G-20 Brushless Gimbai(Metal Version) ~~walkera 

1.0 Manual 

G-2D Gimbal is a high-precision and portable Gimbal specifically designed for iLook, iLook+, GoPro series cameras 

by Walkera. Adopting aluminum alloy CNC precision machining, brush less motor drive, high accuracy intelligent 

electronic control system, it can be widely applied to film photography, advertising aerial photography etc. The 

highly precise and stable structure can ensure the aircraft accurately control the mounted camera to keep stable 

during high-speed flying and take the best aerial photography pictures and videos. 

2.0 Installation Instructions 

(1) Use hexagon socket head screw(M3x8) to fix the Gimbal fixture under the fuselage. 

(2) Use hexagon socket head screw(M2x3.5) to fix the Gimbal under the mounting bracket. 

G·ZD Controller 

0 Balance Note: (1) When Gimbal is assembled with camera and meet the 1....--l} Accessory 

Gimbal barycenter is unbalanced, assemble Gimbal 

Balance Accessory is necessary. 

(2) Please make sure the Gimbal equipped with camera before 

power on, otherwise it will effect the accuracy in calibration. 

3.0 Specifications 

(1) iLook, iLook+,GoPro series camera AV line out (2) Power voltage compensation available 

(3) Support motor drive side short circuit protection (4) Support initial Roll and tilt customed 

(5) Support stick rate mode and position mode (6) Regular receiver accepted 

(7) Operating voltage: DC 7.4V-28V (8) Operating current: 200mA-500mA(depends on the 

(recommended 12V, 3S lipo battery) motor power and voltage supplied) 

(9) Operating temperature: -15 'C - 65 C (10) Sensor technology: 3-axis MEMS gyro and 

accelerometer 

(11) Max angular rate: 2000 /sec (12) Max acceleration: 16g 

(13) Frequency:2000Hz (14) Motor driven frequency: 46KHz (no noise 

smoothing drive) 

( 15) Control accuracy: 0.1· (16) Control range: -45 - 45 (roll)/-135··- 90 (Tilt) 

(H) Applicable camera: iLook, iLook+, GoPro series (18) Size: 100mm x 94.5mm x 84mm(Lx W x H) 

(19) Weight: 133g (Camera not included) (20) Program online update available (UP02 and UP02 

adapter requested) 

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4.0 Function 

4. Power Co1nne,ctor---------, 

3. Rolling motor connector ---+1 

(ROLL. MOT) -----6.AUX scoket(AUX) 

2. Gryo connector----. 

(GYRO) ------8. Tilt scoket(PIT) 

1. Tilt motor connector ---• ------9. Function(FN) 

(PIT. MOT) -----10. VI Knob(V1) 

5/N G-20 Connector/Scoket Function 

1 Tilt motor connector(PIT.MOT) Connect with Tilt motor 

2 Gryo connector( GYRO) Connect with gyro 

3 Rolling motor connector(ROLL.MOT) Connect with Rolling motor 

4 Power connector(POWER) DC 7.4V-28V (recommended 12 V, 3S lipo battery) 

5 V2 knob(V2) Auxiliary adjusting knob 

6 AUX scokei(AUX) AUXoutput 

7 Rolling scoket(ROLL) Used for receiver rolling connect 

8 Till scoket(PIT) Used for receiver tilt connect 

9 Function(FN) Select key when enter into adjusting mode 

10 V1 knob(V1) Auxiliary adjusting knob 

11 Slide switch (o.......,.1) Switch between stick rate mode(position 0) and position 

mode(Position 1) 

12 lndicator(Red/GreenNellow) Status indicating 

5.0 Instruction without connecting receiver 

5.1 Indicator instruction 5.2 Knob Instruction 

Red LED Initialization, please don't 

flash move the camera mount V1 knob Adjusting tilt angle( midpoint is 0, angel 

range is -135"- 90') 

Green LED Initialization finished Keeps solid 

Adjusting roll angle(midpoint is o·. angel 

V2 knob range is -45··- 45') 

Please keep the Gimbal Horizontal and don't move, once initialization finished, you can adjust the rolling and tilt 

angle according to the Gimbal status. 

