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FUTABA GY611, Instruction Manual

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 Insert the connectors fully and firmly.

·If a connector works loose due to vibration during flight, control may be 

lost and result in a dangerous situation.                                    

 Always use the GY611 with a PCM proportional system.

·Using the GY611 with an FM proportional system, when noise enters, 

the wrong neutral position may be memorized.

F

OR 

S

AFETY                                                       

To ensure safe use, observe the following precautions.

Meaning of Special Markings 

Pay special attention to the safety at the parts of this manual that are 

indicated by the following marks.                                

Mark 

 

 

Meaning                                                       

  Procedures  which  may  lead  to  a  dangerous  condition  and 

cause death or serious injury to the user if not carried out 

properly.      

  Procedures  which  may  lead  to  a  dangerous  condition  or 

cause death or serious injury to the user if not carried out 

properly, or procedures where the probability of superficial 

injury or physical damage is high.

  Procedures where the possibility of serious injury to the user 

is small, but there is a danger of injury, or physical damage, 

if not carried out properly.

 

Symbol:

   

 ; Prohibited      

 ; Mandatory                              

Mounting/Operating Precautions

4

F

OR 

S

AFETY

Summary of Contents for GY611

Page 1: ...AVCS GYRO INSTRUCTION MANUAL YAW AXIS STABILIZER FOR MODEL HELICOPTER RATE GYRO ...

Page 2: ... gyro de veloped for model helicopter competition GY611 Features Super narrow pulse 760μs drive system substantially improves servo re sponse An S9256 digital servo is used Microcomputer high speed arithmetic processing substantially improves gyro response High resolution 12 bit A D accurately converts the sensor output to a digi tal signal Newest SMM Silicon Micro Machine and low back aeroform ca...

Page 3: ...tents 8 AVCS Gyro 9 DATA SETTING Name and Function of Each Part 12 LCD Display and Edit Keys 13 Function Map 14 GY611 Functions Setting 15 Remote Gain Function 21 Initialization 30 INSTALLATION AND ADJUSTMENT Installing to Fuselage 32 Flight Adjustments 37 REFERENCE Specifications 40 Definition of Abbreviations 41 GY611 Parameters Sheet 42 TABLE OF CONTENTS ...

Page 4: ...y at the parts of this manual that are indicated by the following marks Mark Meaning Procedures which may lead to a dangerous condition and cause death or serious injury to the user if not carried out properly Procedures which may lead to a dangerous condition or cause death or serious injury to the user if not carried out properly or procedures where the probability of superficial injury or physic...

Page 5: ...sor and servo at least 2cm apart When using a GV 1 governor mount the sensor and GV 1 amp at least 5cm apart When using the GY611 with a motor driven helicopter mount the sensor and drive motor at least 10cm apart Noise from the servo motor GV 1 amp and drive motor may cause the per formance of an erroneously operated gyro to drop Precautions When Turning on the Power Switch During initialization ...

Page 6: ...rect sunlight or is mounted near the engine the temperature may change suddenly Take suit able measures so that the gyro is not exposed to direct sunlight etc Check the remaining receiver gyro servo nicd battery op erating time during the adjustment stage and decide how many flights are remaining Never use the transmitter rudder trim in the AVCS mode When the rudder is trimmed during flight the neut...

Page 7: ...current flows and the current drain is therefore large Constantly pay atten tion to the remaining capacity of the Nicd battery and decide the number of safe flights Always pay attention to the following points Always use an Nicd battery A dry cell battery will not display the spspecified performance When using the S9256 in a system with a battery fail safe function the cut off voltage is set to a hig...

Page 8: ...USE Set Contents After unpacking the GY611 set first check if the following parts are provided BEFORE USE Sensor tape x3 Mini screwdriver x1 GY611 sensor x1 GY611 control amp x1 S9256 servo x1 Only a set w servo ...

Page 9: ...l drifts When the tail drifts the gyro detects the tail rotation angular veloc ity and operates the servo in the direction that stops the tail from moving Drifting of the tail is stopped by control from the gyro When the tail stops drifting the control amount from the gyro becomes zero Since the helicop ter is always exposed to side wind even in this state the tail starts to drift again When the t...

Page 10: ...When a helicopter is flying in the forward and reverse directions the rudder trim is changed to advance but with the AVCS system this trim change is performed automatically and instantaneously so that the tail re mains extremely stable even during high speed reverse flight The AVCS system requires a high precision angular velocity sensor The GY611 realizes a high precision angular velocity detection...

Page 11: ... stick is moved when the heli copter was stopped the rudder servo controls operation until the tail reaches the specified rotational speed Trim deviation of the rudder control signal also becomes a signal that causes the tail to turn so that even a little trim deviation causes the tail to move Therefore the rudder trim is made the same in all flight states and must match the neutral reference signa...

