Tarot 2-Axis T-2D Brushless Gimbal for GoPro Hero3 User Manual
Contents
1. You may need to navigate to the correct subdirectory that contains the firmware Example shown below Your actual screen may vary slightly TT BMGC main controller firmware file Look in d Tarot 2D gimbal Software v1 5 2 recem Name _ v Date modified Type Min config 3 30 2014 3 08 PM File Folder driver 3 24 2014 4 20 PM_ File Folder len Firmware_V1 5 3 24 2014 4 20 PM_ File folder ity M User manual 3 30 2014 10 31 File folder angle JE E File name Po Open baly Files of type bgsf File pa Cancel y A Start Upgrade Choose the appropriate file and click Open Motor Configuration Rolling motor Tilting motor Upgrade pow Pet O Motor firmware file Look in Ji Firmware V1 5 E P o E v Date gt Type Motor Driver Firmware 1 5 bmcf 3 24 2014 2 39PM BMCF File File name Motor Driver Firmware V1 5 bmet Files of type omet File z Cancel p A Click on the Start Upgrade icon It is now that you connect power to the gimbal You will see the progress bar move from left to right Firmware upgrade is successful once the progress bar reaches 100 After firmware upgrade is complete you can then open the COM port to connect to the gimbal s Motor Configuration menu The new Motor Driver firmware version can be seen in the lower right hand corner of the Motor Configuration screen2. perform after you have configured your software settings B Gimbal Motor Driver Software User Interface Instructions The power should NOT be connected to the gimbal now Connect the supplied USB programming cable to the Motor Driver port on the circuit board of the T 2D Run ZYX BMGC exe software Click on the Motor Configuration icon This is the screen that pops up Notor Configuration Rolling motor Tilting motor Polar Num 0 Polar Num Jo Power 0 Power 0 Signal Monitor Voltage o COM COM3 w s pemGOMPorts Write Settings To Flash Please connect to motor port Firmware Version 1 Open COM port Select the appropriate COM port from the drop down list of the Motor Configuration screen and then click on the Open COM Port icon You can then connect power to the gimbal 2 Motor driver module connection status After Motor Driver Module has been initialized the status bar in the lower left hand corner should show All parameters updated This means Motor Driver Module has been successfully connected to software 3 Polar num Polar num is motor magnetic pole number This parameter will affect the reduction ratio and maximum motor speed Its value should usually be set to the actual number of the motor If you have special performance needs its value can be set to a different number from the actual pole number of the motor 4 Motor power The range of motor power is 0 100 Its value can be ad
3. the tilt o the camera I did not want to control the roll of the gimbal camera You can do as you wish as your situation applies 5 RC monitor After you select Receiver Type and have power cycled the gimbal the software will provide you real time display for all input channels R roll input channel T tilt input channel S camera remote infrared shutter control channel C RC Mode Switch Model stick rate mode Mode2 stick position mode 5 5 Default Mode This feature was not documented in the original V1 0 Manual mavan y Velocity Gain O fo Integral Gain Im fo Accelerate Gain 0 Angle Limit Max fo Min 0 C Motor Reverse RC Sensitivit 0 s Attitude Monitor Init Tilt Angle 0 ao es RC Monitor RollR 0 Tiet 0 shots 0 COM vA Open COM Pox This sets how the gimbal responds to your transmitter s input as it relates to roll and tilt When set to Stick Position Mode the gimbal s motor will move to the position as directed by the transmitter s input In my application when I turn the knob on my Spektrum DX8 transmitter to a specific position I want the gimbal to tilt to a specific angle Stick Position Mode will accomplish this task In Stick Rate Mode the transmitter s input affects how fast the gimbal s motors will move to a specific position The gimbal motor positions should reach the Angle Limit settings a
4. Step 2 Velocity Gain Increase Velocity Gain gradually until the gimbal starts to shake This is the maximum Velocity Gain value Reduce the Velocity Gain by 20 as the final gain setting Step 3 Integral Gain Increase Integral Gain gradually until the gimbal starts to shake This is the maximal Integral Gain value Reduce the Integral Gain by 20 as the final gain Step 4 Fine Tune Gain Settings You can always adjust and fine tune the above gain settings as appropriate to achieve optimal results to your liking Side note Your software should include default configuration settings for the GoPro camera and you don t need to mess with the gain settings I simply loaded the default settings and my gimbal stabilization worked perfectly To load the default config settings In the software click the Load Config icon Navigate to the config folder of your gimbal software and choose gopro bgsc There should be only one config file from which to choose You should notice that the gimbal is rock steady at the time and stabilization working perfectly 11 Write Settings to Flash After your configuration is complete click on the Write Settings To Flash icon When Flash memory has been successfully written the settings you created are finally saved in the gimbal These settings are loaded automatically the next time you start the gimbal Note None of the settings are saved to the gimbal if you do not Write Settings to Flash This is imperative to
