# ATTACHMENT 73rDYY6BuildManualV.A20141ContentsThanksforpurchasingaDIYY6!TheseinstructionswillshowyouhowtoassembleaY6usingthePixhawkautopilotsystemandArduCopter/APM:Copterfirmware.ifyouplantouseothercomponentsinyourbuild,pleaseadjusttheseinstructionsaccordingly.Foronlineinstructions,visit3dr.comjdjy-y6-kit.FramepartsElectronicsTools3441Motorassembly52Powersystemwiring83Bodyplateassembly104Pixhawkassembly155Legassembly216Calibration227Propellerassembly222Frameparts111111111111111111111111111111111111110,legplates(6)bluearms(2)blackarms(1)baseplatetopplatePixhawkplateaccessoryplateulegsupportplates(3)411motorplates(6)30mmbolts(5)ANOWNININ401119w25mmbolts(22)5mmbolts(30)nylonbolts(4)30mmmale-femalestandoffs(4)19mmhollowspacers(15)111111111118mmfemale-femalestandoffs(9)metalnuts(32)nylonnuts(3)thumbnuts(2)itopCMS.velcrostrips(onepair)velcrostraps(3)duallockziptiespowerdistributionboardfour-wirecables(25cmand15cm)six-wirecables(30cmand15cm)15cmfemale-femaleservocablemale-femaleservocables(30cmand10cm)threadlocker3ElectronicsToolsimotorswithadapters(6)electronicspeedcontrollersDeansconnectors(6)rtrHeatshrinktubing(12)SFpropellers(4)SFPpropellers(4)GPSmastwithfourmountingscrewsu-bloxGPSwithcompassPixhawkkitThisbuildusesthePixhawkautopilotsystem,includingthesecomponents:Pixhawkautopilotu-bloxGPSwithCompassTelemetryradiosRadiocontrolsystemArduCopter/APM:CopterfirmwareClickhereformoreinformationaboutthesecomponentsandtoviewcompatibleradiocontrolsystems.Tocompletethisbuild,youwillneedthefollowingtoolsnotincludedwithyourkit:PhillipsscrewdriverDouble-sidefoamtapeorothermountingadhesiveSolderingequipmentNote:Theelectronicsforthisbuildrequiresoldering.Ifyou'reunfamiliarwithsoldering,ourfriendsatSparkfunhavesomegreattutorialsthatcangetyoustarted,includingthiscomic.Foranexampleofexactlywhatsolderingyou'llbedoinginthisbuild,viewthisvideotutorial.41iVotorassemblyFollowtheseinstructionstoassembletwoco-axialmotors.1AssemblebottommotorAligntwoholesinthebottomofthemotorwithtwoholesinthemotorplate.Applythreadlockertotwo5mmbolts,andsecurethemotortotheplatefrombelow.Thismotorwillattachtotheundersideofthearm,soorientthemotorsothatthecableswillprotrudeascloseaspossibletotheholeinthesideofthearm.Whenapplyingthreadlocker,uselessthanonedrop,andcoveronlyfourorfivethreadswheretheboltconnectswiththemotor.Makesuretoinserttheboltsintotheholesinthebottomofthemotorandnotintotheslotswheretheycouldinterferewiththemotor.motors(2)motorplates(2)5mmbolts(4)19mmhollowspacers(3)25mmbolts(3)metalnuts(3)rKt!.í4Ic:e5mrtmboltsr;tOtûrolate10,:052AttachtopmotortoarmPlaceamotorplateontopofthearmwiththeshortendoftheplatefacingtowardstheendofthearm.Placethemotorontopoftheplate,andalignthetwosmallholesinthemotor,plate,andarm.Orientthemotorwiththecablesascloseaspossibletotheholeinthesideofthearm.Applythreadlockertotwo5mmbolts(lessthanonedropcoveringfourorfivethreadsattheendofthebolt),andsecurethemotorandplatetothearmfrombelowbyaccessingthroughthetwolargeholesinthebottomofthearm.Makesuretoinserttheboltsintotheholesinthebottomofthemotorandnotintotheslotswheretheycouldinterferewiththemotor.3ThreadmotorcablesthrougharmNowyou'llthreadthecablesfrombothmotorsthroughthearm.First,threadthecablesfromthetopmotorthroughtheholeinthesideofthearm,anduseapieceoftapetolabelthecablessothatyoucandistinguishbetweenthetopandbottommotorcables.Onceyou'velabelledthetopmotorcables,threadthebottommotorcablesthroughtheholeinthearm.