KDS Helicopter Balancer User Manual
Contents
1. Mounting Servo Control 2 Advance normal heading hold Gyro sense Pe 70 Yaw rate A m 9 Yaw expo m lt Pitch to tail mix o Servo travel limit 100 Expert settings Sensor gain J 4 hard soft Tail delay J 6 30 A Heading hold angel range i Diagram4 1 1 Gyro page 4 1 1 Gyro settings 1 Gyro sense The sense of gyro can be set between 100 and 100 The positive value means the gyro working under heading hold mode negative value means the gyro working under normal mode It is recommended to using heading hold mode Same as other gyro the sense should be as large as possible until the tail swing If balancer has connected the sense channel of receiver the setting in this page will be disabled the gyro of balancer will use the signal from receiver as sense value If you do not want to modify sense value frequently you can keep the sense channel empty the blue line then the channel on receiver can be use for other using 2 Yaw rate This parameter controls the changing speed of direction Normally the value should be set to maximum but if you do not like fast changing of direction you may adjust it as you want 3 Yaw expo This parameter controls the exponent of rudder Little value will cause fine response in slim motion of stick You may adjust it as you want 4 Pitch to tail mix This mix can improve effect wh2. it will keep moving a little distance because of inertia This parameter controls the affection of inertia free means large inertia firm means little inertia 4 2 4 Expert settings Parameters in this section is designed for old hand For a newer it is recommended to keep default value WWW KDSMODEL COM 19 KDS Helicopter Balancer User Manual 1 Manual override ability Because pilot and balancer are controlling helicopter at same time so balancer must mix the two control signals This parameter controls scale of mixer Large value means more manual controlling 2 Elevator gain The parameter controls gain of signal amplifier for sensor of pitching axis Keep default value in most case 3 Stick response acceleration The parameter controls response speed of balancer for stick motion Keep default value in most case 4 Positioning speed The parameter controls location speed Large value means faster control and helicopter will arrive the place more quickly 5 Usage of Config file Config file can be using for multiple helicopter You can export parameters to a cfg file after adjustment with one helicopter then you can mount balancer on other helicopter and change settings for it When you want to use balancer on the old one you can import parameters from the cfg file 5 1 Export to Cfg file Click Save button then choose the file location name it all the settings will be exported into the file Y Save config
3. E Line y I Ea gt Diagram1 1 1 Balancer modules WWW KDSMODEL COM 2 KDS Helicopter Balancer User Manual E Controller it is kernel of balancer take charge of balance calculating and servos controlling The Receiver Connect Line used to link receiver to obtain signal The Device Connector used to link servos to control them E Sensor used to induce the position of helicopter and transform the signal to controller Sensor must be mount on suitable place Usually the Sensor should be mount on the place which the gyro should be CCD used to see ground to avoid drifting To see ground effective CCD should be mount on suitable place and lens must face to ground and CCD must see ground well without any obstruction KDS balancer has following functions E Control all movement include attitude stabilization speed control position locking E CCD sensor to capture picture of ground comparing pictures to avoid drifting E Switch working mode horizontal mode and position mode through AUX channel E Integrating head locking gyro and swash plate mixer E Control sense and mode of internal gyro through GEAR channel E Support swash 3S 120 3S 140 4S 90 4S 90 45 E Keep balance in inverted flight E Configure by computer through USB E f you are using FM PPM remote control device when losing control of transmitter the balancer will set aileron elevator rudder to neutral keep pitch switch to