5. Tarot 2 Axis T 2D Brushless Gimbal for GoPro Hero3 User Manual V1 1 Revised by John C Lin March 30 2014 I make no guarantees regarding the proper operation and safety of this device or the accuracy of this document This document is for educational purposes only By reading further you assume all liability for any direct or indirect injuries that may result I am revising this document out of frustration at the poor instructions that is typical of many Chinese manufacturers A product is useless if the customer does not know how to utilize it to its full potential I hope this document will save you many hours of headaches and frustration and that you can produce some phenomenal videos to share with the world using this highly effective gimbal I do not work for Tarot and am not related in any way to Tarot Please read the entire manual before setting up your gimbal It will save you a lot of time 1 Introduction Tarot T 2D gimbal is designed for the GoPro Hero3 and 3 which is widely used in film television productions advertising aerial photography etc Using 6061T6 aluminum alloy full CNC precision machining and brushless motors the T 2D s framework is designed with compactness ease of installation high precision lightweight and high stability in mind Even when the aircraft is in high speed flight the T 2D can still stabilize and control the GoPro camera precisely with the highest camera stability so resulting pict
6. dware interface is correctly connected and to choose the correct latest firmware files Please follow these directions EXACTLY or else your firmware upgrade will fail 1 Main controller firmware upgrade process Make sure the power is NOT connected to the gimbal at this time 1 Connect USB programming cable to the Main Controller port 2 Choose the correct COM port associated with the USB programming cable in the software Do not click on the Open COM Port icon 3 Click on the Open Firmware icon Choose the firmware file to which you want to upgrade You may need to navigate to the correct subdirectory that contains the firmware Example shown below Your actual screen may vary slightly SES Look in B Tarot 2D gimbal Software v1 5 Go 5d Sd By x _ Name v Date modified _ Type Min config 3 30 2014 3 08 PM File Folder di driver 3 24 2014 4 20 PM_ File Folder ig P Firmware_ 1 5 3 24 2014 4 20 PM_ File Folder mity ab User manual 3 30 2014 10 31 File Folder angle 2l File name Open iba v Choose the appropriate file and click Open D TU i A hi N n TM BMGC main controller firmware file xj Lookin Jo Firmware V1 5 Go E E pe Name Gimbal Controller Firmware Y1 5 bgsf X 3 24 2014 2 39 PM BGSF File File name Gimbal Controller Firmware V1 5 bast Files of type bast File Cancel Click on the Start Upgrade icon It is now t
7. easons 3 Sensor Module Mount You should select the correct sensor module mounting orientation using the Sensor Module Mount area of the software If you are using a GoPro camera simply select the first option Tarot Gopro Brushless Motor Gimbal The 3D Attitude Display should now reflect the camera s physical orientation and motion as you move it 4 Receiver Type Connect your receiver to ZY X GS s the circuit board s Receiver Input Port and choose the correct receiver type in software You should click on the Write Settings to Flash icon after your selection Power cycle the ZYX GS DSM2 DSMJ DSMX receiver type DSM2 1 Transmitter is DX7 etc binding by 6 or 7 channels 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 is DM8 DM9 module binding by 6 or 7 channel 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 Side note When interfacing the gimbal using a Naza M Lite Spektrum AR8000 receiver and a Spektrum DX8 transmitter I chose the Standard Receiver setting I connected the T pin from the ZYX GS circuit board to one of the channels on the AR8000 and assigned that channel to the knob on my DX8 to control
