remote control module and a HDMI-HD/AV module.

Gimbal Controller Unit (GCU) × 1

Connect the GCU to your Flight Control System 

using the CAN-Bus cable. The GCU will control the 

gimbal’s pan, roll and tilt movements. Connect the 

GCU to a video downlink for a video signal.

Mounting Bracket × 4

For mounting the gimbal to the landing gear.

Mounting Board for Receiver × 1

For attaching the GCU and providing a convenient 

mount for the receiver or other devices.

Camera Mounting Screw × 1

A standard tripod mounting screw.

Screw Package × 1

For mounting the gimbal to your aircraft (M2.5*8 cap 

head screw).

10-Pin to 9-Pin Cable × 2

For connecting the GCU to the gimbal.

7-Pin Cable × 1

For connecting the GCU to the Lightbridge air system.

In the Box
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8-Pin to 6-Pin Cable × 2

For connecting the GCU to the gimbal.

Servo Cable Package × 1

For connecting the GCU and the receiver.

AV Video Power Cable × 1

For connecting the GCU and the wireless video 

transmission module, and transmitting the AV signal.

iOSD Mark II Cable × 1

For connecting the GCU to the DJI iOSD Mark II.

Micro-USB Cable × 1

For adjusting parameters and upgrading firmware via 

a PC.

CAN-Bus Cable × 1

For the CAN-Bus Flight Control System. DJ

D

I

JI

Spare Package × 1

Vibration Absorbers, Spare Screws, and Mounting 

Bracket
©2015 DJI. All Rights Reserved. 7

Z15-A7 Diagram

 To avoid motor damage, ensure there is nothing blocking the rotation of the servo drive modules.

 Clear obstacles or immediately cut off the power if any blockage occurs.

 The servo drive modules have two motor command input ports and one private encoder port.

 The HDMI-HD/AV module converts HDMI to HD (or AV) using a cable connected to the camera 

HDMI port; it also transforms the TX signal to an infrared remote control module for shutter control 

and video recording.

Motor lnput Port to 

G6 Port of GCU

Servo Drive Module 1

Damping Unit

Receiver Mounting 

Board

Servo Drive Module 3

IMU Module

Camera Mounting Holes

Gimbal LED 

Indicator

HDMI-HD/AV Module

HD/AV Switch

HDMI Cable 

Camera Mounting

Position

Tilt +50°/-140°

Arrow represents

the lens direction

Pan

±360°

Roll ±40°

Servo Drive 

Module 2

9-Pin Port to G9 

Port of GCU

Z15-A7 Diagram
8 ©2015 DJI. All Rights Reserved.

Mount

Power off the camera during the mounting process.

Mounting the Sony ILCE-7S Camera

1. Mount the camera onto the gimbal as shown and tighten the lens retaining ring.

2. Adjust the camera position and tighten the camera mounting screw. 

Mounting the Sony ILCE-7R Camera

If you are using the Sony ILCE-7R camera on the Z15-A7, follow the steps below to mount the camera and 

balance the tilt and pan axis.

1. Loosen the screws on the bottom of the gimbal of the positioning board. Slide the positioning board about 

1 mm back as shown below and then tighten the screws.

Slide back 1mm

Mount
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©2015 DJI. All Rights Reserved. 9

2. Mount the camera onto the gimbal as shown and tighten the lens retaining ring. Then tighten the camera 

mounting screw.

3. Rotate the camera to any tilt angle, if it stays in position, then proper balance has been achieved. 

Otherwise adjust the camera’s position by sliding the positioning board until the proper balance is 

achieved. 

4. Loosen the eight screws on the connection point of the pan axis. Then slide the pan axis forward about 

0.5mm and tighten the screws. When the proper balance is achieved, the pan axis will stay in position after 

rotating the gimbal 90 degrees. Balancing is complete. 

Slide the pan axis forward about 0.5mm

Mount
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Ensure the lens is pointing in the same direction as the aircraft's nose.

Ensure the top and bottom plates of the damping unit stay parallel when mounting. This prevents 

stretching and distortion.

