ZYX-GS Manual, English
Contents
1. aS Servo Type Velocity Servo 1520um Control Mode Att tude locking fode x Angle Limit Max 20 20 ServoTrim 120 7 Servo Reverse Attitude Monitor 21 wi 24 Pm Servo Type Velocity Servo 1520um Futaba S BUS Start Upsrade Cancel Upgrade 6 Select servo type and control mode ZYX GS supports 1520 960 760 standard servos and 1520 960 760 velocity servos no potentiometer If your gimbal has potentiometers installed or servos have internal potentiometers you should choose standard servo in the configuration program If your gimbal has no potentiometers installed and servos have no internal potentiometers you should choose velocity servo We recommend using velocity servos for more excellent stabilization performance When servo type is standard servo there are two control modes to be chosen attitude locking mode and following mode When servo type is velocity servo only attitude locking mode can be chosen Tilt Setting Angle Limit Max 20 Attitude Monitor OH Ti 224 Pm 7 Set angle limits You can limit the roll angle and tilt angle based on your need Roll angle limits range is 45 45 tilt angle limits range is 135 90 pan angle lim2. completely you can plug belts and dampers into the gimbal Step3 ZYX GS tuning NOTICE If you use ZYX GS at first time you must connect ZYX GS to PC software and choose right servo type and right servo direction If you don t do this the servos may put your whole machine at risk Install the USB driver on your computer first Plug servos to the control module s input ports and connect ZYX GS to PC software by USB programmer Open ZY X GS software exe run configuration software program The interface of this program is in the following figure Total Gain Position Gain Integral z 0 Servo Reverse RC Sensitivity 0 Servo Type Standard Servo 1520um J Velocity Gain Control Mode Attitude locking Mode Tilt Setting Angle Limit Servo Trim 0 RCSensitivity 0 Servo Type Standard Servo 1520um Control Attitude locking Mode 1 Select COM port in the software and click Open COM Port After that you can power on ZYX GS The power supply should make ZYX GS and servos work safely 0 Servo Reverse L 0 520m Mj Attitude locking Mode Standard Servo 1520um gt ai Atti ing Mode C De 2 After the initialization process the status bar should show parameters updated
3. 10 Set servo output mode Servo output mode is used for keeping the gimbal safe when configure ZYX GS Servo off mode ZYX GS shuts down servo output signal Servo on mode ZYX GS outputs servo signal at this time the gimbal stabilization works Feedback off mode ZYX GS shuts down feedback sensing but still outputs PWM signal This mode is used for servo trim adjusting NOTICE a When the servo output mode is Servo off you can set sensor module mounting way b When the servo output mode is Servo on or Feedback off there are two situations ZY X GS will automatically shut down servo output signal First situation the total gain is zero or other three gains are zero on any axis Second situation current attitude of the gimbal is not in angle limit ranges When you need servos output you should set gains value non zero keep the gimbal level and make sure the sensor module mounted rightly RC Sensitivity Servo Type Velocity Servo 1520um we Control Mode Attitude locking Mode w 120 Attitude Monitor 24 24 Pan 03 11 Write settings to flash After your configuration finished click Write Settings To Flash When you write flash successfully the settings are saved in ZY X GS Next time when you restart ZY X GS these settings are loaded automatically Integral Gain j Type Velocit
4. 0um Attitude locking Mode 2 RC Sensitivity Servo Type Standard Servo 1520um Velocity Gain Control Mode Attitude locking Mode Tilt Setting Angle Limit bh hao lt lt Uneme Write Settings To Flash cm Additional Information If your gimbals are not Tarot products you should make sure the servos directions are correct gains and angle limits are suitable before you mount the camera If your servos are velocity servos no potentiometer please make sure the servos output signal can be shut down when you click Servo off If these servos can t be shut down you should power off ZYX GS to stop servos working when you need servo off mode in configuration procedure
