3.  Connections

Connections  instructions：

　

1.Power supply：
DC 7.4V~14.8V (Li-Po 3S is Recommended)
2.Gimbal controller connector：
Via USB module connected to the computer, used to adjust the gimbal controller  parameter and status monitoring.
3.Motor driver connector：
Via USB module connected to the computer, used to adjust the motor driver  module( motor poles and power), and voltage and current monitoring.
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 connector：
Used to connect motor
7.Sensor connector：
Used to connect sensor module

5.  LED indication

Y: Yellow，B:  Blue，R:  Red，G:  Green

Yellow blink 2 times	Initialization successfully
Yellow solid	Initialization not finished, keep gimbal static
Blue blink	Receiver connected or PC software connected(normal)
Blue LED solid	Receiver not connected(normal)
Red solid	Angle out of band or error occur
Green solid	Over current，After  troubleshooting, reapply power can recover

6. Protection function

Reverse power  protection:

When the power is reversed, the gimbal won’t response  avoiding burning the control panel, thereby enhancing reliability.

Motor output  short circuit protection function:

When the motor output is shorted motor output PTZ control  panel will turn off and the green light is lit, thereby protecting the control  panel from burning. After the short troubleshooting, you must re-power to lift  the protection.

Angle overrun  protection function:

When the camera angle exceeds the limit, it will  automatically shut down the motor output and the red light is lit, thereby  protecting the lines laid down being wrapped broken in unexpected situations.  After the short troubleshooting, re-power or re-start the motor on the computer  side, then the gimbal can be restored.

7. Setup instruction

Brushless gimbal system uses a  dual-processor solution (gimbal controller processor and motor driver  processor). Software interface is as follows.

　

A、Gimbal  controller software UI instructions

Connect USB programmer to gimbal controller port. Open  ZYX-BMGC.exe, run ZYX-BMGC software, software interface is as follows.

　

(1) Open port:
Select COM port in the software, and click “Open COM Port”. After that, you can  power on gimbal. The power supply should make gimbal work safely.
(2) Gimbal controller connection status:
After the initialization process, the status bar should show “All parameters  updated!”. This means gimbal 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 gimbal connected,  the program automatically sets motor output mode off.
(3) Sensor module mount：
You should select right sensor module mounting way at “Sensor Module Mount”  according to step1. Then, you should observe “3D Attitude Display” whether can  reflect camera’s real motion.

(4) Receiver  type:

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：

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 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)

(5) RC monitor：

After you select receiver type and restart gimbal, the window  will give you a 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:

Mode1: stick rate  mode   

Mode2: stick  position mode

(6) Angle  limits：

You can limit the roll angle and tilt angle for your need.  Roll angle limits range is -45º~45º, tilt angle limits range is -135º~90º.

NOTICE: when the attitude of the gimbal is  not in limits range, gimbal will set motor output mode off for safety. When you  configure gimbal at first time, you should set angle limits with lower values.

(7) Motor  direction：

Motor direction is selected according to the motor rotation.

(8) Initial  tilt angle：

       In stick  rate mode, when the gimbal power on, the initial tilt angle is determined by  this parameter.

(9) Motor  output mode:

Motor output mode is used for keeping the gimbal safe when  configure gimbal.

Motor off mode:  gimbal shuts down motor output signal.

Motor on mode:  gimbal outputs motor signal, at this time, the gimbal stabilization works.

NOTICE:

(a) When the motor  output mode is “motor off”, you can set sensor module mounting way.

(b) When the motor  output mode is “motor on”, there are two situations gimbal will automatically  shut down motor 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 motor output, you should set  gains value non-zero, keep the gimbal level and make sure the sensor module  mounted rightly.

(10) PID  parameters adjustment：

PID parameters range is [0-500], the basic rule is the total  sensitivity can not be 0, speed sensitivity and integration sensitivity can not  both be 0. If break these rules the gimbal will turn off the motor, this can  protect gimbal and camera.