Maintain good overall balance when mounting in order to ensure the center of gravity is balanced 

on each of the three axis lines.

The gimbal’s center of gravity has been set by the factory. The center of gravity directly determines 

the gimbal’s overall performance. Follow the instructions in this manual to adjust the center of 

gravity if you are using the Sony ILCE 7R camera, otherwise do not adjust the gimbal’s center of 

gravity.

The gimbal is highly precise and depends on this precision for optimal performance. Do not remove 

any screws on the gimbal, as this may result in poor performance or damage to the gimbal.

Do not unplug any cables attached to the gimbal ports or change the mechanical structure.

Make sure the wiring is correct, otherwise the gimbal may behave abnormally.

X Y

Z

S1000+ Landing Gear

Lens Direction

Aircraft's Nose Direction

Mounting the Gimbal to the Landing Gear

The following diagram shows the gimbal mounted on a DJI S1000+. Mount the gimbal onto the landing gear 

with the mounting brackets. Tighten the screws and use thread-locking fluid. 

You may also mount the gimbal onto different landing gear by referring to this diagram.

Whenever you test the gimbal, ensure all the screws on the gimbal are tightened. 
©2015 DJI. All Rights Reserved. 11

AV Video Power Cable

Wireless Video Transmission Module

Air Unit

Connect to the power source according to the 

module’s voltage and current requirements.

AUX2

AUX3

ROLL

TILT

PAN

MODE

SHUT

AUX1

AUX2

AUX3

GCU

Yellow

Video Signal Port G7

Power

Video Signal

GND

14V

52V

 A7-HD

Video Signal Transmission

A wireless video transmission module is required for remote video.

A. AV Wireless Video Transmission

1. Solder the AV Video Signal and GND cables to the wireless video transmission module (Air Unit) as shown 

above.

2. Plug the AV video power cable into the GCU’s G7 port.

3. Toggle the HD/AV Switch to the AV position. (See Page 7 for the location of the HD/AV Switch)

4. Power on the gimbal. If the gimbal LED indicator blinks yellow, it is functioning normally. If the LED indicator 

shows a constant yellow light, the video signal is lost. Check the connections between the camera and the 

HDMI video input.

Complete the connection between the wireless video transmission module and the GCU before 

powering on the gimbal.

A standard AV video power cable is recommended.

Be sure to solder the AV video power cable to the wireless video transmission module correctly. As 

the cable carries power, ensure the cables are insulated or wrapped to prevent a short circuit.

Connect the wireless video transmission module to a power source, as the GCU cannot supply 

power. Make sure the power source provides a safe voltage for your own devices according to the 

wireless video transmission module’s requirements.

B. DJI iOSD Mark II and AV Wireless Video Transmission

ROLL

TILT

PAN

MODE

SHUT

AUX1

AUX2

AUX3

GCU

Wireless Video 

Transmission Module

Air Unit

Video Signal Port G7

 A7-HD

14V

52V

Video Signal Transmission
Zenmuse Z15-A7 User Manual

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This example is based on a Z15-A7 gimbal and the A2 flight control system.

1. Connect the Gimbal Port on the Lightbridge Air System to the G7 port on the Z15-A7 GCU using the 

supplied HD video power cable (7-pin cable).

2. Connect the DBUS port on the Lightbridge Air System to the DBUS port (X2 port) on the A2 flight control 

system. Toggle the HD/AV switch to the HD position.

3. Refer to the Lightbridge and A2 flight control system manuals to complete the connection.

To transmit gimbal and aircraft signals, connect the RC receiver to the DJI Lightbridge ground 

system when connecting the GCU.

Always connect the wireless video transmission module to the GCU before powering on.

A standard HD video power cable (7-pin cable) is recommended.

Complete the other connections according to the Lightbridge user manual.

If the gimbal LED indicator blinks red continuously, please power cycle the gimbal. (Power it off, 

then power it back on)

If the video signal does not transmit, check each step.

1. Connect the iOSD Mark II cable to the GCU’s G7 port.

2. Complete the other connections between the iOSD Mark II cable and the wireless video transmission 

module, according to their manuals.