8. g devices Keyboards A Mice and other pointing devices E Monitors Network adapters E Portable Devices 19 Ports COM amp LPT Sd Communications Port COM1 gt ECP Printer Port LPT1 Y B b Update Driver Software rocessors Disable a Sound video ar oes lt Storage controll Uninstal JE System devices Scan for hardware changes Universal Serial U kb Eh a D 0 e e Properties Uninstalls the driver For the selected device Both the Windows 7 and Windows XP drivers are included in the software download under the driver subdirectory should you need it Name Date modified Type Size ad config 3 30 2014 3 08 PM File Folder BB driver 3 2014 4 20 PM File Folder B Firmware_ 1 5 3 24 2014 4 20 PM File Folder M User manual 3 30 2014 11 40 PM File folder 2 Gimbal Controller connection status After the gimbal has initialized the status bar should show All parameters updated This means gimbal has been connected to software successfully By rotating the camera along either of the gimbal s axis you should see the movement of the gimbal in 3D Attitude Display on the screen upper right corner The power to the motors that controls the gimbal is turned OFF automatically when you first connect to the software for safety r
9. hat you connect power to the gimbal You will see the progress bar move from left to right Firmware upgrade is successful once the progress bar reaches 100 After firmware upgrade is complete you can then open the COM port to connect to the gimbal s configuration menu The new main controller firmware version can be seen in the lower left hand corner TM ZYX BMGC Software 1 5 Roll Setting Tit Si j r 3D Attitude Di Velocity Gain fo Velocity Gain 0 Integral Gain fo Integral Gain fo Accelerate Gain im fo Accelerate Gain A fo Angle Limit Max fo Min 0 C Motor Reverse RC Sensitivity 0 C Motor Reverse RC Sensitivity 0 Se ar e Monito Init Roll Angle 0 Init Tilt Angle 0 rat Upgrade Angle Limit Max fo Min 0 A Ea Wnte Settings To Flash Tarot Gopro Brushless I Write Settings To Flash Calibrate Sensors Start Upgrade Load Config Motor Configuration Please connect to main controller config port and open COM port 2 Motor driver firmware upgrade process Make sure the power is NOT connected to the gimbal at this time 1 2 Connect USB programming cable to the Motor Driver connector port Choose the correct COM port associated with the USB programming cable in the software Do not click on the Open COM Port icon Click on the Open Firmware icon Choose the firmware file to which you want to upgrade
10. hort circuit protection function When there is any sort of short or overload on the motor output the power to the motor will cut off and the green LED is lit This protects the control panel from short circuiting After you correct the problem simply return power to the T 2D to use the gimbal Angle overrun protection function When the camera angle exceeds the operating limit it will automatically shut down the motor output and the red LED is lit This protects the control wires from being broken in unexpected situations After you correct the problem simply return power to the T 2D to use the gimbal 7 Setup Instruction The T 2D brushless gimbal system uses dual processors gimbal controller processor and motor driver processor to control the stabilization mechanism Software may be downloaded from Tarot www tarot rc com The screen shots below refer to ZYX BMGC EN_V1 0 exe Exact name of your current version may be slightly different e g ZYX BMGC EN_V1 5 exe Software interface is as follows This is the main screen you will see when you first run the software M ZYX BEGC Software V1 0 Roll Setting Tilt Setting _ 3D Attitude Display Total Gain _ Total Gain O Velocity Gain j Velocity Gain Integral Gain Integral Gain Accelerate Gain j Accelerate Gain Angle Limit Angle Limit Max 0 Min 0 Max 0 Min 0 HTT I C Motor Reverse RC Sensitiv
11. ity 0 C Motor Reverse RC Sensitivity 0 Attitude Monitor a ai Ras 00 i 00 a 00 _ RC Monitor COM port open successfully please connect ZYX BMGC When you click on the Motor Configuration icon you will see the screen below Notor Configuration Rolling motor Polar Num fo Power o Signal Monitor Voltage 0 Vv Current 0 A com COM3 m Open COM Port Write Settings To Flash Save Please connect to motor port Firmware Version A Gimbal Controller Software User Interface Instructions The power should NOT be connected to the gimbal now Connect the supplied USB programming cable to the Gimbal Controller port on the circuit board of the T 2D Run ZYX BMGC exe software This is the opening screen TM ZYX BEGC Software V1 0 Roll Setting Tit setting Total Gain J TotalGain Velocity Gain Velocity Gain Integral Gain j Integral Gain Accelerate Gain D Accelerate Gain l Angle Limit Angle Limit Ma 0 Max 0 C Motor Reverse itivi C Motor Reverse RC Sensitivity Init Tilt Angle F Attitude Monitor Sensor Module Mount p Upgrade ooo EOM port open successfully please connect ZYxpMGC FO 1 Open COM port Click on