5. This means ZYX GS has been connected to software successfully Toggle arbitrary axis of the gimbal you should see the movement of the gimbal in 3D attitude display on the screen For safe configurations when ZY X GS connected the program automatically sets servo output mode off p Re Sensitivity 5 Gimbal 3D attitude Velocity Gain Integral Gain Tilt Setting 214_ 224 Pan Futaba S BUS ee Start Upgrade 3 You should select right sensor module mounting direction at Sensor Module Mount according to stepl Then you should observe 3D Attitude Display whether can reflect camera s real motion Servo Trim V Servo Reverse RC Sensitivity 25 Integral Gain Servo Type Velocity Servo 1520um Velocity Gain n Control Mode Attitude locking Mode Tilt Setting 4 y Angle Limit EX 20 20 ES Re Mono Rol 21 Tit 224 Pan 08 Futaba S BUS 4 Connect your receiver s connection to ZYX GS receiver input port and select right receiver type in configuration program When the receiver type changed you should click Write Settings to Flash and restart ZYX GS DSM2 DSMJ DSMX receiver type DSMO2 1 transmitter is DX7 etc Binding by 6 or 7 ch
6. ZY X GS Gimbal Stabilization System User Manual v1 0 1 Introduction The new high performance precision gimbal stabilization system ZY X GS from Tarot provides dedicated independent gimbal control to efficiently and effectively stabilize your AP AV shots and ideally matched to our new PTZ gimbal and other 3rd party gimbal providers The ZYX GS features 3 axis stabilization adjustable gains PC attitude locking and attitude following modes 3 axis MEMS gyro and accelerometer free firmware upgrade services Offering a wide range of servo support and an unbeatable price point Tarot hopes to continue its trend of supplying quality products to the Heli and Multi rotor markets at the lowest possible price ZY X GS provides two kinds of stabilization control mode which are attitude locking mode and following FPV mode These make the users aerial filming applications more flexible and convenient ZY X GS has different control algorithms for position servos and velocity servos no potentiometer this advantage allows people to choose suitable control mode according to their servo type The gimbal stabilization system ZY X GS uses high specification 3 axis MEMS gyro sensor and 3 axis MEMS accelerometer sensor The advanced attitude algorithm s updating rate is up to 800Hz which can sense gimbal s attitude quickly and accurately The control algorithm is optimized for aerial filming application adapted to harsh climate and provides steady performa
7. annels receiver DSM2 2 transmitter is DX8 DSX9 etc Binding by 6 or 7 channels receiver DSM2 3 transmitter is DX8 DSX9 etc Binding by 9 channels receiver DSM2 4 transmitter with DM8 DM9 module Binding by 6 or 7 channels receiver DSMJ transmitter is DSMJ format Binding by matched receiver DSMX 1 transmitter is DX 8 etc 11ms mode binding by matched receiver DSMX 2 transmitter is DX 8 etc 22ms mode binding by matched receiver 20 SevoTrim 0 V Servo Reverse H RC Sensitivity 25 ti la ou z Servo Type Velocity Servo 1520um we Velocity Gain DO Tilt Setting Angle Limit Total Gain Max 20 Min 20 Position Gain 7 Suvo T m 120 1 V Servo Reverse Attitude Monitor RC Sensitivity 25 Rol 21 Tit 24 Pm jos Serpe Type Velocity Servo 1520um 5 After you select receiver type and restart ZY X GS the window will give you a real time display for all input channels R roll input channel T tilt input channel P pan input channel C camera remote infrared shutter control channel Mode Switch RC stick mode switch input channel We recommend using a three state toggle switch as the stick mode switch channel Model stick rate mode Mode2 stick rate mode Pan servo off used for gimbal with landing gear Mode3 stick position mode RC Sensitivity 25
8. its are not open at this time NOTICE when the attitude of the gimbal is not in limits range ZY X GS will set servos output mode off for safety When you configure ZY X GS at first time you should set angle limits with lower values hig Gia Velocity Gain f Tilt Setting Set anele limits Le Integral j d Roll 21 Tit 24 Pm 08 8 Set servo trim servo direction and RC sensitivity When you want to adjust servo trim you should set servo output mode to Feedback off Servo trim input range is 500 500 Servo direction chosen can be done by clicking Servo Reverse RC sensitivity reflects the motion speed of the gimbal when you move RC sticks Integral Gain Servo Type Velocity Servo i 520um Velocity Gain _ Control Mode Attitude locking Tilt maet servo trim eE Integral Gain so ome Roll 21 Fit 224 Pan 03 0 rr EE Velocity Servo 1520um A EE 9 Adjust gains on each axis At first set all total position integral velocity gains to a low value e g 5 For tilt setting increase position gains until the tilt stabilizes satisfactorily If the gimbal shakes it means the gains are too high and if the gimbal moves smoothly bu