(.,;3rr:rntirNlÍ/_mmbohTOPVIEWBOTTOMVIEWc?.-,r"').V..._.._...._...................._.Jmotorplaterr1,CtCSrt,i<.'t-..:._:.---1á..,..-.`.._64AttachbottommotortoarmPiacetheassembledbottommotoragainstthebottomofthearmwiththeshortendoftheplatefacingtowardstheendofthearm.Applythreadlockertotheendsofthetwo25mmbolts(lessthanonedropcoveringfourorfivethreadsattheendofthebolt).Placea19mmhollowspacerbetweeneachofthepairsofholesinthetwomotorplates.Placethe25mmboltsthroughthemotorplatesandspacers,andsecurefrombelowwithametalnut.r',E.-.r'25mmboltsbottommotorassemblyrád25-mmboltsbottommotorassemblyTOPVIEWCs3BOTTOMVIEWc.wàhoiìov,spacerskLmetalnutsiEstt...ahoiiowspacersi00meta'nuts,ZZ7yi.72PowersystemwiringFollowtheseinstructionstoconnectthepowersystem.1SolderDeanstoESCsSolderaDeansconnectortotheredandblackwiresoneachelectronicspeedcontroller(ESC).ChecktheDeansconnectorsforthe+and-markings,andsolderthe+sidetotheredwireandthe-sidetotheblackwire.Don'tforgettoaddheatshrinktubingtothewiresbeforesoldering,andshrinkthetubingoverthefinishedconnections.2NumberESCsUsetape(orothermethod)tolabeleachESCwithanumberonethroughsix.Deansconnectors(6)DeanstoESC:negative=blackpositive=redelectronicspeedcontrollers(ESCs)(6)rpowerdistributionboard(PDB)Powermodule83ConnectESCstoPDBConnecttheDeansconnectors(red)ontheESCstotheDeansconnectorsonthepowerdistributionboard(PDB)inanyorder.TakealookatthePDBandfindthepinslabelledM1throughM6(motors1through6),andmakeanoteofwhichcolorwireconnectstoeach.Nowconnectthethree-wirecablesfromeachESCtothesepinsonthePDBaccordingtotheESCnumbers.Thisiswheretheorderiscritical.ConnecttheESCthatyoulabelledas"1"tothepinsonthePDBlabelled"M1".Orientthecablewiththewhitewireatthetop(farthestfromthebaseoftheboard)andtheblackwireatthebottom(closesttothebaseoftheboard).4ConnectPDBtopowermoduleAttachtheXT60connector(yellow)onthePDBtotheXT60connectoronthepowermodule.93BodyplateassemblyFollowtheseinstructionstoassemblethebodyplates.1AddvelcrostrapstobaseplateThreadthetwovelcrostrapsthroughtheslotsinthebaseplate.Thesestrapswillholdthebatterytothebottomofyourcopter.Theperfectlyflatsideoftheplate(withouttheprotrudingnuts)shouldfacedown.Yourkitincludestwovelcrostripstoattachtothebatteryandthebottomofthecopter.Toinstall,attachthestripwithloops(fuzzy)tothebottomoftheplatebetweenthestraps,andattachthestripwithhooks(smooth)toyourbattery.2AttacharmstobaseplateUsingtheinnermostholeinthearmandtheholeinthebaseplatemarkedbelow,inserta30mmscrewfromthebottomupthroughtheplateandthearm.Attachthebluearmstothewiderendoftheplateandtheblackarmtothenarrowendasshownonthenextpage.baseplatetopplate30mmbolts(5)25mmbolts(7)AtR!we+tr*-I.J0'l19mmhollowmetalnuts(10)nylonnuts(3)thumbnuls(2)velcrostrapsvelcroshipspacers(6)VisittheAPM:CopterWikiandlearnmoreaboutwhichbatteriestousewithyourcopter..