Tarot T-2D User Manual

Tarot 2-Axis Brushless Gimbal for Gopro User Manual V1.0
1. Introduction
Tarot T-2D gimbal is designed for the Gopro Hero3, which is widely used in film, television
productions, advertising aerial photography, etc. Using 6061T6 aluminum alloy full CNC
precision machining and brushless motor driving, its overall framework is designed with the idea
of compact, easy installation, high precision, lightweight, high stability and many other
characteristics. Even if the aircraft is in high-speed flight, it can still stabilize and control the
Gopro camera precisely with the highest stability, so pictures or videos output can reach the best
quality.
2. Specifications
1. Support GOPRO Hero3 video output.
2. Support reverse power supply protection and power voltage compensation.
3. Support motor connector short circuit protection.
4. Support tilt initial angle setting.
5. Support adjustable gains and 3D attitude display on PC software.
6. Support stick rate mode and position mode.
7. Supported receiver type: conventional/S-BUS/DSM2/DSMJ/DSMX receiver.
8. Supported RC: PPM/PCM/2.4G.
9. Operating supply: DC 7.4V~14.8V (Li-Po 3S is recommended)
10. Operating current: 200mA-500mA (Depending on power supply voltage and motor power)
11. Operating temperature: -15ºC~65ºC.
12. CPU: Double 32bit ARM
13. Sensor technology: 3-axis MEMS gyro and accelerometer.
14. Max angular rate: 2000 º /sec.
15. Max acceleration: 16g.
16. Control frequency:2000Hz
17. Motor driver frequency: 20KHz (quiet and smooth)
18. Control accuracy: 0.1°
19. Control range: -45º~45º(roll), -135 º~90 º(tilt).
20. Attitude arithmetic: BLDC gimbal dedicated brushless motor decoupled EKF algorithm.
21. Aerial photography equipment: GOPRO Hero3.
3. Connections
Connections instructions：
WWW.0577MX.COM

Tarot T-2D Specifications

General

Control Accuracy	±0.02°
Supported Camera	GoPro Hero 3, GoPro Hero 3+
Input Power	7.4V
Maximum Controllable Range (Pitch)	±45°
Maximum Controllable Range (Roll)	±45°
Type	2-axis gimbal
Compatible Cameras	GoPro Hero 3, GoPro Hero 3+
Input Voltage	7.4V
Communication	PWM

Summary

Specifications

Support reverse power supply protection and power voltage compensation

Details reverse power supply protection and voltage compensation.

Support motor connector short circuit protection

Mentions motor connector short circuit protection.

Support adjustable gains and 3D attitude display on PC software

Supported receiver type

Lists supported receiver types including conventional, S-BUS, DSM2, DSMJ, DSMX.

Supported RC protocols

Specifies supported RC protocols: PPM, PCM, and 2.4G.

Operating supply voltage

Sensor technology

Control accuracy

Control range

Connections

Connections instructions

Video Line and Connections

Power Supply Connection

Gimbal Controller Connector

Motor Driver Connector

Receiver and Camera Control Connector

DSM2/DSMJ/DSMX Receiver Connection

Roll and Tilt Motor Connectors

Sensor Module Connector

Protection Functions

Reverse Power Protection

Protects the control panel from damage due to reversed power supply.

Motor Output Short Circuit Protection

Shuts down motor output upon short circuit to prevent damage.

Angle Overrun Protection

Shuts down motor output if camera angle exceeds limits to prevent wire damage.

Setup Instructions

System Architecture

Gimbal Controller Software UI

Opening COM Port

Instructions on opening a COM port in the software to connect the gimbal.

Connection Status Verification

Describes how to verify successful connection and initial status.

Sensor Module Mounting

Guides on selecting the correct sensor module mounting orientation.

Receiver Type Configuration

DSM2/DSMJ/DSMX Receiver Types

Details specific DSM2, DSMJ, and DSMX transmitter types and binding methods.

Angle Limits and Motor Direction

Angle Limit Configuration

Allows setting roll and tilt angle limits; recommends lower values initially.

Initial Tilt Angle and Motor Output

Motor Output Mode Management

Manages motor output for safety, with modes for 'off' and 'on' with conditions.

PID Parameters Adjustment

PID Parameter Range and Rules

Defines PID parameter range [0-500] and rules to prevent motor shutdown.

Gain Adjustment Strategy

Accelerate Gain Tuning

Step-by-step guide to setting accelerate gain until shaking, then reducing.

Velocity Gain Tuning

Step-by-step guide to setting velocity gain until shaking, then reducing.

Integral Gain Tuning

Fine-tune Gains

Writing Settings to Flash

Motor Configuration Details

Opening COM Port for Motor Driver

Motor Driver Module Connection Status

Polar Number Configuration

Motor Power Adjustment

Writing Motor Settings to Flash

Firmware Upgrade Procedures

Firmware Upgrade Notice

Main Controller Firmware Upgrade

Step-by-step guide to upgrading the main controller firmware.

Motor Driver Firmware Upgrade

Step-by-step guide to upgrading the motor driver firmware.