## T

a r ot 2

- A x i s B r us h l e ss G i m ba l fo r G o p r o U s e r M an u a l V 1

. 0

1

. I nt r o d u ct i o n

T a r o t T

- 2 D g i m ba l i s de s i gned f

o r t he G op r o H e r o 3, w h i ch i s wi de l y u s ed i n fi l m

, t e l e v i s i o n

p r oduc ti on s

, a d v e rtisi ng ae ri a l pho t og r aph y

, e t c. U s i ng 60 6 1 T 6 a l u m i nu m a ll o y f u ll CN C

p r ec i s i on m ach i n i ng and b r u s h l e ss m o t o r d r i v i ng, it s o v e r a ll fr a m e w o r k i s de s i gned wit h t he i dea

o f co m pac t

, ea s y i n s t a ll a t i on, h i gh p r e c i s i on, li gh tw e i gh t

, h i gh s t ab ili t y and m a n y o t he r

cha r ac t e risti c s

. E v en if t he a ir c r a ft i s i n h i gh

- s peed fli gh t

, it can s till s t ab ili ze and con tr o l t h e

G op r o ca m e r a p r ec i s e l y wi t h t he h i ghe s t s t ab ili t y

, s o p i c t u r e s o r v i deo s ou t pu t ca n r each t he be s t

qua li t y

.



## 2

. Spec i f i c a t io ns

1. Su p po rt GO P R O H e r o3 v i deo ou t pu t

.

2. Su p po rt r e v e rs e po w e r s u p p l y p r o t ec ti on and po w e r v o lt age co m pen s a ti on.

3. Su p po rt m o t o r

connec t o r s ho rt

c ir cu it p r o t ec ti on.

4. Su p po rt tilt i n i t i a l ang l e s e tti ng.

5. Su p po rt

ad j u s t ab l e ga i n s a nd 3 D a ttit ude d i s p l a y on P C s o ft w a r e.

6. Su p po rt s ti ck r a t e m ode and po s iti on m ode.

7. Su p po rt ed r ece i v e r t y pe : con v en ti ona l/ S

- BU S / D S M 2 / D S M J / D S M X r e c e i v e r

.

8. Su p po rt ed RC : PP M /

P C M / 2.4 G

.

9. O pe r a ti ng s upp l y : DC 7. 4 V

~ 14. 8 V ( L i

- P o 3S i s r eco mm ended )

10. O pe r a ti ng cu rr en t: 2 0 0 m A

- 500 m A ( D ep e nd i ng o n p o w e r s upp l y v o lt age and m o t o r po w e r)

1 1. O pe r a ti ng t e m

pe r a t u r e :

- 15 o C

~ 65 o C

.

12. C P U : D o ub l e 3 2 b it A R M

13. Sen s o r t echno l o g y : 3

- ax i s M E M S g y r o and acce l e r o m e t e r

.

14. M ax angu l a r r a t e : 2 0 00 o / s ec.

15. M ax acce l e r a ti on : 16 g

.

16. C on tr o l fr equenc y : 2000 H z

17. M o t o r d ri v e r fr equenc y : 20 K H z ( qu i e t and s m oo t h )

18. C on tr o l accu r ac y : 0.1 °

19. C on tr o l r ange :

- 45 o

~ 45 o ( r o ll)

, - 135 o

~ 90 o (tilt)

.

20. A ttit ude a rit h m e ti c : B L DC g i m ba l ded i ca t ed b r u s h l e s s m o t o r decoup l ed E K F

a l go rit h m

.

21. A e ri a l pho t og r aph y equ i p m en t: G O P R O H e r o3.



## 3

. C o nnec t i o ns

C o n nec ti on s i n st r uc ti ons :



### WWW

. 0577 M X

. C OM1. P o w e r s u pp ly :

D C 7. 4 V

~ 14

. 8 V ( L i

- P o 3S i s R eco mm ended )

2. Gi m ba l con t r o ll e r

conne c t or :

V i a U S B m odu l e connec t ed t o t he co m pu t e r

, u s ed t o ad

j u s t t he g i m

ba l con tr o l l e r pa r a m e t e r and

s t a t u s m on it o r i ng.