`-'-------___.r6-,Z1wr£.QQ4'et*:!:!o30mmbolts10Ensurethateacharmisattachedtotheplatewiththetopandbottommotorsincorrectorientation.Aneasywaytotellwhichsideofthearmisthetopistolookatthe25mmboltsinthemotorassembly;thebottomsideofthearmhasnutssecuringthebolts.3LabelmotorsUsetape(orothermethod)tolabelthemotorsbythenumbersshownhere.(Thenumberabovethelinecorrespondstothetopmotor;thenumberbelowthelinereferstothebottommotor.)4ConnectESCandmotorcablesConnectthemotorcablestothecorrespondingESCcablesaccordingtothelabellednumbers(connectmotor1toESC1,motor2toESC2,etc).Theorderofthethreecablesdetermineswhichdirectionthemotorswillspinandiscriticalforthecoptertoflycorrectly.Connectthecablesbycolorintheordershownhere.5634Y6BCONFIGURATIONtop=bluecenter=redbottom=blackItmaybehelpfultosecureeacharminplacetemporarilywithametalnut.ThisimageshowsthecorrectwiringforeachESCandmotor.Themotorcablesaredifferentiatedbycolor.TodifferentiatetheESCcables,orienttheESCwiththelabelfacingup,andusetherelationofthecablestothelabel.115AssembleelectronicsontobaseplateThebaseplateholdsthepowersystem:powerdistributionboard(PDB),powermodule,andsixESCs.Placetheassembledpowersystemontothebaseplate.ESCs1,3,4,and6willattachtothesidesofthecopter,perpendiculartotheplates,andcannotbesecureduntilafterthetopplateisassembled.Fornow,placetheseESCsaroundtheedgesoftheplate.SituateESCs2and5onthebaseplatewiththelabelsfacingdown.Tobetteraccommodatethepowersystemontheplate,youcanswitchtheorderoftheDeansconnectionsbetweentheESCsandthePDB.(Donotswitchtheordersofanyothercables.)EnsurethatthepowermoduleXT60connectorprotrudesfromthebackendofthecopterwhereitcaneasilyconnecttothebattery.6AssembletopplateRemoveanynutsthatyoumayhaveusedtosecurethearmstemporarilytothebaseplate,andaddthetopplatedirectlyontopofthearms.Securethethreeexistingscrewswithmetalnuts,andaddanylonnutontopofeachmetalnut.top:nylonnutsw.,IIIhollowspacersmetalnutsSecurethearmstotheplatesthroughtheholesintheendofthearmsandtheholesintheplatesshown.Use30mmboltsandthumbnutstoattachthebluearms,andusea25mmboltandmetalnuttoattachtheblackarm.Finally,attachthebaseandtopplatestogetherwith25mmbolts,19mmhollowspacers,andmetalnutswheremarked.BOTTOMVIEWIii'hollowspacers0thumbnuts_.__.,.:,,..........`1,-,,._..er30mmboltsmetalnuts137SecureESCsUseziptiestosecurethedanglingESCstotheoutsidesoftheplatesusingthesmallslotsalongtheoutsideedgesofthetopandbaseplates.OrienteachESCwiththecapacitor(cylindricalvolumeattheedgeoftheESC)nearesttotheclosestarm.8ThreadcablesthroughtopplateLocatethefollowingthreecables,andthreadthemupthroughthecentralspaceinthetopplate:PDBtwo-wirecable(redandblack),PDBsix-wirecable(multicolor),andpowermodulesix-wirecable(redandblack).ThesecableswillconnecttoPixhawk.144PixhawkassemblyFollowtheseinstructionstoassemblethePixhawkandaccessoryplates.1MountPixhawkSeparatethefourfoampiecesprovidedwiththePixhawkkit,andattachthemtothebottomfourcornersoftheboard.MountPixhawktothePixhawkplatewiththearrowfacingtowardsthewiderendoftheplate.2MountbuzzerandswitchTheswitch(button)snapsintotheroundholeintheaccessoryplate.Threadtheswitchcablethroughtheholeintheaccessoryplatefromthetop,andgentlypulltheswitchintoplace.Usingdouble-sidedfoamtape,mountthebuzzertotheundersideoftheaccessoryplate.Pixrawkplateaccessoryplatenylonbolts(4)30mmstandoffs(4)metalnuts(4)GPSmastIvBOTTOMVIEWMastmountingscrews(L)153MountGPSPlacethebaseoftheGPSmastoverthefourholesintheaccessoryplatewiththeshortersideofthetopofthemastfacingtheleftsideoftheplate(thearrow-shapedholesintheplatefaceforward).Addamountingscrewtoeachhole,andsecurewithnuts.RemovetheadhesivebackingfromthemastandplacetheGPSmoduleontothemastwiththeconnectorsfacingtheshortersideandthearrowontheGPSpointinginthesamedirectionasthearrow-shapedholesintheplate.4InsertSDcardInsertthemicro-SDcardintotheslotattheendofPixhawk.TheAPM:CopterstickercanbeattachedtothefrontofPixhawk.165ConnectmodulestoPixhawkConnectthebuzzer,switch,splitter,GPS,power,andtelemetrymodulestoPixhawk.Toensurethemostsecurecableassembly,threadthecablesthroughtheholesintheplateswherepossible.Wherethecablesdangleawayfromtheframe,suchasalongthemast,useziptiestosecurethecablestotheframe.Note:Pixhawk'sDF13connectorscanbefragilewhendisconnectedandreconnectedmultipletimes.Donotpullonthecablestodisconnect,useafingernailorsmall,flattooltoloosentheedgesoftheconnectoruntilitpopsout.15341Buzzerandswitch:ConnectthebuzzertoPixhawk'sBUZZERport,andconnecttheswitch(safetybutton)totheSWITCHport.ThesecomponentsaremandatoryforPixhawk.2I2Csplitter:Connectthefour-wirecabletooneoftheportsonthesplitterandtoPixhawk's12Cport.3GPSwithcompass:UsethelongcablesprovidedwiththeGPSmasttoconnecttheGPSwithcompassmoduletoPixhawk.Connectthefour-wirecabletotheGPS'MAGportandtooneoftheportsontheI2Csplitter.Connectthesix-wirecabletotheGPSportontheGPSmoduleandtoPixhawk'sGPSport.4Powermodule:Connectthesix-wirecable(redandblackcableprotrudingfromthecentralspaceinthetopplateofthecopter)toPixhawk'sPOWERport.5Telemetryradio:Connectthesix-wirecabletoatelemetryradiomoduleandPixhawk'sTELEM1port.176ConnectRCreceiver7ConnectmotoroutputsConnectbackuppower(optional)PixhawkiscompatiblewithPPMRCreceiversorPWMreceiverswithanadditionalPPMencodermodule.Connectthethree-wirecable(red,black,andwhite)fromyourPPMreceiverorPPMencodertoPixhawk'sRCpinswiththewhitewireconnectedtothesignal(s)pin,theblackwireconnectedtotheground(-)pin,andtheredwireconnectedtothepower(+)pin.ClickhereformoreinformationonusingaPPMencoderorSpektrumSatellitereceiver.Locatethesix-wirecable(multicolor)protrudingfromthecentralspaceinthetopplate.Connectittothemainoutputsignal(s)pinsonPixhawkaccordingtomotornumber.Recallyournotesfromthepowersystemwiringandseewhichcolorwirecorrespondstomotor1.Ensurethatthatcolorwireisconnectedtothemainoutput1signal(s)pin.Donotrelyonthecolorsofthewiresshownhere,theaccuracyofthiscomponentiscritical.Connectthetwo-wirecable(redandblack)protrudingfromthetopplatetoprovideabackuppowersourceforPixhawk.ConnecttheblackwiretoanyofPixhawk'smainoutputground(-)pinsandtheredwiretoanyofthemainoutputpowerpins(+).Thisconfigurationisbestsupplementedwithazenerdiode(visittheAPM:CopterWikitolearnmore),butthebackuppowermethodcanbeusedwithoutimplementingtheadditionaldiode.Ifyoudonotwishtoconnectbackuppower,leavethecabledisconnected.188