12. justed according to load placed on the gimbal Under the same load conditions if the motor Power parameter is increased you should reduce the gimbal gains If the motor Power value is decreased you should increase the gimbal gains Whenever possible you should minimize the Power value and increase the gains to achieve optimal stabilization performance Please note that reducing motor power will affect the gimbal s ability to counteract resistance to the gimbal s movement eg strong winds 5 Signal monitor Displays supply voltage and operating current of the gimbal Voltage value displayed will be smaller than the power supply voltage by approximately 0 3 volts 6 Write settings to flash After your motor configuration is complete click on the Write Settings To Flash icon When Flash memory has been successfully written the settings you created are finally saved in the gimbal These settings are loaded automatically the next time you start the gimbal Note None of the settings are saved to the gimbal if you do not Write Settings to Flash This is imperative to perform after you have configured your software settings 8 Firmware Upgrade The T 2D gimbal controller uses 2 CPUs Central Processing Units one for the main controller CPU and another for the motor Consequently firmware upgrade is a two step process requiring two separate files for these individual CPUs Before upgrading the firmware you should make sure the har
13. keep the gimbal level and make sure the Sensor Module orientation is correct before turning on the motors 10 PID parameters adjustment This refers to the Roll Setting and Tilt Setting sections of the software PID parameters range is 0 500 The basic rule is that Total Gain cannot be 0 and Velocity Gain and Integration Gain cannot both be 0 Motors will turn off if above rules are not followed If you increase the Power settings to the Rolling and Tilting motors under Motor Configuration menu screen you should correspondingly reduce the gimbal gains If you decrease the Power settings you should likewise increase the gains settings In order to achieve optimal gimbal stabilization performance you should minimize Power values to the motors and increase gains Please note that reducing motor power will affect the gimbal s ability to counteract resistance to the gimbal s movement eg strong winds Step 1 Accelerate Gain First set Total Gain to an appropriate value e g 100 Set the Velocity Gain and Integral Gain to the minimum value e g 1 Secondly increase Acceleration Gain gradually until the gimbal starts to shake This value is the maximum Acceleration Gain Reduce the Acceleration Gain by 20 as the final gain setting You can use the slider bars or enter numerical values in the appropriate fields to adjust gain settings You should press the Enter key and wait a few seconds before making adjustments in other gain settings
14. l Connector Motor Driver Connector ___ Socket on the back _ Positive pin Bottom View Motor Driver Connector a AA Tilt Motor H E He PAEEPREANERI Connector Sensor Roll Motor Connector Connector DSM2 DSMJ DSMX Gimbal Controller Connector 1 Power supply DC 7 4V 14 8V Lithium Polymer 3S 14 8V is Recommended 2 Gimbal Controller Connector Connects to the computer via supplied USB programming module Used to adjust the gimbal controller parameters perform firmware upgrades load save configuration and monitor status of the gimbal via the 3D Attitude Display 3 Motor driver connector Connects to the computer via supplied USB module Used to adjust the motor controller parameters motor poles power perform firmware upgrades load save configuration and monitor voltage and current status 4 Receiver and camera control connector R conventional receiver roll channel input T conventional receiver tilt channel input C conventional receiver stick mode channel input rate mode and position mode S S BUS receiver or conventional receiver camera input P camera control servo output Infrared camera module can be connected 5V output power ground 5 DSM2 DSMJ DSMX Used to connect DSM2 DSMJ DSMX receiver 6 Roll and Tilt Motor Connectors Used to connect to the roll and tilt motors on the gimbal Be sure to connect the appropriate cables to these connectors The roll co
15. nd stop See below for Angle Limit settings 6 Angle limits You can set the roll angle and tilt angle limits of the gimbal Roll angle limits range is 45 45 and tilt angle limit range is 135 90 NOTE When the attitude of the gimbal is not within safe working range the power to the motor is automatically turned off Set gimbal angle limits with lower values when you first begin configuration 7 Motor Direction Motor direction is selected according to the motor rotation 8 Initial Tilt Angle Init Tilt Angle Applicable only when gimbal is in Stick Rate Mode At power up the initial tilt angle is determined by this parameter 9 Motor Output Mode Turns power to the gimbal motors on and off Motor Output Mode is used for keep the gimbal safe when configuring the gimbal Motor Off Select by clicking on the radio button The gimbal shuts down power to the motor when selected Motor On Select by clicking on the radio button The gimbal turns on power to the motor Gimbal stabilization is working in this situation NOTE a Adjust Sensor Module mounting and orientation only with the Motor Off b There are two situations that the gimbal will automatically shut down power to the motors while Motor On is selected 1 When the Total Gain is set to zero or other three gain settings are zero on any axis 2 When the attitude of the gimbal is outside of angle limit ranges Be sure to set gain values to non zero