3.Mo t o r dr i v e r co n nec t or :

V i a U S B m odu l e connec t e d t o t he co m pu t e r

, u s ed t o a d

j u s t t he m o t o r d r i v e r m odu l e ( m o t o r

po l e s and p o w e r) , and v o lt a g e and cu rr e n t m on it o ri ng.

4. R e c e i ve r

a n d ca m era c on t r o l connec t or :

R: con v en ti ona l r ece i v e r r o ll channe l i n p u t

T : con v en ti ona l r ece i v e r ti l t channe l i npu t

C: con v en ti ona l r ece i v e r s ti ck m ode channe l i n p u t (r a t e m ode and po s iti on m ode )

S: S

- BU S r e ce i v e r

o r con v en ti ona l r ece i v e r

ca m e r a i npu t

P: ca m e r a con tr o l s e r v o ou t pu t ( I n fr a r ed ca m e r a m odu l e can be c o nnec t ed )

+: 5 V ou t p u t

-: po w e r g r ound

5. D SM2 / D S M J / D S MX :

U s ed t o c onn e c t D S M 2 /D S M J / D S M X r ece i v e r

6. R o ll a nd tilt m o t o r

conn e c t or :

U s ed t o c onn e c t m o t o r

7.Sen s o r c onn e c t or :

U s ed t o c onn e c t s en s o r m odu l e



## 4

. V i d e o li n e :

WWW

. 0577 M X

. C OM

## 5. LE D i nd i c a t i on

Y : Y e ll ow , B: B l ue , R: R ed

, G: G r e en

Y e ll o w b li nk 2 ti m e s I n i ti a li za t i on s ucce ssf u l l y

Y e ll o w s o li d I n i ti a li za t i on no t fi n i s hed, k e ep g i m ba l s t a ti c

B l ue b li nk R ece i v e r connec t e d o r P C s o ft w a r e connec t ed ( no r m a l)

B l ue L E D s o li d R ece i v e r no t con n ec t ed ( no rm a l)

R ed s o li d A ng l e ou t o f ba n d o r e rr o r o ccu r

G r een s o li d O v e r cu rr ent

, A ft e r tr oub l e s hoo ti ng, r ea p p l y po w e r can r eco v e r



## 6 . P r ot ec tion f

un c t i on

R ev e r s e p o w e r p r o t ec ti on :

When t h e po w e r i s r e v e rs ed, t he g i m ba l w on ’ t r e s pon s e a v o i d i ng bu r n i n g t he c on tr o l pane l

,

t he r eb y enhanc i ng r e li ab ili t y

.

Mo t o r ou t p u t s hor t c i r cu it

p r o t ec ti on f

unc ti o n :

Whe n t he m o t o r ou t

p u t i s s h o rt ed m o t o r ou t

pu t P T Z c on t

r o l pane l will t u r n o f

f an d t h e g r ee n

li gh t i s lit

, t he r e b y p r o t ec ti n g t he con tr o l pane l fr o m bu r n i ng. A ft e r t he s ho rt tr oub l e s hoo ti ng, y ou

m u s t r e

- po w e r t o li f

t t he p r o t ec ti on.

A ng l e over r un p r o t e c ti on f unc ti on :

When t h e ca m e r a ang l e e x c eed s t he li m it

, it w ill au t o m a ti ca l l y s hu t do w n t he m o t o r ou t pu t

and t he r ed li gh t i s lit

, t he r eb y p r o t ec ti ng t he li ne s l a i d do w n be i ng w r app e d b r ok e n i n unexp e c t e d

s it ua ti on s

. A ft e r t he s ho rt t r oub l e s hoo ti ng

, r e

- po w e r o r r e

- s t a r t t he m o t o r on t he co m pu t e r s i de,

t hen t he g i m

ba l can be r e s t o r ed.



## 7

. Setup i n s tru c t i on

B r u s h l e ss g i m

ba l s y s t e m u s e s a dua l

- p r oce ss o r s o l u ti on ( g i m ba l con tr o ll e r p r oce ss o r an d



### WWW

. 0577 M X

. C OMm o t o r d r i v e r p r oce ss o r) . So ft w a r e i n t e rf ace i s a s f o ll o w s

.



## A

、 G i m b a l c o n t r o ll e r s o f t w a r e U I i n s t r uct i o n s

C on n ec t U S B p r o g r a mm e r t o g i m ba l con tr o l l e r po rt

. O pen Z YX

- B M G C .e x e, r un

Z YX

- B M GC s o ft w a r e, s o ft w a r e i n t e rf ace i s a s f o ll o w s

.

