ICG 540 GYRO: Technical
information and Troubleshooting
DOWNLOAD ICG540 INSTRUCTION
MANUAL
WORD DOCUMENT
(interface software and manual downloads
also available, see below)
RADIO SYSTEM REQUIREMENTS
The gyro requires an auxiliary channel with travel adjustments
to control the gyro mode/gain. It cannot be used with basic R/C systems that
lack such a channel. We recommend that you use an R/C system that also provides
travel adjustment on the rudder channel. Most current production computer R/C
transmitters have these facilities.
SERVO TYPE SELECTION
Optimum performance from the ICG540 is obtained when it is used
in conjunction with a high speed servo (0.12seconds per 60 degrees or better).
It can however be used with a conventional servo.
Super Servos
The term super servo is used to describe servos capable of running
at high data frame rates (6ms per frame or less). Examples of this type of servo
are the JR2700G and Futaba-S9250. The use of super servos with the ICG540 is
highly recommended as they allow the gyro to fully exploit its fast response.
When used with this type of servo the 'Super servo' support of the ICG540 should
be activated. This can be done using the Auto setup routine, (but may also be
activated via the PC interface if required).
WARNING: Use of the super servo facility with servos not designed
to accept the high frame rate will result in damage to the servo. The Auto setup
routine runs the servo in standard mode so it is always possible to access this
routine with a standard servo even when the gyro has Super Servo support on.
Below is a non exhaustive list of super servos:
JR - (2700G, 4000, 2000, 7000, 7100, 8700G, 8417(Digital),
8231(Digital), 8411(Digital).
Futaba - (9250, 9450(Digital)).
Be careful that you are actually using a super servo when super servo mode is
selected. We have noticed that you may experience an offset occurring after
some period of use, in which the servo can become as much as a few tens of degrees
out from the position it should be in. This occurrence with an inexperienced
pilot is a recipe for certain disaster. Using a standard servo in this mode
may well damage the servo.
TROUBLESHOOTING
- THE ROTATION RATE IS TOO SLOW
Increase the ATV on the rudder channel, the rotation rate is directly controlled
by how far the rudder stick is deflected. Make sure you have correctly set up the left /
right servo travels, once this is set the servo can not travel beyond these limits.
- HOW DO I ADJUST THE GAIN?
The gain is adjusted by altering the ATV on the gain channel, increase the ATV to
increase the gain and reduce the ATV value to reduce the gain. Gain is set independently
for each flight mode.
- THE GYRO SEEMS OK BUT I CAN'T STOP IT WAGGING IN HEADING HOLD
MODE
This can be caused by a couple of conditions but the most likely cause are loose
or not fully tightened boom support clamps. Try flexing the boom from side to side whilst
holding the body of the model still, watch for any movement, no matter how small and get
rid of it. The boom support clamp must not be able to slide on the boom. Make sure all the
boom support ends are firmly attached and that none of the joints can move. Make sure that
the tail linkages are smooth and slop free. A slow or low quality servo can cause this
condition.
- I CAN'T GET THE GYRO TO HOLD AS WELL AS I EXPECT
The gyro like any other component can only work as well as the rest of the model,
refer to the set-up section of the instructions to help improve the performance of the
tail. As the performance of the gyro / tail of the model is probably more important than
any other single function of the model to get right, expect to spend some time on this if
you expect to get the best performance out of your model.
- THE TAIL CONSTANTLY TWITCHES ABOUT AND WILL NOT SIT STILL IN
THE HOVER
This is caused by the gyro picking up vibration, this can be caused by an out of
balance model, a rough running engine or by some component being too loosely mounted
on the model, typical examples of this are canopy's, battery pack/receiver which
both can cause resonance on an otherwise well balanced model.
- CHANNEL USAGE WITH JR ZPCM RECEIVERS
The ICG540 will not enter the auto-setup routine when the gain channel is
connected to AUX2 of an old style JR ZPCM receiver. If you wish to control the gain / mode
of the gyro via the AUX2 switch you may do so by either of the following methods.
(a) Where a spare mixer is available simply mix the AUX2 channel function
to either the 'GEAR' or AUX3 channel. Use 100% mix so that the
output of this channel simply follows the AUX2 function. The gain input of the gyro can
then be connected to this channel and full functionality in auto-setup and flight is then
available.
Note: If the 'slave' channel is also operated by a switch then it will be
advisable for safety reasons to kill the operation of this switch by the use of one of
your radios free mixers.
For the PCM 10X and other PCM10 series radios the mix should be as follows.
First mix AUX2 to the 'slave' channel, this mix should be a 100% one for both switch
positions, (changing both mix values from +100% to -100% will reverse the operation of the
switch, you can not reverse the switch action by reversing the channel in 'Code 11'). This
will have mixed AUX2 to the 'slave' channel and then to kill the switch that might be
operating the 'slave' channel, mix the 'slave' channel back to itself with a -100% mix in
both switch positions, this mix MUST be a negative value!! You should now be able to
control the gyro gain by adjusting the value of the first mix (AUX2 to 'slave') in the
same way as you would for adjusting the gain by the ATV.
WITH THIS SET UP THE GAIN CAN NOT BE ADJUSTED BY THE ATV / TRAVEL ADJUST. MAKE SURE
THAT BOTH MIXERS ARE ACTIVE FOR ALL FLIGHT MODES!
The X388S set up for using AUX2 with ZPCM is basically the same as above.