4. to file PARTE O Export button m wa N myconfi E E 3 RIF T Config file tk cfg ka ANS Diagram 5 1 1 Export config file In fact the parameters be exported is parameters in the software interface not parameters in balancer So if you want to export parameters in balancer you must execute a Read operation without any modification before exporting WWW KDSMODEL COM 20 KDS Helicopter Balancer User Manual 5 2 Import from cfg file Click Load button then choose the file settings will be import from the file without any other notification Import button a Sa UN 7F 0 KH T Config file te cfg me EA Diagram 5 2 1 Import config file After importing you must click Write button to save them into balancer because the importing only load parameters to the pages for adjusting Attention the exporting and importing of config file is all base on the software interface In another words when importing the software loads parameters from config file and updates the elements on the pages when exporting the software makes parameters from pages then store them into config file 6 Restore factory settings After many times modification the effect of balancer may be terrible then you can use this function to restore balancer to factory settings Click Reset button settings on screen will restore to factory default value then click Write button set
5. to right relative to main axis when helicopter lean to front the swash should lean to rear etc See diagram3 4 2 Reaction ERIE ps Lean helicopter Swash lean to to left side right Diagram3 4 2 Correct balancer reaction 6 If the reaction is wrong connect balancer with computer change reverse setting and save You can keep connection when do Lean testing 7 Repeat step 4 5 until reactions of all directions is correct Attention to avoid injury please unmount rotary wing or shut off motor wires 3 4 2 Servo neutral Servo neutral should be set after reverse is set ok You should adjust neutral to make the rocker at suitable position Normally the position means angle between rocker and pole is 90 like diagram3 4 3 Diagram3 4 3 Servo neutral Before adjust neutral you should make the neutral of mechanism on approximate position then use software for find tune You should aware that the neutral is mixed neutral for example when we adjust the aileron neutral of CCPM120 servo1 and servo2 will wiggle at the same time opposite WWW KDSMODEL COM 13 KDS Helicopter Balancer User Manual direction So you should adjust neutrals by following steps suppose your swash is CCPM120 1 Adjust aileron neutral make servo1 and servo2 same height Don t care if the height is
6. DS Helicopter Balancer User Manual 4 2 2 Basic parameters 1 Balancer sense The parameter controls sense of attitude changing of helicopter Negative value make balancer enter horizontal mode positive value make balancer enter position mode Zero value will shutdown balancer in the time the helicopter is controlled by pilot at all If AUX channel is connected to receiver the parameter here will be disabled Balancer will decide working mode and sense by the signal output by receiver 2 Neutral roll attitude The parameter controls attack angle when stick on neutral position It is recommended to keep default value for fresh pilot Attention It is recommended to choose a three status switch for balancer sense AUX channel By set negative positive and zero value relative to the three status you can switch working mode between horizontal mode position mode and manual mode And it is very important to control the helicopter 4 2 3 Mode parameters 1 Total sensor gain The parameter controls gain of signal amplifier for internal gyro Keep default value in most case 2 Stick sensitivity gain The parameter controls gain of signal amplifier for receiver Keep default value in most case 3 Position sens gain The parameter controls gain of signal amplifier for CCD Keep default value in most case 4 Forward freewheel When using position mode balancer will try to move helicopter to a place After helicopter arrived the place
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8. circles at least m Channels of aileron elevator and pitch must be connected with receiver Connections of gear and aux is optional m Wires which is unused should be locked to prevent unexpected affection Slot of controller which is unused should be covered to prevent oil stain or oxidation m The maximum turning speed should not exceed 360 s otherwise the balancer may work abnormally 1 4 LED status There are two LED in controller to indicate status of balancer see following table No signal from Red fast blink receiver Red slow Balancer may be move during Balancer initial failed blink initial Under manual Manual control balancer not Red shine control working Red and l Under horizontal mode no l Horizontal mode on Sa Green shine anti drifting l 7 Under position mode horizontal Green shine Position mode on l oe with anti drifting CCD can not obtain enough contrast can not switch to Green blink Position mode failed l position mode balancer working on balance mode automatically Attention please refer to section 4 2 1 for detail of working mode 1 5 Using flow The using flow of balancer is shown as diagram1 4 1 You can divide them into two stages Mounting stage and Flying stage In Mounting stage you should complete the mounting of all device then make all basic configuration so that the balancer can work normally These basic parameters are called Mount