( 1 ) O pen p or t:

Se l ec t C O M p o rt i n t h e s o f t w a r e, an d c li ck “ O pe n C O M P o rt ”

. A ft e r t ha t

, y ou ca n p o w e r o n

g i m ba l

. T he po w e r s upp l y s h ou l d m ake g i m ba l w o r k s a f

e l y

.

( 2 ) Gi m ba l con t r o ll e r

connec ti on st a t u s:

A ft e r t he i n iti a li za t i on p r oce ss

, t he s t a t u s ba r s hou l d s ho w “ A ll pa r a m e t e rs upda t ed! ”

. T h i s

m ean s g i m

ba l ha s been co n nec t ed t o s o ft w a r e s ucce ss f u l l y

. T ogg l e a r b itr a r y ax i s o f t he g i m

ba l

,

y ou s hou l d s ee t he m o v e m en t o f t he g i m ba l i n 3 D a ttit ude d i s p l a y on t he s c r e en. F o r s a f e

con fi gu r a ti on s

, w hen g i m ba l connec t e d

, t he p r o g r a m au t o m a t i ca l l y s e t s m o t o r ou t pu t m ode o f

f

.

( 3 ) Sen s o r m odu l e m ount :

Y ou s h o u l d s e l ec t ri gh t s en s o r m odu l e m oun ti ng w a y a t “ Sen s o r M o d u l e M ount ” a c co r d i n g

t o s t ep1. T hen, y ou s hou l d ob s e r v e “ 3 D A ttit ude D i s p l ay ” w he t he r can r e fl ec t c a m e ra ’ s r ea l



### WWW

. 0577 M X

. C OMm o ti on.

( 4 ) R ece i ve r t y pe :

C on n ec t y ou r r ece i v er ’ s connec ti on t o Z Y X

- GS ’ r ece i v e r i npu t po rt

, and s e l ec t ri gh t r ece i v e r

t y pe i n con fi gu r a ti on p r og r a m

. When t he r ece i v e r t y pe c hanged, y ou s hou l d c li ck “ W rit e Se tti ng s

t o F l a sh ” , and r e s t a rt Z YX

- G S.

D S M 2 / D S M J / D S M X r ece i v e r t y pe :

D S M 2 -1 : T

r an s m itt e r i s DX 7 e t c. ( b i nd i ng b y 6 o r 7 c h anne l s r ece i v e r)

D S M 2 -2 : T

r an s m itt e r i s DX 8, D S X 9 e t c. ( b i nd i ng b y 6 o r 7 ch a nne l s r ece i v e r)

D S M 2 -3 : T

r an s m itt e r i s DX 8, D S X 9 e t c. ( b i nd i ng b y 9 channe l s r ece i v e r)

D S M 2 -4 : T

r an s m itt e r i s D M 8, D M 9 m odu l e. ( b i nd i ng b y 6 o r 7 cha n ne l s r ece i v e r)

D S MJ : T

r an s m itt e r i s D S M J f

o r m a t

. ( B i nd i ng b y m a t c hed r ece i v e r)

D S M X -1 : T

r a n s m itt e r i s DX 8 e t c

. ( 1 1 m s m ode, b i nd i ng b y m a t ched r ece i v e r)

D S M X -2 : T

r a n s m itt e r i s DX 8 e t c

. ( 22 m s m ode, b i nd i ng b y m a t ched r ece i v e r)

( 5 ) R C m on it or :

A ft e r y ou s e l ec t r ece i v e r t y pe and r e s t a rt g i m ba l

, t he wi ndo w will g i v e y ou a r ea l ti m e

d i s p l a y f o r a ll i npu t channe l s

.

R : r o ll i npu t

chan n e l

.

T : tilt i npu t

channe l

S : ca m e r a r e m o t e i n fr a r ed s h u tt e r con tr o l channe l

C : R C M o de S wit ch :

M ode1 : s ti ck r a t e m ode

M ode2 : s ti ck po s iti on m ode

( 6 ) A ng l e li m its :

Y ou c an li m it t he r o ll ang l e and tilt ang l e f o r y ou r need. R o ll ang l e li m it s r ange i s

- 45 o

~ 45 o

,

tilt ang l e l i mit s r ange i s

- 135 o

~ 90 o

.