AssembleplatesAdda5mmnylonbolttothefourholesintheaccessoryplatemarkedbelow,andattacha30mmstandofftoeachonebelowtheplate.AddthePixhawkplatetotheendsofthestandoffsandsecurewithmetalnuts.EnsurethatthearrowsontheaccessoryplatefacetowardsthewiderendofthePixhawkplate.11111111111111Pi(<41..ggT'yfiColtsnylonbolts_cPixhawkplate_-t"7_.sao@---Nmetalnuts---130mmspacers19Placetheassembledplatesovertheexposedboltsinthetopplatewiththearrowsfacingtowardsthebluearms,andsecurewithmetalnuts.Pixhawkplate(0t.metalnutsoo..'F_-t_ti,,{f........9Mountremainingcomponentsc,SelectalocationonthecoptertomounttheI2Csplitter,telemetryradio,andRCreceiver.Useduallockordouble-sidedfoamtapetomountthecomponents.CheckthatallcomponentsareconnectedsecurelytoPixhawk.Whereyouplacethecomponentsonthecopterisultimatelylimitedbythelengthofthecablesbetweenmodules.Experimentwiththedifferentlengthcablesprovidedwithyourkit,andfindthebestplaceforeachmoduleonyourcopter.topplate..._-.._---1...---_-L.,...:..-(mastnotpictured)205LegassemblyFollowtheseinstructionstoassembleoneleg.1AssemblelegAlignthelegplates,andplaceastandoffbetweeneachofthebottomthreepairsofholesintheplates.Secureeachstandofftotheplateswitha5mmboltoneachend.Insertthesupportplateintothehorizontalslotsatthetopoftheleg.2AttachlegtoarmAlignthetwoholesinthetopofthelegwiththetwoholesinthecenterofthearm.Orientthelegwiththepointfacingtowardsthecenterofthecopter.Inserttwo25mmboltsthroughthearmandtheleg,andsecurewithmetalnuts.Repeatthesestepsforeachlegofyourcopter.legplates(2)legsupportplateSmmbolts(6)18mmfemale-to-female25mmbolts(2)metalnuts(2)threadedstandoffs(3)Illlegsupportplatemmbolts216CalibrationYourY6assemblyisalmostcomplete.Nowit'stimetogoonline,downloadsoftware,andbegincalibratingPixhawktoworkwithyournewframe.Donotproceedtopropellerassemblywithperformingcalibration.7PropellerassemblyFollowtheseinstructionstoassemblepropellers.1AssemblepropellersRemovetheringsfromthepropellerpackage.Selecttheringwiththesmallerinternaldiameter,andinsertitintothebackofthepropellerhub.Viewthecalibrationinstructionsonlineat3dr.com/diy-y6-kit.propelleradapters(6)SFpropellers(3)SFPpropellers(3)4111111424.,222AssemblepropelleradaptersSelectthepropelleradaptersandthelongerscrewsprovidedwiththeadapters.Donotusethex-shapedplate.Applythreadlockertothefoursmallscrewsincludedwiththepropelleradapters(lessthanonedropcoveringfourtofivethreads).Attachanadaptertothetopofeachmotor.3AddpropellersYourY6usesSFandSFPpropellers.Thesepropellersarelabelledonthepackageandonthepropelleritself.AddSFandSEPpropellerstothemotorsshowninthediagrambelowwiththewritingonthepropellerfacingtowardsthesky.Therightpropellerorderandorientationiscriticalforyourcoptertoflycorrectly.Addthespacerabovethepropeller,andsecurethenuttightlyontop.aCW,CWCCW'CCWicwCCWEnsurethatthewritingonthepropellersforbothtopandbottommotorsfacesthesky.23YourY6buildisnowcomplete!Beforeyourfirstflight,pleasereadallsafetyinformationandfirstflightinstructionsatcopter.ardupilot.com/wiki/tableof-contents/.Forcustomersupport,contactusathelp@3dr.comorcalloursupportlineat+1(858)225-1414MondaythroughFriday,from8amto5pm,PST.COMPLETEY624