(1 )If you want the Gimbal forward, please adjust the V1 knob in counterclockwise direction, and vice versa. 

(2)1f you want the Gimbal leftward, please adjust the V2 knob in counterclockwise direction, and vice versa. 

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G-20 Brushless Gimbai(Metal Version) ~~walkera 

6.0 Instruction with Receiver connected 

8.1 Indicator Instruction 8.2 Instruction for knobs 

Red LED Flash Initialization, please dontmove 11ft range setting( mid-point as staJt point ,adjust the camera mount V1 Knob the knob In cauntarclockwlse direction, mmdmum 

Green LED keeps solid Initialization ftnlshed -135' - 90") 

Red LED keeps solid Receiver Tift be connectad Roll range setting( mid-point as start point, adjust 

Yellow LED keeps solid Receiver Rolling be connectad 

V2 knob the knob in caunlerdox:kwise diAICtion, maximum 

-45" -45") 

8.3 Instruction for stick mode 

(1) Stick position mode means adjust tilt and roll angle through transmitter tilt and roll stick. Turning switch 

$J~1) to 1 position, the tilt and roll angle will be changed in corresponding to the tilt and roll stick input, 

take the mid-position as start position, the more you put tilt and roll stick, the more the gimbal tilt and roll angle 

be changed and vice versa. The gimbal till and roll angle will be 0" when the tilt and roll stick at the mid-point. 

(2) Stick rate mode means adjust till and roll change rate through transmitter tilt and roll slick. Turning switch 

(o ~1) to 0 position, the till and roll change rate will be changed in corresponding to the lilt and roll stick 

input, take the mid-position as start position, the mons you put tilt and roll stick, the more the gimbal till and 

roll change rate be changed and vice versa. The gimbal tilt and roll rate will be 0 when the tilt and roll stick 

at the mid-point. 

Remark: When using transmitter knob adjust the gimbal till and rolling, suggest adopt the position mode(slide 

the switch to 1 position), same as the transmitter slick. 

7.0 Parameter Adjusting Mode Setting Instructions 

Please keep the Gimbal Horizontal and don't move, once initialization finished, you can adjust the Gimbal parameters 

selectively according to your demand under parameter adjusting mode. 

7.1 Indicator Instruction under Parameter AdjusUng Mode 

Enter PAM RMIG ... ntY .. Iaw L.:llluh Enter PAM quickly olmulllnooiUIIy 

Till Motor Output 

Red LED naahea qulcklylalowly Enter 11ft Moler Output Power and Gain Control Adjustment 

Power and Gain 

CcnrdAdjuating 

Yellow LED light alflkeeps solid lftash V1 Gain control knob isnl in the middle/in ltle middle/under adjusting 

Green LED light olf/kaapa eolldlftash V2 Output P<Mar knob lanl In the mlddlalln the mkldlelundar ad)ueting 

Roll Motor Output 

Green LED flashes quickly/slowly Enter Roll Motor Output Power and Gain Control Adjustment 

Power and Gain Yellow LED light off/keep8 solid Jnash V1 Gain control knob isnl in the middla/in ltle middle/under adjusting Control Adjuating 

Red LED light offlkaaps solidlllash V2 Output ~r knob is not in the middle/in the middla'under adjusting 

Yellow LED flashes quickly/slowly Enter inln tin & roll motor Initial angle adjusting 

1111 & roll malar V1 initial ti~ engle adjusting knob isn~ in ltle middle/in ltle middla'under Initial angla Red LED light off/keeps solid/flesh 

adjusting adjusting 

Green LED light oft/keeps aolldlftash V2 lnftlal Roll angle adjusting knob lan1 In the middle/In the 

middle/under adjusting 

Parameter save Green LED keeps solid S~ parameters and Exit PAM and PAM EXIT 

7_2 Enter Into PAM Instruction• 

Press FN key over 3 seconds, Red/Green/Yellow LED flash quickly simultaneously indicating PAM entered. 