N O T I CE : w h e n t he a ttit ude o f t he g i m ba l i s no t i n limit s r ange, g i m ba l will s e t m o t o r ou t

pu t

m ode o f f f o r s a f e t y

. When y ou con fi gu r e g i m ba l a t f i r s t t i m e, y ou s hou l d s e t ang l e l i m i t s w i t h

l o w e r v a l ue s

.

( 7 ) Mo t o r

d i r ec ti on :

M o t o r d ir ec ti on i s s e l ec t ed a cco r d i ng t o t he m o t o r r o t a ti on.

( 8 ) I n iti a l tilt

ang le :

I n s ti ck r a t e m ode, w hen t h e g i m ba l po w e r on

, t he i n i t

i a l tilt ang l e i s de t e r m i ned b y t h i s

pa r a m e t e r

.

( 9 ) Mo t o r

ou t p u t m ode :

M o t o r ou t pu t m ode i s u s ed f

o r keep i ng t h e g i m

ba l s a f e w hen con fi gu r e g i m

ba l

.

M o t o r o f f m ode : g i m

ba l s hu t s do w n m o t o r

ou t pu t s i gna l

.

M o t o r on m ode : g i m

ba l ou t pu t s m o t o r s i gna l , a t t h i s ti m e, t he g i m ba l s t ab ili za t i on w o r k s

.

N O T I CE :

( a ) When t he m o t o r

ou t pu t m ode i s “ m o t o r

o ff ”

, y ou can s e t s en s o r m odu l e m oun ti ng w a y

.

( b ) When t h e m o t o r ou t

pu t m ode i s “ m o t o r on ”

, t he r e a r e tw o s it ua ti on s g i m ba l w ill au t o m a ti ca l l y

s hu t do w n m o t o r ou t

pu t s i g na l

. F ir s t s it ua t i on : t he t o t a l ga i n i s ze r o o r o t he r t h r ee ga i n s a r e ze r o

on an y ax i s

. Sec o nd s it ua ti o n : cu rr en t a ttit ude o f t h e g i m ba l i s no t i n ang l e li m it r ange s . When y o u

need m o t o r ou t

pu t

, y ou s hou l d s e t ga i n s v a l ue no n

- ze r o, keep t he g i m ba l l e v e l and m ake s u r e t he

s en s o r m odu l e m oun t ed ri gh t l y

.



### WWW

. 0577 M X

. C OM( 10 ) P I D pa r a m e t er s ad j u s tm ent :

P I D p a r a m e t e rs r ange i s [ 0

- 500 ]

, t he ba s i c r u l e i s t he t o t a l s en s iti v i t y can no t be 0

, s pee d

s en s iti v i t y and i n t eg r a ti on s en s iti v i t y can no t bo t h be 0. If b r eak t he s e r u l e s t he g i m ba l wil l t u r n

o f f t he m o t o r

, t h i s can p r o t ec t g i m ba l and ca m e r a.

U nde r t he s a m e l oad c ond iti on, if m o t o r po w e r pa r a m e t e r i s i nc r ea s ed, y ou s hou l d r e duce t he

g i m ba l ga i n s

. I f it s v a l ue i s dec r ea s ed, y ou s hou l d i nc r ea s e t he g i m ba l ga i n s

. I n g ua r an t ee t h e

m o t o r po w e r unde r t h e co nd iti on o f eno u gh, y ou s hou l d m i n i mi ze po w e r v a l ue f o r l a r ge r ga i n s t o

ge t be tt e r g i m

ba l s t ab ili za ti on pe rf

o r m ance. N o ti ce t h a t r educ i ng m o t o r po w e r w i ll a f f ec t t he

ab ili t y o f t he g i m

ba l r e s i s ti n g d i s t u r

bance.

S t ep 1. A c c e l era t e ga i n :

F ir s t

, s e t t he t o t a l ga i n t o a n app r op ri a t e v a l ue ( e. g

. 10 0 )

, s e t t h e v e l oc i t y ga i n an d i n t eg r a l

ga i n t o t he m i n i m

u m v a l ue ( e.g. 1 ) .Se c ond l y

, i nc r ea s e acce l e r a t e ga i n g r adua ll y un t il t he g i m ba l

s hak i ng. T h i s v a l ue i s t he l a r ge s t acce l e r a t e ga i n. F i na l l y

, r educe t he acce l e r a t e ga i n b y 20 % a s t h e

fi na l ga i n.