9. co id 21 Ae PR E E EEE ee ee ee eee ee ee eee ee 22 WWW KDSMODEL COM 1 KDS Helicopter Balancer User Manual Foreword Thank you for choose KDS Helicopter Balancer it is an high performance intelligent device The balancer is suitable for beginner it can help you to keep the helicopter hovering and flying made flying easy To gain the best effect you should configure your balancer according to your own condition because the working of balancer relates to mechanism of helicopter Before using balancer we suppose you have know your helicopter well such as movement of swash plate if you are not sure about these it is recommend to find an old hand to help you Attention The software may be different from this manual because upgrading of the software Please base on the software you are using and refer to this manual Caution It is necessary to learn proper technology for assemble and operate model Be careful when operating Improper mounting may cause serious damage or injury KDS balancer is designed for civil model using only please confirm it will not used on manned flyer or other device The balancer provides an auxiliary control for model you can not depend on it completely 1 Summary 1 1 Introduce The balancer is consist of three modules Controller Sensor and CCD See Diagram1 1 1 E s Device Connector uf A a a a Receiver Connect
10. d parameters adjustment 3 4 Adjust Servos parameters The page set servo reverse and neutral See diagram3 4 1 The parameter about servo4 will only enable under four servo swash mode Mounting Servo Control Gyro Advance Reverse Servo 1 Nor Rev i i Servo 2 Hor Rev Servo 3 Nor Rev Servo ld refer Tail servo Mor Rev to this picture Neutral Aileron ME Elevator J 0 Coll pitch j m 0 Tail servo l J 0 Diagram3 4 1 Servo page Attention to avoid injury please unmount rotary wing or shut off motor wires 3 4 1 Servo Reverse You must set reverse before adjust neutral It is a little different from adjusting helicopter without balancer the adjust should be done in balancer not in transmitter Please do it as following step 1 Ensure balancer is mount ok and all electronic device have been connected successful 2 Turn on transmitter ensure throttle stick on lowest position 3 Place helicopter on a horizontal surface power up 4 Wait for balancer initialization finished 5 Lean helicopter to one side look in the reaction of swash plate If servo reverse WWW KDSMODEL COM 12 KDS Helicopter Balancer User Manual setting is correct the balancer will control swash plate to the opposite side That means when helicopter lean to left the swash should lean
11. en pitch changing You can choose a suitable value to WWW KDSMODEL COM 16 KDS Helicopter Balancer User Manual make better response of gyro to pitch changing 5 Servo travel limit This parameter controls the signal for tail servo to avoid mechanical conflict of tail pitch structure 4 1 2 Gyro Expert Setting 1 Sensor gain The parameter controls the gain of signal amplifier you may not modify it in most case 2 Tail delay The parameter used to fit feature of tail servo The response speed of tail servo is more slow the parameter should be more large If some high quality servo are used you should set a little value such as 0 3 Head holding angle range The parameter controls the inertia of turning The inertia means the extra rotation when you make a direction turning When you begin moving the rudder stick it will cause a rotation head direction changing of the helicopter when you stop moving the rudder stick the helicopter will not stop rotation immediately because of the inertia it will rotate an extra angle before stopping The parameter controls the angle 4 2 Adjust Advance parameters The page controls working mode of balancer It is strongly recommended keep them as factory setting when you do not know them well WWW KDSMODEL COM 17 KDS Helicopter Balancer User Manual Mounting Servo Control Gyro Balancer gain J PO horizontal 0 position Neutral roll attitude A OOOO TE attack a
12. enough 2 Adjust elevator neutral make servo1 servo2 and servo3 same height swash plate was horizontal 3 Adjust pitch neutral make the swash at proper height Adjusting of tail servo and servo4 are independent you should adjust servo4 after aileron elevator and pitch Attention to avoid injury please unmount rotary wing or shut off motor wires 3 5 Adjust Control parameters The page set balancer to fit the signal of transmitter There are two categories in the page stick reverse and stick travel see diagram 3 5 1 In fact these setting can also be set in transmitter you can choose a way you like Mounting Servo itr Advance Reverse Travel Aileron Nor J Rev J 100 Flevator Nor Rev a 100 Pitch Nor J Rev 100 Yaw Nor i Rev Diagram3 5 1 Control page Attention to avoid injury please unmount rotary wing or shut off motor wires 3 5 1 Stick reverse Set stick reverse as following steps 1 Ensure balancer is mount ok and all electronic device have been connected successful 2 Turn on transmitter ensure throttle stick on lowest position 3 Place helicopter on a horizontal surface power up 4 Wait for balancer initialization finished WWW KDSMODEL COM 14 KDS Helicopter Balancer User Manual 5 Move each stick record the reaction of swash plate 8 If the reaction is wrong connect balancer with co