7-3 Tllt Motor Output Power and Gain Control Adjuatlng 

(1) Enter into PAM, press FN key once until red LED flashes quickly indicating tilt Motor Output Power and Gain 

Control Adjusting mode entered. 

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(2) Reset V1 N2 knob that means adjusting V1N2 knob at middle position, yellow/green LED keep solid constantiy. 

(3) Please wait 3·5 seconds until RED LED flashes slowly, then you can adjust the tilt motor output power and 

gain control. G:lTo increase the till motor output power, please adjust the V2 knob clockwise properly and Green 

LED flashing, and vice versa. ®To increase the tilt motor gain, please adjust the V1 knob clockwise properly 

and Yellow LED flashing and vice versa. 

(4) Press FN key triple until Green LED keeps solid, adjusting parameters will be saved and exit PAM. 

Principle of Tilt Motor Output Power and Gain Control Adjusting: Under the same load status, the tilt motor 

gain should decrease when you increase the output power while you can increase the lilt motor gain when the 

output power decreased. Therefore, you can get more tilt motor gain by decreasing the output power while the 

output power is enough to make the G-2D more stable. However, the G-2D anti-shaking ability will decrease either 

when you decrease the motor power. 

7 A Roll Motor Output Power and Gain Control Adjusting Instruction 

(1) Enter into PAM, Press FN key twice, Green LED flashes quickly, roll motor output power and Gain Control 

Adjusting entered. 

(2) Reset V1N2 knob that means adjusting V1 N2 knob at middle position, yellow/red LED keep solid constantly. 

(3) Please wait 3·5 seconds until Green LED flashes slowly, then you can adjust the Roll motor output power 

and gain control. If you need to Increase the Roll motor output power, please adjust the V2 knob clockWise 

properly and Rad LED flashing, and vice versa. 

(4) Press FN key twice until Green LED keeps solid, adjusting parameters will be saved and exit PAM. 

Principle of Roll Motor Output Power and Gain Control Adjusting: Under the same load status, the Roll motor 

gain should decrease when you increase the output power while you can increase the Roll motor gain when the 

output power decreased. Therefore, you can gat more Roll motor gain by decreasing the output power while the 

output power is enough to make the G-2D more stable. However, the G-2D anti-shaking ability will decrease either 

when you decrease the motor power. 

7.5 Initial tilt & roll motor angle adjusting Instruction 

(1) Press FN key triple, Yellow LED flashes quickly indicating initial tilt & roll motor angla adjusting entered. 

(2) Reset V1 N2 knob that means adjusting V1N2 knob at middle position, yellow/green LED keep solid constantiy. 

(3) Please wait 3-5 seconds until Yellow LED flashes slowly, then you can adjust the tilt and Roll initial angle(Maximum 

-15" -15"): G) To increase the tilt motor output power, please adjust the V2 knob clockwise properly and Green 

LED flashing, and vice versa. ®To increase roll motor initial angle, please adjust the V2 knob clockwise properly 

to and red LED flash, and vice versa. 

(4) Press FN key once until green LED light constantly flashing, save parameters and exit PAM. 

7_8 P..-amatera save and PAM exit 

Enter into PAM, Press FN key four times until green LED keeps solid, adjusting parameters will be savad and exit PAM. 

P.S.: Please adjusting V1N2 knob to middle position after PAM exit. 

8.0 Protection Function 

(1) Motor output short circuit protactlon: When the motor output end short circuit, the controller will cut off the 

motor output automatically to protect the controller not bum. When the short circuit problem be solved, please 

re-connect the power supply again to unlock the protection. 

(2) Angle overrun protacUon: When the camera overrun, the controller will cut the motor output automatically 

to protect the wires not twist off under unexpected condition unless problems solved. 

9.0 G-20 program upgrade 

(1) The G·2D program can be update online, new 

program will be released on Walkera website. 

(2) Upgrade tool: UP02 and UP02 adaptor. 

(3) Connect blue single wire plug to G-2D nit socket 

signal position, yellow single wins plug connect 

to G-2D Roll socket signal position, black single 

wins plug connect to G·2D Roll socket position 

of earth wins. 

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UP02 

Ada!*r