S t ep 2. V e l oc it y g a i n :

F ir s t

, i nc r ea s e v e l oc i t y ga i n g r adua l l y un til t he g i m ba l s hak i ng. T h i s v a l ue i s t h e l a r ge s t

v e l oc i t y ga i n. F i na l l y

, r educe t he v e l oc i t y ga i n b y 20 % a s t he fi na l ga i n.

S t ep 3. I n t egra l g a i n :

F ir s t

, i nc r ea s e i n t eg r a l ga i n g r adua l l y un til t he g i m ba l s hak i ng. T h i s v a l ue i s t he l a r ge s t

i n t eg r a l ga i n. F i na l l y

, r educe t he i n t eg r a l ga i n b y 20 % a s t he fi na l ga i n.

S t ep 4. F i ne -t u ne ga i n s:

A ft e r co m p l e ti ng t he abo v e s t ep s

, w e can be a pp r op ri a t e t o fi ne

- t une each ga i n s and g e t be tt e r

r e s u lt

.

( 1 1 ) W r it e s e tti ng s t o f

l a sh :

A ft e r y ou r con fi gu r a ti on f i n i s hed, c li ck ” W

rit e Se tti n g s T

o F l a sh ”

. When y ou w r i t e fl a s h

s ucce ssf u l l y

, t he s e tti ng s a r e s a v ed i n g i m ba l

. N ex t t i m e, w hen y ou r e s t a rt g i m ba l

, t he s e s e tti ng s

a r e l oaded a

u t o m a ti ca l l y

.



## B

. G i m b al m o t o r d r i v e r so ft wa r e U I i n s t ruct i o n s

C on n ec t U S B p r o g r a mm e r t o m o t o r d ri v e r po rt

. O p e n Z YX

- B M GC

. exe ; r u n Z YX

- B M G C

s o ft w a r e, c li ck ‘ m o t o r con f i gu r a ti on ’

, t he i n t e rf

ace o f m o t o r con fi gu r a ti on i s i n t he f o ll o wi n g

fi gu r e.



### WWW

. 0577 M X

. C OM( 1 )O pen C O M p or t:

Se l ec t C O M po rt i n t he m o t o r con fi gu r a ti on

, an d c li ck ‘ O pe n C O M Po rt ’

. A ft e r t ha t

, y ou ca n

po w e r on t he g i m

ba l

. T he p o w e r s upp l y s hou l d m ake t he g i m ba l w o r k s a f

e l y

.

( 2 ) Mo t o r dr i ve r m odu l e c o nnec ti on st a t u s:

A ft e r m o t o r d r i v e r m odu l e i n iti a li za ti on p r oce ss

, t he s t a t u s ba r s hou l d s h o w “ A ll pa r a m e t e r s

upda t ed! ”

. T h i s m ean s m o t o r d ri v e r m odu l e ha s been co n nec t ed t o s o ft w a r e s ucce ssf u l l y

.

( 3 ) P o l a r nu m :

Po l a r nu m i s m o t o r m agne t i c po l e nu m be r; t h i s pa r a m e t e r wil l a f f ec t t he r educ ti on r a ti o and

h i ghe s t s pee d o f t h e m o t o r

. U s ua l l y

, it s v a l ue s hou l d b e s e t t o t he ac t u a l nu m be r o f t he m o t o r

. I f

y ou nee d s pec i a l p e rf

o r m ance, it s v a l ue ca n b e s e t t o d i f f e r en t fr o m t he ac t ua l po l e n u m be r o f t h e

m o t o r

.

( 4 ) Mo t o r p o w er :

T he r a n ge o f m o t o r po w e r i s 0 %

- 100 %

, it s v a l ue can be ad j u s t acco r d i ng t o l oad. U n de r t h e

s a m e l oad cond iti on, i f m o t o r po w e r pa r a m e t e r i s i nc r e a s ed, y ou s hou l d r educe t he g i m ba l ga i n s

.