3. Toggle HD/AV Switch to the AV position. (See Page 7 for the location of the HD/AV Switch)

4. Power on the gimbal. If the gimbal LED indicator blinks yellow, it is functioning normally. If the LED indicator 

shows a constant yellow light, the video signal is lost. Check the connections between the camera and the 

HDMI video input.

Make sure to connect the wireless video transmission module and the iOSD Mark II cable to the GCU 

before powering on.

C. DJI Lightbridge Air System

GCU

 A7 - HD

Video Signal Transmission
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Camera

HDMI

HDMI signal

HDMI-HD/AV cable

HD/AV signal

Monitor

Input

Gimbal

7-Pin Cable

Self-prepared by user

Wireless video 

transmission module

Air unit

Wireless signal

5.8G/2.4G/1.2G

Ground unit

Wireless video 

transmission module

10-Pin to 9-Pin Cable

HD/AV signal HD/AV signal

GCU

G9 G7

Video Signal Transmission

The following diagram shows how a video signal is transmitted from the gimbal.

D. DJI Lightbridge 2 

Connect the system as follows:

1. Connect the G7 port on the DJI HD gimbal and the CAN BUS port on the flight controller to the gimbal port 

on the Air System. 

2. Connect the X2 DBUS port on the flight controller to the DBUS port on the Air System. 

3. Refer to the user manuals for the gimbal and flight controller for details.

DBUS Cable

Gimbal Cable

Only use the DJI HD gimbal and DJI flight controller with the latest firmware. The GCU firmware for 

the HD gimbal must be v2.6 or above. 

If you are using the DJI A2 Flight Controller, connect the gimbal cable to the CAN 2 port on the flight 

controller.
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Press the shutter button [1] on the Ground System to capture photos. Press the record button [2] to record 

video. Turn the Gimbal Dial [3] to adjust the tilt motion of the camera.

In Dual Ground System Mode, the pan, tilt or roll motion of the camera can be controlled by the Slave 

Ground System, depending on your settings in the DJI GO app. Refer to the Lightbridge 2 User 

Manual for details.

[1]

[3]

[2]
©2015 DJI. All Rights Reserved. 15

GCU Wiring

GCU Wiring

The gimbal should be used with an A2 or WooKong-M flight control system. The GCU wiring is based on 

WooKong-M. For WooKong-M, connect to any spare CAN-Bus port on the flight control system via a CANBus cable.

Battery

Connect the XT60 connector to the GIMBAL on the center frame if a S1000+ used.

Attention: Be aware that the S1000+ power supply voltage should be within the defined 

limits (6S), even when using one battery for both S1000+ and Gimbal power supply. 

Refer to S1000+ User Manual for details.

Turn to the next page to obtain the 

corresponding channels between the 

GCU channels and S-Bus receiver. 

ROLL

TILT

PAN

MODE

SHUT

AUX1

AUX2

AUX3

WooKong-M

•

•

•

S-Bus

2-Position Switch 

2-Position Switch 

3-Position Switch 

2-Position Switch 

2-Position Switch 

2-Position Switch 

3-Position Switch 

2-Position Switch 

USB Port

PC connection for configuration and 

firmware upgrades with an USB cable.

Ensure the side with copper contacts is 

facing upward towards the heat sinks.

RC Receiver

(Aircraft control)

Battery

(4S~12S)

Wireless Video 

Transition Module

Air Unit

RC Receiver

(JR)

8 Channels

RC Receiver

(Futaba/Hitec)

8 Channels

S-BUS Receiver 

(Futaba)

OR

OR

G7

G9 G6

 A7-HD

WooKong-M

Please refer to your WooKong-M User Manual for all connection and configuration details.