Under the same load condition, if motor power parameter is  increased, you should reduce the gimbal gains. If its value is decreased, you  should increase the gimbal gains. In guarantee the motor power under the  condition of enough, you should minimize power value for larger gains to get  better gimbal stabilization performance. Notice that reducing motor power will  affect the ability of the gimbal resisting disturbance.

Step 1.  Accelerate gain:

       First, set the 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 accelerate gain gradually until the gimbal shaking. This  value is the largest accelerate gain. Finally, reduce the accelerate gain by 20%  as the final gain.

Step 2.  Velocity gain:

First, increase velocity gain gradually until the gimbal  shaking. This value is the largest velocity gain. Finally, reduce the velocity  gain by 20% as the final gain.

Step 3.  Integral gain:

First, increase integral gain gradually until the gimbal  shaking. This value is the largest integral gain. Finally, reduce the integral  gain by 20% as the final gain.

Step 4.  Fine-tune gains:

After completing the above steps, we can be appropriate to  fine-tune each gains and get better result.

(11) Write  settings to flash：

After your configuration finished, click ”Write Settings To  Flash”. When you write flash successfully, the settings are saved in gimbal.  Next time, when you restart gimbal, these settings are loaded automatically.

B. Gimbal motor driver software UI  instructions

Connect USB programmer to motor driver port. Open  ZYX-BMGC.exe; run ZYX-BMGC software, click ‘motor configuration’, the interface  of motor configuration is in the following figure.

　

(1)Open COM port:

        Select COM port in the motor configuration, and click ‘Open COM  Port’. After that, you can power on the gimbal. The power supply  should make the gimbal work safely.

(2)Motor driver module connection status:

After motor driver module  initialization process, the status bar should show “All parameters  updated!”. This means motor driver module has been connected to  software successfully.

(3)Polar num:

Polar num is motor magnetic  pole number; this parameter will affect the reduction ratio and  highest speed of the motor. Usually, its value should be set to the  actual number of the motor. If you need special performance, its  value can be set to different from the actual pole number of the  motor.

(4)Motor power:

The range of motor power is  0%-100%, its value can be adjust according to load. Under the same  load condition, if motor power parameter is increased, you should  reduce the gimbal gains. If its value is decreased, you should  increase the gimbal gains. In guarantee the motor power under the  condition of enough, you should minimize power value for larger  gains to get better gimbal stabilization performance. Notice that  reducing motor power will affect the ability of the gimbal resisting  disturbance.

(5)Signal monitor:

Display supply voltage and  operating current of the gimbal. Voltage value displayed will be  smaller than the power supply voltage of 0.3V or so.

(6)Write settings to flash:

After your motor  configuration finished, click”Write Settings to Flash”. When you  write flash successfully, the settings are saved in gimbal. Next  time, when you restart it, these settings are loaded automatically.

8. Upgrade firmware

Notice: Because this gimbal  controller adopts double CPU solution, as main controller CPU and  motor driving CPU, there are different upgrade firmware files for  these CPUs. Before upgrading firmware, you should make sure the  hardware interface connected rightly and choosing corresponding  firmware files.

1.  Main controller firmware upgrade:

Firstly, you should connect  USB programmer to main controller port, and 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 the gimbal. When the progress bar  finished, firmware upgrades successfully. After firmware upgrades  finished, you can open COM port to connect gimbal to configuration  program. The new main controller firmware version can be seen in the  window.

2.  Motor driver firmware upgrade:

Firstly, you should connect  USB programmer to motor driver port, and click ‘motor configuration’  to enter into the interface of motor configuration. Select right COM  port, click “Open Firmware”, chooses the firmware file you want to  upgrade (do not click” Open COM Port”). After that, click “Start  Upgrade”, and then, power on the gimbal. When the progress bar  finished, firmware upgrades successfully. After firmware upgrade  finished, you can open COM port to connect gimbal to configuration  program. The new motor driver firmware version can be seen in the  window.