16. nnector is the one that goes to the motor that moves the camera side to side as you face the camera This motor is located towards the BACK of the gimbal assembly The tilt connector is the one that goes to the motor that causes the camera to tilt toward you or away from you as you face the camera This motor is located on the SIDE of the gimbal assembly 7 Sensor connector Used to connect to the square Sensor Module that is attached behind the actual GoPro camera mount on the gimbal 4 Video line VAROV 4 tim Video Port mmia 5 Video 4 FH th Be Video Ground ER AR SV3E i O 5V Charger Port 5 LED Indicators Y Yellow B Blue R Red G Green Double Blinking Yellow Initialization successfully performed Solid Yellow Initialization incomplete Keep gimbal stationary Blinking Blue Receiver connected or PC software connected normal Solid Blue Receiver not connected normal Solid Red Angle out of range or an error has occurred Making sure GoPro has been mounted on the gimbal and is level when powering up may help Solid Green Over current After taking corrective action reconnect power to recover from error 6 Protection Functions Reverse power protection When the power supply polarity is accidentally reversed power protection will engage and the gimbal won t respond This avoids electronically short circuiting the control panel Motor output s
17. the drop down under COM Select and choose the one that is being operated by the USB programming cable Select that COM port and click the Open COM Port icon You will see on the status bar in the lower left hand corner COM port open successfully please connect ZYX BMGC Install the appropriate GoPro Hero3 or Hero3 camera to the gimbal before you power up the gimbal The gimbal will not appropriately initialize if you do not install the Gopro camera on the gimbal Power on the gimbal after completing the above steps Be sure to supply appropriate voltage to the gimbal See specifications above for necessary power for the gimbal Note The USB programming cable does not support Windows 8 It does support Windows 7 and Windows XP The programming cable is a Prolific USB to serial interface device I had a lot of trouble initially getting the USB programming cable to talk reliably with the software I found that by going into the Device Manager and uninstalling the device while it was plugged in unplugging the programming cable and then re plugging the cable and letting the driver automatically install via Windows 7 led to satisfactory results I don t know why or how but that s what worked for me o x File Action View Help e 9 maHa Eg Precision 3500 Batteries lt gt Class for PdiPorts devices J amp E Computer a Disk drives E Display adapters DYD CD ROM drives KEN Human Interface Devices 23 Imagin
18. ures or videos be of optimal quality 2 Specifications Supports GoPro Hero3 and Hero3 video output Supports reverse power supply protection and power voltage compensation Supports motor connector short circuit protection Supports tilt initial angle setting Supports Stick Rate and Stick Position modes Supports receiver types conventional S BUS DSM2 DSMJ DSMX Supports RC PPM PCM 2 4G Operating input voltage DC 7 4V 14 8V Lithium Polymer 3S or 14 8V is recommended 10 Operating current 200 500mA Depending on power supply voltage and motor power 1 2 3 4 5 Supports adjustable gains and 3D virtual attitude display on PC software 6 7 8 9 11 Operating temperature 15 C 65 C 12 CPU Double 32bit ARM 13 Sensor technology 3 axis MEMS gyro and accelerometer 14 Max angular rate 2000 sec 15 Max acceleration 16g 16 Control frequency 2000Hz 17 Motor driver frequency 20 KHz quiet and smooth 18 Control accuracy 0 1 19 Control range 45 45 roll 135 90 tilt 20 Attitude arithmetic BLDC Brushless DC gimbal motor using decoupled EKF Extended Kalman Filter algorithm 21 Aerial photography equipment GoPro Hero3 or Hero3 3 Connections to the ZYX GS board Top View Power Supply Gimbal Controller TARY Connector DSM2 DSMJ DSMX oE LD toa FEGE LE o AME Roll Motor Connector Tilt Motor Connector Receiver And Camera Contro
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