Gimbal Control Unit (GCU)

1. Make sure all ports are accessible when installing your MC so as to facilitate wiring and software configuration.

2. In 3-pin ports, the pins near the nicks are the signal pins.

3. Use the 6-pin cable for the G6 port, and the 10-pin to 9-pin cable for the G9 port. 

4. DO NOT cover the heat sinks, and keep them unobstructed at all times.

5. The GCU module is NOT water or oil proof.

RC Receiver

1. The diagram on the previous page shows example connections. The aircraft signal will transmit through 

the DJI Lightbridge ground system. After connecting to Lightbridge, it is not necessary to connect with an 

RC receiver.

2. Prepare 2 TXs, one for gimbal control, and the other for aircraft control. Refer to the 2-Pilot Solution for more 

details. If only one receiver is used for both aircraft and gimbal control, refer to the 1-Pilot Solution for more 

GCU Wiring
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details.

3. Setup the Aileron, Elevator, and Rudder channels on the gimbal control TX. The command stick will control 

gimbal rotation velocity. The center position is 0, and the end point is maximum velocity in both clockwise 

and counter clockwise directions. (The end point is 100%)

4. Choose one 3-position switch/channel to use as the Z15-A7 Working Mode switch. (MODE)

5. Choose one 2-position switch/channel to use as the camera shutter control switch (SHUT), and another 

2-position switch to use as the camera lens orientation switch in Reset Mode (AUX2).

6. Choose one 2-position switch/channel to use as the camera video recording control switch (AUX3).

7. Please refer to the Wookong-M User Manual for aircraft control settings. 

8. Connect the receiver to the GCU correctly.

GCU Ports

The following table shows the connections between the GCU channels and the relevant TX channels. 

TX Channels GCU Channels Indications

JR Futaba/Hitec

AILE 1 ROLL For roll axis control (left/right). Velocity is zero if disconnected.

ELEV 2 TILT For tilt axis control. Velocity is zero if disconnected.

RUDD 4 PAN For pan axis control. Velocity is zero if disconnected.

AUX2 7 MODE For Working Mode switch.

2-position switch channel SHUT For camera shutter control.

2-position switch channel AUX1 Reserved channel.

Or Futaba S-Bus channel AUX2

When AUX2 is connected to a 2-position switch channel, it 

is used as a camera orientation (down or forward) switch 

in FPV Mode (Reset). The camera orientation is forward if 

disconnected.

Or if you are using a S-Bus receiver, connect the recever to 

the AUX2 port.

2-position switch channel AUX3 For camera video recording control.

The following table shows the corresponding relationship between the GCU and the S-Bus channels.

S-Bus Channels GCU Channels S-Bus Channels GCU Channels

1 ROLL 5 SHUT

2 TILT 8 AUX1

4 PAN 9 AUX2

7 MODE 6 AUX3
©2015 DJI. All Rights Reserved. 17

Working Mode/AUX2 Switch Setup

Working Mode Switch Settings

For whichever 3-position switch you select to use as the Working Mode switch, wire the relevant channel from 

the receiver to the MODE port. At each switch position, use end-point fine tuning to set a channel AUX2 (JR) 

or 7 (Futaba/Hitec) for all three Working Modes:

Orientation-locked Back to center

FPV (Reset) MODE channel end-point 60%~90% 

Non orientation-locked MODE channel end-point 60%~90%

The gimbal will work in Orientation-locked mode if the MODE channel is disconnected.

FPV mode is the default startup mode when the MODE channel is connected.

The Working Mode from the previous power cycle will be retained if the cable between MODE and 

the RC receiver is disconnected during operation.

For a 3-position switch, you may assign:

2-Positon 

Switch

3-Positon 

Switch

3-Positon 

Switch

 

Position-1 to Non orientation-locked

Position-2 to Orientation-locked

Position-3 to FPV Mode (Reset)

Position-1 and Position-3 can be inversely assigned.

One 2-position switch can be assigned for any two of the working modes, if preferred.

AUX2 Switch Settings

The Z15-A7 supports toggling the camera lens down or forward in FPV Mode (Reset). Please choose a 

2-position switch for this function and wire the relevant channel of the receiver to the AUX2 port. You may 

assign: Position-1 to DOWN; Position-2 to FORWARD; or reverse the assignment.