13. ing parameters WWW KDSMODEL COM 4 KDS Helicopter Balancer User Manual In Flying stage you may adjust some advance parameters according to the result of flight test to reach best status you stratify These advance parameters are called Flying parameters Mounting balancer Adjust Flying parameters Diagram1 5 1 Using flow of balancer Connect to computer Disconnect from computer Connect to computer 2 Connect to computer 2 1 Install driver Adjust Mounting parameters Flight test Mounting stage Configuring balancer must use a computer you should take a computer with USB port and mouse and it must has Microsoft Windows OS Windows XP Vista Windows2000 WWW KDSMODEL COM KDS Helicopter Balancer User Manual KISLIM inf SER 20 y Driver of USB adapter Q uu Configure software Diagram2 1 1 Connect balancer with computer At first please plug the USB adapter into balancer then plug USB refer to diagram2 1 1 When the computer notify you find new hardware and need driver choose the KDSLINK INF After a while the adapter will install properly Then run HeliBal exe you will see the main interface of the configure soft
14. justing parameters of Neutral roll attitude v The speed of rotation of helicopter may exceed 360 s v You may execute a serial aerobatic flight WWW KDSMODEL COM 23
15. mputer change reverse setting and save You can keep connection when do sticks testing 6 Repeat step 5 6 until all reactions is correct Attention to avoid injury please unmount rotary wing or shut off motor wires 3 5 2 Stick reverse Set stick reverse as following steps 1 Ensure balancer is mount ok and all electronic device have been connected successful 2 Turn on transmitter ensure throttle stick on lowest position 3 Place helicopter on a horizontal surface power up 4 Wait for balancer initialization finished 5 Move each stick to its extreme position record the move range of swash plate 6 If the range is not suitable connect balancer with computer change reverse setting and save You can keep connection when do travel testing 7 Repeat step 5 6 until all reactions is correct Attention to avoid injury please unmount rotary wing or shut off motor wires 4 Flight Testing Stage Normally the default settings can be use for flight But if you want better effect you should adjust the Flying parameters This chapter will tell you how to adjust these parameters 4 1 Adjust Gyro parameters There is a gyro in balancer this page used to configure the gyro You may use the default setting for mostly flying but for advance user it is necessary to make some adjusting to achieve better performance WWW KDSMODEL COM 15 KDS Helicopter Balancer User Manual
16. ngel i j i Horizontal and Position mode Position mode only Total sensor gain J g Position sens gain J 8 Stick sensivity gain J 5 Forward freewheel _ 8 free firm Expert settings Manual override ability J 3 wide early Elevator gain J T Stick response acceleration J 3 Positioning speed J 3 alov fast Diagram4 2 1 Advance page 4 2 1 Working mode The balancer has two working mode horizontal mode and position mode See section 4 2 2 for details of mode switching 1 Horizontal mode Make helicopter horizontal automatically In this mode helicopter can keep horizontal flying do not affected by illumination or temperature but ground effect and airflow are still affect helicopter It is recommended when indoor flying 2 Position mode Make helicopter horizontal and keep its position automatically The mode can make helicopter hovers on a fixed point automatically the valid height relative to ground is 0 3 3 meters When hovering you can release aileron and elevator sticks of the transmitter the balancer can make helicopter hovers on a fixed point automatically Lack of illumination or changing of temperature will affect position But even if the position affected by environment you can still fix the drifting easily When you are making a air route under position mode there are only two things you need to do control elevator stick for forward or backward control rudder stick for direction WWW KDSMODEL COM 18 K