I f it s v a l ue i s dec r ea s ed, y ou s hou l d i nc r ea s e t he g i m ba l ga i n s

. I n gua r an t ee t he m o t o r po w e r unde r

t he cond iti on o f enou g h, y ou s hou l d m i n i m i ze po w e r va l ue f o r l a r ge r ga i n s t o g e t be tt e r g i m ba l

s t ab ili za ti on pe rf

o r m ance. N o ti ce t ha t r educ i n g m o t o r p o w e r will a f f ec t t he ab ili t y o f t he g i m ba l

r e s i s ti ng d i s t u r

bance.

( 5 ) S i gna l m on it or :

D i s p l a y s upp l y v o l t age and ope r a ti ng cu rr en t o f t he g i m ba l

. V o lt age v a l ue d i s p l a y ed will b e

s m a l l e r t han t he po w e r s upp l y v o l t age o f 0.3 V o r s o.

( 6 ) W r it e s e tti ng s t o f

l a s h :

A ft e r y ou r m o t o r

con fi gu r a t i on fi n i s hed, c li ck ” W rit e Se tti ng s t o F l a sh ” . When y ou w r i t e fl a s h

s ucce ssf u l l y

, t he s e tti ng s a r e s a v ed i n g i m ba l

. N ex t ti m e

, w hen y ou r e s t a rt it

, t he s e s e tti ng s a r e

l oaded au t o m a ti ca l l y

.



## 8 . U pg r ad e fir m w a r e

WWW

. 0577 M X

. C OMN o ti ce : B ecau s e t h i s g i m ba l con tr o ll e r adop t s doub l e C P U s o l u ti on, a s m a i n con tr o ll e r C P U

and m o t o r d r i v i ng C P U

, t he r e a r e d i f

f e r en t upg r ad e fi r m w a r e f i l e s f o r t he s e C P U s

. B e f

o r e

upg r ad i n g fir m w a r e, y ou s hou l d m ake s u r e t h e ha r d w a r e i n t e rf ace co n nec t e d ri gh t l y and c h oo s i n g

co rr e s pond i n g fir m w a r e f i l e s

.

1. Ma i n c on t r o ll e r f

i r m w a r e upg r ade :

F ir s tl y

, y ou s hou l d connec t U S B p r og r a mm e r t o m a i n c on tr o ll e r po rt

, and s e l ec t ri gh t CO M

po rt

, c li ck “ O p en F i r mw a re ”

, choo s e t he fir m w a r e fil e y ou w an t t o upg r ade ( do n o t c li ck ” O p en

C O M P o rt ” )

. A ft e r t ha t

, c li ck “ S t a rt U pg r ade ”

, and t h e n

, po w e r on t he g i m ba l

. Whe n t he p r og r e s s

ba r fi n i s hed, fir m w a r e upg r ade s s ucce ssf u ll y

. A ft e r fi r m w a r e upg r ade s fi n i s hed, y ou can o pen

C O M p o rt t o c onn e c t g i m ba l t o c o n fi gu r a ti on p r og r a m

. T he ne w m a i n con tr o ll e r firm w a r e v e rsi on

can be s e e n i n t he wi ndo w

.

2. Mo t o r d r i ve r f

i r m w a r e u pgrade :

F ir s tl y

, y ou s hou l d c o nne c t U S B p r og r a mm e r t o m o t o r d ri v e r po rt

, an d c li ck ‘ m o t o r

con fi gu r a ti on ’ t o en t e r i n t o t he i n t e rf ace o f m o t o r c o n fi gu r a ti on. Se l ec t ri gh t CO M po rt

, c li c k

“ O p e n F ir m w a re ”

, choo s e s t he fi r m w a r e fil e y ou w an t t o upg r ade ( do n o t c li ck ” O pen CO M

Po rt ” )

. A ft e r t ha t

, c li ck “ S t a rt U pg r ade ”

, a nd t hen, p o w e r on t he g i m ba l

. When t he p r og r e ss ba r

fi n i s hed, fi r m w a r e upg r ade s s ucce ssf u l l y

. A ft e r fi r mw a r e upg r ade fi n i s hed, y ou ca n open C O M

po rt t o connec t g i m

ba l t o c o n fi gu r a ti on p r og r a m

. T he ne w m o t o r d r i v e r f i r m w a r e v e rsi on can b e

s een i n t he wi ndo w

.



### WWW

. 0577 M X

. C OM