2-Positon 

Switch

3-Positon 

Switch

3-Positon 

Switch

This function will only work in FPV Mode (Reset).

When this function is active, if the Working Mode is ever changed to FPV Mode (Reset), the gimbal 

will force the camera lens to face forward or down, depending on current the location of the AUX2 

switch.

The camera orientation is forward if AUX2 is disconnected.

If AUX2 is connected to a Futaba S-Bus channel, it is then used as the input channel for S-Bus 

control.

Working Mode/AUX2 Switch Setup
18 ©2015 DJI. All Rights Reserved.

If the shutter control does not work correctly, please check each step.

The following diagram shows how the shutter control works.

2-Positon 

Switch

3-Positon 

Switch

Switch

Shutter Control

The Z15-A7 gimbal can transform a TX command into a shutter control signal. Select a 2-position switch/

channel to use for remote shutter control.

For whichever 2-position switch you select, connect the correct receiver channel to the SHUT port. Toggling 

the 2-position switch works as follows:

Position-1 Position-2: Take one photo

Position-2 Position-1: Reset switch position (no shutter effect or action)

Position-1 Position-2: Take another photo

Video Recording Control

The Z15-A7 supports starting and stopping your camera’s video record function by using a 2-position switch 

through AUX3. Connect the relevant channel of the receiver to the AUX3 port. Toggle the switch to start/stop 

recording.

Position-1: Start recording

Position-2: Stop recording

If the video recording control does not work correctly, please check each step.

The following diagram shows how the shutter control works.

2-Positon 

Switch

3-Positon 

Switch

3-Positon 

Switch

TX

2-Position Switch

TX Command TX Command TX Command

Wireless

RC Receiver

3-Pin Cable Internal Cable

HDMI-HD/AV 

Module

Gimbal 

Camera 

GCU

Shutter Button

2-Position 

Switch Channel SHUT

Infrared Remote Control

Shutter Control/Video Recording Control
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©2015 DJI. All Rights Reserved. 19

PC Assistant Tuning

Installation and Usage

1. Ensure the most recent drivers are installed correctly. This should be done before using the A2 or 

WooKong-M software.

2. Download the appropriate Assistant installer from DJI.com.

3. Double click the Assistant installer and follow the steps to finish the installation.

4. Run Assistant.

5. Upgrade the firmware or configure parameters using Assistant as needed.

The Assistant installer can be used on Windows XP, Win7, and Win8 (32 or 64 bit).

Basic Settings

You can set transmitter channels for roll, tilt and pan control, and also switch between working modes 

during flight. Move your cursor to each area or refer to this manual for more details.

TX

2-Position Switch

TX Command TX Command TX Command

Wireless

RC Receiver

3-Pin Cable Internal Cable

HDMI-HD/AV 

Module

Gimbal 

Camera 

GCU

Shutter Button

2-Position 

Switch Channel SHUT

Infrared Remote Control

PC Assistant Tuning
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Upgrade

You can view the latest firmware version information on this page. Upgrade the firmware by following the 

steps below:

1. Connect the gimbal to your computer with a Micro-USB cable, and wait until the blue indicator LED in the 

Assistant is blinking.

2. Click” Upgrade”.

3. Wait for the download to finish.

4. Click “Upgrade” again then click “Confirm”.

5. Power cycle the gimbal after the upgrade is complete.

Ensure your computer is connected to the internet.

Close any antivirus programs and network firewalls during the upgrade.

Ensure the gimbal is powered on during the upgrade.

Do not disconnect the USB cable during the upgrade.

Make sure that before turning on the gimbal it already has a camera mounted.

Make sure there are no obstructions when turning on the gimbal.

Info

You can check the Assistant version via Info.

S/N is a 32 digit authorization code for function activations. The authorization code for your unit is filled in at 

the time of manufacture. In the future, you may be asked to fill in a new S/N if you require function upgrades. 

Fill in the S/N and then click the Write button. If you fill in an invalid S/N more than 30 times, your gimbal will be 

locked and you will have to contact DJI customer support.
Zenmuse Z15-A7 User Manual

©2015 DJI. All Rights Reserved. 21

Pre-Flight Checklist

Pre-Flight Checklist

Ensure the gimbal is properly installed and attached to the landing gear, and that the camera is 

mounted correctly and securely.