9. nce for gimbals ZY X GS is composed of sensor module and control module which simplifies users wiring 2 Specifications 3 axis stabilization Pan tilt and roll stabilization Adjustable gains and 3D attitude display on PC software Two control mode attitude locking mode and attitude following mode FPV Support stick rate mode and position mode Sensor technology 3 axis MEMS gyro and accelerometer Supported gimbal servo gimbal Tarot motor drive gimbal in future Supported servo type 1520 960 760 analog servo and 1520 960 760 digital servo Supported receiver type conventional S BUS DSM2 DSMJ DSMX receiver Size 38 29 3mm 27 27 9mm 10 Weight 26g 11 Supported RC PPM PCM 2 4G 12 Operating supply DC3 5V 9V 13 Operating current 60mA 14 Operating temperature 15 C 65 C 15 Max angular rate 2000 sec 16 Max acceleration 16g 17 Update rate 800Hz PWN 18 Control range 45 45 roll 180 180 pan 135 90 tilt 3 Connections AUX TAROT GS SBLuUS MODE PAN TILT ROLL Stick Mode Switch Input Channel ROLL Input Channel Aileron Channel Black TILT Input Channel Elevator Channel Red Input Channel Rudder Channel White ROLL Futaba R2006GS 4 LED indication Yellow blink 3 times Initialization successfully Yellow solid Initialization not finished keep gimbal s
10. t too slowly it means the gains are too low The key point is to increase the gains until gimbal shakes and then decrease the value until gimbal is stable If the gimbal still not shakes until the position gains reach 255 which means the gains are still too low you can increase total gains The integral gains correct the left over error when the aircraft is moving It will keep the camera more level on average but add some overshoot when the aircraft stop moving The velocity gains help dampen ocillations you can see the effect they have by increasing the position gain until the gimbal is unstable Increasing the velocity gain will reduce the magnitude up to a certain point then as the gains get higher it will start contributing to the instability For roll setting and pu Senes just do the same of each e ZGS Software VO m E HD IET ting Integral Gain T 15 Servo Reverse RC Sensitivity 25 Servo Type Velocity Servo 1520um y i 5 2 Velocity 0 Control Mode Attitude locking Mode Tilt Setting Angle Limit 20 20 5 postion cain Gepga iNns sore o 1 V Servo Reverse Attitude Monitor Rol 21 Tit 224 Pan 08 RC Montor Ro RC Sensitivity 25 Servo Type Velocity Servo 1520um Futaba S BUS COM16 me zere
11. tatic Blue blink Receiver connected or PC software connected norm Blue LED solid Receiver not connected norm Red blink Error occur 5 Setup instruction Step1 ZYX GS mounting The sensor module of ZYX GS should be mounted on the camera platform of the gimbal There are two mounting ways face up or face down These two ways require the arrow on sensor module to the right of the gimbal look forward from back Please mount the sensor module on the platform by using thin foam pad If you use thick soft foam pad the sensor module can not accurately sense the movements of the gimbal The control module of ZY X GS can be mounted anywhere you want After the sensor module and the control module mounted you can connect them by the wire in accessories Step2 Camera balancing Mount your camera to the platform of the gimbal used for filming adjust the position of camera and the configuration of the gimbal in order to balance the camera on the gimbal such that you can position the camera at any roll tilt pan angle and it will remain stationary First you should remove the tilt roll pan belts and dampers from the gimbal Second you can balance the camera at tilt axis by adjusting the position of the camera and the tilt configuration of the gimbal After that you should balance the roll axis and pan axis in the same way Careful balancing will enhance stabilization performance and allow higher gain settings When balance the camera
12. y Servo 1520um Velocity Gain S Control Mode Attitude f Tilt Setting Angle Limit Max 2 Attitude Monitor Roll 21 224 Pm inus ess reri Open com Port Write Settings To Fash 12 Upgrade firmware Firstly you should select right COM port click Open Firmware choose the firmware file you want to upgrade do not click Open COM Port After that click Start Upgrade and then power on ZYX GS When the progress bar finished it means firmware upgrade is successful After firmware upgrade finished you can open COM port to connect ZYX GS to configuration program The new firmware version can be seen in the window NOTICE Before you upgrade firmware you must unplug servos from ZYX GS RC Sensitivity Servo Type Standard Servo 1520um Control Mode Attitude locking Mode Angle Limit Mm 0 Standard Servo 1520um T Attitude locking Mode m WAK Standard Servo 1520um t e Write Settings To Flash hinas icing Mote Total Gain Integr Gain iji Servo Type Standard Servo 1520um Velocity Gain Control Mode Attitude locking Mode Tilt Setting Position Gain M Standard Servo 152
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