Unfortunately because of a software error in the X3810/8130 it is not possible to do this
mix if you have the THROTTLE HOLD function active, (the JR GAIN software will not drive a
free mixer), we strongly recommend the use of the 'GEAR' channel / switch with this radio.
(b) If no free mixer is available you can temporarily
connect the gain input of the gyro to the 'GEAR' or AUX3 channel. You will now be able to
enter and step through the auto setup routine by toggling the 'GEAR' or AUX3 channel. Once
the auto setup has been completed the gain input of the gyro can be connected back to
AUX2. The ICG540 will operate normally with the gain input coming from AUX2 whilst in
flight.
There are no such restrictions with the later JR SPCM receivers or any other receiver as
far as we know.
- HOW DO I USE THE SANWA RD6000 WITH THIS GYRO
The Sanwa RD6000 needs to be set up in a slightly different way than usual.
Please download the following word file for detailed information on the correct set-up
procedure.
DOWNLOAD RD6000 GYRO SET-UP INFORMATION
- I HAVE TRIED EVERYTHING AND STILL I CAN'T GET THE TAIL TO
STOP WAGGING
With some models with less than perfect set-ups or utilising lower spec servos
for rudder control it may be necessary to slightly alter the parameters in mode 1 (Heading
Hold). Bob Johnston has done some considerable testing in these situations and has come up
with the following parameters which much improved results.
Look ahead gain............................35%
Conventional gain..........................82%
Exponential gain............................125%
Heading lock gain......................... 88%
Direct coupling.............................. 30%
Heading lock range...................... 40%
Heading lock relaxation rate........ 2%
Stick linear sensitivity................... 10%
Stick exponential........................... 30%
Maximum yaw acceleration.......... 2550
- I'VE JUST PURCHASED A PC INTERFACE AND I'D LIKE TO KNOW WHAT
DO THE MAIN PARAMETERS DO IN LAY-MANS TERMS.
Before a description is given we MUST strongly recommend that before any
adjustments are made to the gyros internal parameters you first get the model performing
well with the factory defaults. Almost all gyro handling problems are caused by incorrect
radio set up or a poor mechanical set-up, that may have been masked by a lower performance
gyro. Trying to cure these problems by altering the internal gyro parameters will just be
a frustrating waste of time.
The relationship between tail, boom, servo, gyro and tail blades etc. is non trivial in
the way they interact so there is no decisive answer as to how changing one particular
parameter will effect one single aspect without interacting with a dozen other.
LOOK AHEAD GAIN
This is in effect very similar to the tracking adjustment on the GY501, This tells the
gyro how fast to try and stop. For instance if there is too little 'Look Ahead Gain' the
gyro will try and stop faster than the model resulting in a bounce back effect with the
tail. Too much 'Look Ahead Gain' will cause the tail to hesitate during the stop.
CONVENTIONAL AND HEADING LOCK GAIN
'Conventional Gain' relates to the magnitude of damping and the 'Heading Lock Gain'
relates to how strong the tail is held in its set position. Without Conventional gain the
Heading Lock term has no damping and so will wander around constantly overshooting the
mark. The analogy can be made to a car suspension system in that the Heading Lock term can
be thought of the spring (always wanting to return to it's relaxed position), and
Conventional gain as the oil filled damper that resists sudden changes and makes the
system smooth and controllable.
HEADING LOCK RANGE
This term will control how large an error the gyro will try to recover, adjusting this
will have no real effect on the performance of the gyro. If however this is set too high,
you could find yourself in a situation where if you have stalled the tail so the model can
no longer hold against the torque, causing the model to pirouette before it recovers, once
recovered the model would then try to return to its original position and so might do the
same number of pirouettes in the opposite direction. By limiting this range you can
prevent this situation from happening.
HEADING LOCK RELAXATION RATE
This terms allows you to vary the response of the tail between full heading lock and
conventional a value of zero will give you 100% heading lock and increasing values will
eventually give you an increasing conventional feel with the weather cock effect.
MAXIMUM YAW ACCELERATION
This value lets the gyro know how fast the model can accelerate or decelerate, (governed
by pitch, blade length and power available to the tail as well as vertical fin area). If
this value is set too high for your model you will get stepping during pirouettes as the
gyro is reacting quicker than the model can cope with. This occurs in the following
manner, the pilot sets his yaw command and the gyro sees this and expects the model to
rotate at a particular velocity but as the model is slow to react the gyro increases the
pitch to the tail, now the extra pitch causes the tail to accelerate too quickly so the
gyro then compensates and reduces the pitch but as the model is slow to react it takes
more pitch off but then it realises that in fact this is too much, thus causing the
stepping motion as the process constantly repeats itself.
- I ALREADY HAVE THE ICG360 PC INTERFACE, CAN I USE THIS WITH
THE ICG540 GYRO?
The cable that you use to connect from your PC to the Gyro can be used with
either the ICG360 or ICG540 but the software is fundamentally different for each gyro. If
you already have the interface cable for the ICG360 you can download the software
for the ICG540 below. The files have been zipped for reduced download time.
DOWNLOAD ICG540 PC INTERFACE SOFTWARE
DOWNLOAD ICG540 PC INTERFACE MANUAL (WORD DOCUMENT)
- OPTIMISED PARAMETERS FOR THE HENSELEIT 'ROCKET'
DOWNLOAD ICG540 'ROCKET' PARAMETERS. (WORD DOCUMENT)
IF YOU REQUIRE FURTHER INFORMATION OR HELP REGARDING OUR PRODUCTS PLEASE CONTACT US.
e-mail: tech@csm-ltd.co.uk
phone: +44 (0) 1457 854 680