Before powering on, spin the gimbal through its complete rotation by hand on each axis to ensure 

nothing is blocking its movement.

Ensure all cables are connected correctly, without any plugged in backwards or into the wrong 

ports.

Ensure the AV video power cable is properly soldered and shielded if an AV video transmission 

module is used.

Verify TX settings.

Verify a proper connection between the GCU and the RC receiver.

Verify a proper connection between the GCU and the flight control system.

Ensure the latest Flight Control System firmware is installed.

Refer to the Gimbal LED Indicator section in the Appendix to understand the connection status 

between the camera and gimbal.

Refer to the Troubleshooting section in the Appendix if an abnormal situation occurs.

Pre-Flight Checklist
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Flight Test

1. Ensure the batteries are fully charged for your TX, GCU, and all of the other devices on your aircraft.

2. Make sure all connections and wiring are in good condition.

3. Switch on the TX.

4. Adjust the camera to a level position on the roll axis of the gimbal.

5. Power on the gimbal and wait for the self initialization test to complete. The roll, pan and tilt axis will rotate 

quickly at the same time.

6. After self-initialization, the camera lens will point towards the aircraft’s nose and each axis of the gimbal 

should be in the position illustrated above.

7. The gimbal will then go into a second stage of initialization. At this time, each axis will rotate very slowly.

8. Once each axis stops moving, the gimbal is fully initialized and ready to use.

9. Toggle the assigned Working Modes switch on your TX and make sure it is working properly.

10. Switch the Working Modes to Non orientation-locked, FPV Mode (Reset), and Orientation-locked Mode 

respectively. Then push the controller sticks lightly in the Roll, Tilt and Pan directions to check that the 

gimbal moves in the corresponding directions. If not, see Working Mode/AUX2 Switch Setup to correct 

your settings.

Power off the camera during the initialization.

If the gimbal does not match the diagram after initialization, please refer to the Troubleshooting

section in Appendix.
©2015 DJI. All Rights Reserved. 23

Appendix

Attention

For safety reasons, please pay careful attention to all of the following items:

1. To avoid motor damage, ensure nothing blocks the servo drive module’s total range of movement.

2. Before powering on, spin the gimbal through its complete rotation by hand on each axis to ensure nothing 

is blocking the mechanical movement of the gimbal. 

3. Be sure to mount the side of servo drive module 1 with the ports facing towards the aircraft's tail.

4. The gimbal’s center of gravity has been preset. The gimbal balance is directly related to its performance. 

Follow the instructions in this manual to adjust the center of gravity if you are using the Sony ILCE 7R 

camera, otherwise do not adjust the gimbal’s center of gravity.

5. The gimbal is a sophisticated device. Do not remove any screws from the gimbal. Doing so may result in 

poor performance or damage.

6. Do not unplug any cables attached to the gimbal ports or change the mechanical structure.

7. Make sure all wiring is correct, otherwise the gimbal may not operate correctly or efficiently.

8. Make sure to connect the wireless video transmission module to the GCU prior to powering on the system.

9. We recommend use of the included AV video power cable, if needed.

10. Be sure to solder the AV video power cable to the wireless video transmission module correctly. Ensure 

the cables are insulated and protected to prevent any type of short circuit.

11. Pay close attention to the voltage of S1000+ and be sure it is within the defined limits (6S) when using 

one battery for both the S1000+ and as a power supply for the gimbal.

12. Never touch the contact points of a power cable to the gimbal, this may lead to a short circuit of the 

gimbal, resulting in complete failure.