17. or find tune WWW KDSMODEL COM 7 KDS Helicopter Balancer User Manual Aileron Elevator Pitch Yaw Reverse Travel Nor Rev r 100 Nor Rev j 100 Nor Rev J 100 Diagram2 2 2 Sample configure page When adjust done click Write button see diagram2 2 3 to save parameters O Balancer Write 4 Diagram2 2 3 Saving changes The saving will cost few seconds during saving a bar will show to indicate the progress If the Write button is gray disabled it means the parameters you set is equal to parameters in balancer and no necessary to write If they are not equal a exclamatory mark will show to notify you WWW KDSMODEL COM KDS Helicopter Balancer User Manual 3 Mounting stage 3 1 Setup transmitter Normally the transmitter of helicopter model might has mixer but KDS balancer has internal mixer so you must disable the mixer of transmitter otherwise the balancer can not work properly All mixer relate to swash plate must be disable and travel of aileron and elevator should be 100 you may set some EXP to make better feel the signal should be set to 1 5ms neutral If you are using the internal gyro of balancer all mixer relate to rudder must be disable Reciever Battery Diagram3 1 1 Ensure no mixer Attention it is FUTABA remote system if you are using JR remote system please link servo to 2 3 4 6 channel To ensure you have disable all mixer prope
18. position mode and set position sense to 70 1 2 Spec E Voltage 4 8 6 0V E Current 55mA under 5V E Size mmx mmx mm E Weight E Temperature 0 C 40 C E Maximum allows rotate speed v Aileron and Elevator lt 200 s v Tail turning if using external gyro 360 s 1 3 Attentions It is very easy to configure and use balancer but if you are a beginner it is recommend to find an old hand pilot for help because of the complex adjusting of mechanism During adjusting please be careful about following m lt is recommended to make electronic connection between tail pipe motor shell and helicopter base for earth connection If the tail drive structure is belt you should pay more attention to this issue Attrition between belt and metal will produce static electricity and it will disturb other electronic device of helicopter WWW KDSMODEL COM 3 KDS Helicopter Balancer User Manual E Confirm all part of balancer have been mount on helicopter firmly and the lens of CCD can see ground and you should keep the lens clean m The sensor of balancer gyro must be mounting horizontal m The balancer should keep away from engine and vent pipe because the vibration of engine will disturb sensor of balancer and the smoke from vent pipe will cover lens of CCD m You may add magnetic ring on wires between controller sensor and CCD to reduce electronic disturb The wire should twist magnetic ring for three
19. rly you should make a test system like diagram3 1 1 After power up move the stick on transmitter if each direction of each stick affects only one servo that prove the mixers are all disabled successfully Please read manual of transmitter carefully before make the operation 3 2 Mounting Balancer Firstly you should find a suitable place to mount balancer The lens of CCD should face to ground and the Sensor should be mount on the place which the gyro should be see diagram3 2 1 for example The controller can be mount in any place you want WWW KDSMODEL COM 9 KDS Helicopter Balancer User Manual Diagram3 2 1 An mounting example Attention the arrow on CCD and the arrow on Sensor must point to same direction After mounting of balancer all electronic device should be connected There is a internal gyro in balancer so additional gyro is not necessary Diagram3 2 2 is an example the connection between receiver and controller should refer to following table See following Servo ANT Balancer Receiver Controller Pana Servo2 Battery Tail Servo Diagram3 2 2 Electronic connection Balancer FUTABA JR Connector Name l l Comment Connector Receiver Receiver Black Red White l Aileron Power connector Channel 1 Channel 2 Must connected Three pin Yellow solo pin Elevator connector Channel 2 Channel 3 Must connected Orange solo pin Pitch connector Channel 6 Channel 6 Mus
20. t connected Gray solo pin Rudder connector Channel 4 Channel 4 Must connected WWW KDSMODEL COM 10 KDS Helicopter Balancer User Manual Blue solo pin Channel 5 Channel 5 Optional see 4 1 1 3 3 Adjust Mounting parameters The page Mounting is some basic parameters relate to mechanism they must be configure correctly so that balancer can work The interface is shown as diagram3 3 1 there are three categories mounting direction rotor direction swash plate type Mounting Servo Control Gyro Advance AAA 1 2 3 Mounting orientation Main rotor direction f Front a Right Rear J ae C Left Swashplate f 1s Normal le 35 120 f 3s 140 f ds 90 f 4s 90 45 Diagram3 3 1 Mounting page Mounting orientation There is an arrow print on Sensor and CCD of the balancer You can point the arrow to any direction when mounting but the two arrows must point to same direction and lens of CCD must face to ground Normally the arrows is point to front helicopter head After mounting you should set this parameter according to the arrows Main rotor direction You can look in your rotor record the rotate direction clockwise or counter clockwise and set this parameter Swash plate type Select your swash plate type here WWW KDSMODEL COM 11 KDS Helicopter Balancer User Manual Attention Please refer to chapter 2 for computer connection an