13. Before powering on, adjust the roll axis of the gimbal to be level.

1-Pilot Solution

14V

52V

Flight Controller(DJI WooKong-M)

GCU

ROLL

TILT

PAN

MODE

SHUT

AUX1

AUX2

AUX3

Gimbal Control Unit(GCU)

3-Position Switch 

3-Position Switch 

3-Position Switch 

3-Position Switch 

2-Position Switch 

2-Position Switch 

2-Position Switch 

3-Position Switch 

14 Channels Receiver(Futaba) 

Gimbal Control

Flight Control

Transmitter 

 A7-HD

Appendix
Zenmuse Z15-A7 User Manual

24 ©2015 DJI. All Rights Reserved.

1. Prepare one 14-channel TX/RC receiver for the aircraft and gimbal control. Above is an example of the 

wiring configuration.

2. Setup the Aileron, Elevator, Throttle, and Rudder channels on your TX for aircraft roll, elevator, throttle, and 

rudder control. Also, connect the TX’s AUX2 for aircraft control modes (Please refer to your Flight Control 

System’s user manual).

3. Choose three 3-position switches to use for the gimbal Roll, Tilt, and Pan rotation control. The center 

position of each switch is 0 velocity, and the end point positions are maximum velocity.

4. Choose one 3-position switch/channel as the gimbal’s Working Modes switch (MODE).

5. Choose one 2-position switch/channel as the camera shutter control switch (SHUT). 

6. Connect the receiver to the GCU and Flight Control System correctly.

2-Pilot Solution

OR

OR

S-Bus

GCU

ROLL

TILT

PAN

MODE

SHUT

AUX1

AUX2

AUX3

RC Receiver A

Gimbal Control Unit(GCU)

Transmitter A

Gimbal Control

Flight Controller 

RC Receiver B

RC Receiver

(JR)

8 Channels

RC Receiver

(JR)

8 Channels

S-Bus

Transmitter B

OR

OR

DJI WooKong-M Flight Controller 

RC Receiver

(Futaba/Hitec)

8 Channels

RC Receiver

(Futaba/Hitec)

8 Channels

S-BUS Receiver 

(Futaba)

S-BUS Receiver 

(Futaba)

2-Position Switch 

2-Position Switch 

3-Position Switch 

2-Position Switch 

2-Position Switch 

2-Position Switch 

3-Position Switch 

2-Position Switch 

14V

52V

 A7 - HD

Two transmitters and two receivers are required.

Transmitter A and receiver A are used to control the gimbal.

Transmitter B and receiver B are used to control the aircraft.

Make the connections as shown in the diagram below:

Please refer to the GCU Wiring section for more details.

Appendix
Zenmuse Z15-A7 User Manual

©2015 DJI. All Rights Reserved. 25

Port Descriptions 

GCU

ROLL For roll axis control 

TILT For tilt axis control 

PAN For pan axis control 

MODE For working mode switch

SHUT For camera shutter control

AUX1 Reserved channel

AUX2 For gimbal orientation (down or forward) switch in FPV mode ; S-Bus receiver

AUX3 For video recording

G7

1. Connect to the wireless video transmission module, for transmitting AV 

or HD signals.

2. Connect to DJI Lightbridge, for transmitting HD, gimbal and aircraft control 

signals.

XT60 Connect to the battery (or to GIMBAL if DJI S1000+ is used)

G6 Connect to gimbal, for transmitting motor commands 

G9 Connect to gimbal, for transmitting the video signal 

Micro-USB port: for PC connection (Assistant configuration and firmware upgrades)

CAN-Bus port: Use CAN-Bus to connect GCU to the flight control system

Gimbal

HDMI-HD/AV Port To camera HDMI port

Motor Command Input Port To GCU G6

10-Pin to 9-Pin Cable Port To GCU G9

Gimbal LED Indicator

Description LED Indicator

HD mode, HDMI-HD/AV module transmits normally LED is blinking green.

HD mode, without camera HDMI video input Green LED is constant on.

HD mode, DJI Lightbridge App video source has been set 

to “HDMI/AV” Yellow LED is constant on.

AV mode, HDMI-HD/AV module transmits normally LED is blinking yellow.

AV mode, without camera HDMI video input Yellow LED is constant on.

HD video transmission module and gimbal is disconnected LED is blinking red.

Appendix
Zenmuse Z15-A7 User Manual

26 ©2015 DJI. All Rights Reserved.

Troubleshooting

NO. The Problem The Cause What to Do

1 The gimbal keeps drifting 

after initialization.

(1) The TX trims are too high.

(2) The GCU and Flight 

Control System have 

been disconnected.

(3) The gimbal direction is 

not pointing in the same 

direction as the aircraft’s 

nose.

(1) Adjust the TX trims.

(2) Connect the GCU and Flight 

Control System.

(3) Ensure the gimbal direction is 

pointing in the same direction 

as the aircraft’s nose.

2

The gimbal is in an 

incorrect position after 

initializing.

Abnormal calibration after 

manufacturing.

Please contact your local dealer 

or DJI customer service.

3

Cannot distinguish the 

gimbal’s direction when in 

use.

BVR (Beyond Visual Range) 

flight.

Switch to FPV Mode first, then 

to another Working Mode as 

needed.

4 The gimbal LED is blinking 

red.

(1) There is a disconnected 

cable between the gimbal 

and camera. 

(2) The camera is off.

(3) Camera setup failure.

(1) Make sure all cables are 

securely connected.

(2) Power on the camera.

(3) Set the HDMI resolution to 

1080i.

5

The gimbal’s green or 

yellow LED is continuously 

on, but no video is 

displayed.

(1) The HDMI-HD/AV 

transmission module is 

disconnected from the 

camera.

(2) The camera is powered off.

(3) In HD mode, the DJI 

Lightbridge App video 

source has been set to 

“HDMI/AV”.

(1) Check HDMI-HD/AV 

transmission module 

connection.

(2) Power on the camera.

(3) Change the DJI Lightbridge 

App video source to "HD 

Gimbal".

Appendix
Zenmuse Z15-A7 User Manual

©2015 DJI. All Rights Reserved. 27

Specifications

General

Built-In Functions Three Working Modes 

Orientation-locked control 

Non orientation-locked control

FPV mode (Reset)

 Built-in independent IMU module 

DJI gimbal special servos drive module

HDMI-HD/AV module

 Infrared remote control module

 Wireless video transmission 

supported

 Camera shutter/video recording 

control supported

 Wide range voltage input supported

 S-Bus Receiver supported

Peripheral

Supported Camera Sony ILCE-7S; Sony ILCE-7R

Supported Lens Sony FE 35 mm f2.8 ZA

GCU Input Power 4S~12S LiPo (Recommend 6S if with S1000+)

Control Requirement At least four spare receiver channels

Assistant Software System 

Requirements

Windows XP SP3; Windows 7; Windows 8 (32 or 64 bit)

Mechanical & Electrical Characteristics

Working Current Static current: 200mA (@25V)

 Dynamic current: 400mA (@25V)

 Locked-motor current: 4A (@25V)

Operating Temperature -10 °C ~ 50 °C

Weight 1.3 Kg

Dimensions 210 mm × 204 mm × 246 mm

GCU Weight 63 g

GCU Dimensions 64.2 mm × 34.1 mm × 19.5 mm

Working Performance

Load Weight (Reference Value) 622 g(@Sony ILCE-7S with Sony FE 35 mm f2.8 ZA, battery, lens hood and 

SD Card) ; 580 g(@Sony ILCE-7R with Sony FE 35 mm f2.8 ZA, battery, 

lens hood and SD Card)

Angular Vibration Range ±0.01°

Maximum Controlled 

Rotation Speed*

Pan axis: ±130°/s

Tilt axis: ±130°/s

Roll axis: ±30°/s

Controlled Rotation Range Pan axis control: ±360° continuous rotation 

Tilt axis control: +50°/-140°

Roll axis control: ±40° 

Note*: Gimbal’s Maximum Controlled Rotation Speed corresponds to TX stick input pushed to 100% end-points.

Appendix
The content is subject to change.

Download the latest version from

http://www.dji.com/product/zenmuse-z15-a7

© 2015 DJI. All Rights Reserved.

If you have any questions about this document, please contact DJI 

by sending a message to DocSupport@dji.com.