21. tings will be save into balancer after progress bar shows finished aries Reset button Write button Diagram 6 1 Reset to factory settings Attention if Write function did not be execute the factory setting would not be save into balancer WWW KDSMODEL COM 21 KDS Helicopter Balancer User Manual 7 FAQ Q Servos has no action A Refer to section 1 4 make sure the balancer is working properly Q Helicopter dithering under position mode especially when flying near ground A Check following items v Decrease balancer sense see section 4 2 1 If AUX channel is using modify sense in transmitter if not modify it in software v The mounting place of CCD may be too lower you may try to mount it higher v Try to increase the travel of aileron and elevator v May be there are something enter eye shot of CCD v May be some plants swing under helicopter and they are in eye shot of CCD If then you should switch to horizontal mode Q Flight is not stable especially when flying in upper air A Clean lens of CCD frequently and the lens should keep away from vent pipe Q How to fly above low contrast environment such as snow ground water surface A Position mode can not be used in these environment you must switch to horizontal mode Q How to modify balancer sense A If AUX channel is using modify sense in transmitter if not modify it in software through PC It is recommended to keep AUX empt
22. ware like diagram2 1 2 PA rer PX Reset to factory JE Helicoper Balancer Balancer Copyright KDSMODEL 2006 2008 Ver2 00 HTTP WWW KDSMODEL COM BE Load Scan KDS Link Line CfgFile Diagram2 1 2 Configure software At beginning the software will search KDS USB adapter automaticly if it not found a WWW KDSMODEL COM 6 KDS Helicopter Balancer User Manual balloon will show as diagram2 1 3 If so please confirm the adapter was connected properly then click Retry If the apapter can not be found at all times please contact your distributor Scan KDS Link Line a Retry EDS Link Line not found Diagram2 1 3 Adapter not found After adapter found the software will try to communicate with balancer If the balancer not power on you will see No device on status bar Otherwise it will show Connected after few seconds shown as diagram2 1 4 Connected Diagram2 1 4 Balancer connected Attention don t power up balancer before adapter found 2 2 Adjustment and Saving Normally you should read parameters from balancer before adjust then change and saving After balancer connected click Read button see diagram2 2 1 E Read E Read button Balancer 3 Diagram2 2 1 Read parameters After reading you will see configure page on the right side of the software like diagram2 2 2 You can use mouse to drag them for fast tune or use keyboard left or right f
23. y because balancer sense may not be adjust frequently Q There are thick smoke in eye shot of lens what can do A Don t let engine rich oil and keep lens away from vent Q Flight is not stable under horizontal mode and position mode both A May be vibration cause balancer working abnormality especially when use oil engine you can try to add sponge between balancer and helicopter Q The swash actions when open close balancer A Because balancer need a few seconds to make sync with helicopter when the working mode is changed See 4 2 2 for more details and see following items v Balancer will take effect in several seconds by degrees after helicopter take off v The environment temperature may change sharply for example from your car to ground please leave helicopter and balancer in the flying environment for five minutes at least before power on v Serious vibration may exists refer to previous question Q There are drifting after turning WWW KDSMODEL COM 22 KDS Helicopter Balancer User Manual A Check following items v The sensor may not be mount horizontal v You are flying a helicopter with large attack angle rotor Y Confirm the neutral signal of transmitter is 1 5ms Y Keep helicopter static check the tail pitch is fixed If the tail pitch is moving when helicopter static make fine tune of rudder to stop it Q There are drifting when changing between hover and invert hover A Check following items v Try ad
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