Page 12: ...djusted with the accessory mini screwdriver Receiver connectors Remote gain input Rudder input Edit keys Used when setting data Operated by pushing with the accessory mini screw driver Input output terminals Gyro sensor input Rudder servo output GY611 gyro sensor LCD display Displays the set data 8 characters x 1 line Stick to the body using the accessory sensor tape To control amp ...

Page 13: ...e sequen tially called with the FUNC or FUNC key For the order in which the setup screens are called see the function map Data setting Perform data setting with the DATA or DATA key When setting a value the data is increased when the DATA key is pressed and is decreased when the DATA key is pressed The mode can also be se lected using either the DATA or the DATA key ...

Page 14: ...o Gain Adjustment P16 Gyro Reverse P16 Rudder Control Gain P17 Control Delay I P17 Gain Tracking P18 Flight Mode P19 Operation Mode Setting P18 Linkage Limit Setting P20 FUNC key FUNC key Power ON Power on screen display P15 Control Delay D P17 AVCS sense P20 ...

Page 15: ...k or the helicopter is moved by mistake the rudder neutral data will not be correctly read Normal screen display Operation mode display N NOR mode A AVCS mode Neutral offset Actual gain sensitivity display Power supply voltage display During rudder neutral reset operation is displayed During rudder servo reset operation by rudder stick is displayed Low battery alarm When the power supply voltage d...

Page 16: ...rud der is applied and when the helicopter is banked left right correction rudder is applied Gyro Gain Adjustment Initial value 100 Adjusts the gyro gain Setting range is 0 to 120 Two point G 1 G 2 gain adjustment is possible When A is dis played the gyro is in the AVC mode and when N is displayed the gyro is in the NOR mode in accordance with the operation mode set ting ...

Page 17: ...cording to the direc tion of the rudder stick and the gain of each direction can be set This function is used when tracking rudder operation gain between the AVCS and NOR modes Control Delay I Initial value 0 Sets the delay when the rudder stick was pushed operated Setting range is 0 to 100 Rudder stick left and right can be set separately Control Delay D Initial value 0 Sets the delay when the ru...

Page 18: ...ction In the opposite case shift Trk in the direction Operation Mode Setting Initial CMT Sets the gyro operation mode Settings are NOR AVC and CMT In the NOR mode both G1 and G2 operate in the AVCS mode In the CMT mode G1 operates in the AVCS mode and G2 operates in the NOR mode In the NOR mode the GY611 operates the same as an ordinary gyro In the AVC mode the GY611 always operates in the AVCS mo...

Page 19: ...al with the rudder stick operation amount and is suitable for 3D flight 3D mode steering angle setting During 3D mode setting the transmitter rudder steering angle is set to 100 and approximately 500º second high pirouette speed Therefore initially set the transmitter rudder steering angle to a low value so that the tail can be safely controlled About 70 The pirouette speed is proportional to the r...

Page 20: ... Sets the rudder servo travel limit Operate the rudder stick and adjust the rudder servo travel limit by pressing the key so that the servo moves to the maximum linkage position Use the same procedure to set both the left and right limits When setting move the servo substantially so that the rudder angle automatically becomes 200 and limit setting is easy A or B is dis played for the right and lef...

Page 21: ...r The channel used here is called the remote gain channel Remote Gain Function Transmitter Gain Mode Selection CH5 switch Idle Up switch T9Csuper Flight condition T14MZ T9Z Gain Settings End Point ATV function Gyro mixing T14MZ T9Z T9Csuper Mode Settings Normal mode NOR AVCS mode AVC Selectable mode CMT Gain Settings Gyro Gain Adjustment GY611 Receiver Remote Gain Channel CH5 etc ...

Page 22: ...itter 5ch GYR ATV function setup screen Gyro Sense Mixing function 1 Select the Dual Mode DUO at the transmitter Gyro Sense Mixing setup screen 2 Set the GAIN1 and GAIN2 gains The following page shows a setting example in the CMT mode Sensitivity Display The gain display indicates the actual gain at the GY611 normal screen dis play The following shows the relationship between transmitter and gyro ...

Page 23: ...the sensitivity setting standard CH5 switch Actual gain Hovering Flight The GY611 sensitivity is 0 at 50 When set over 50 the GY611 oper ates in the AVCS mode and when set under 50 the GY611 operates in the Normal mode When setting is changed 1 the gyro sensitivity is changed 2 GYRO SENSE 01 MODEL 01 NORML HEL PCM 0 23 17 DUAL MODE GAIN 1 GAIN 2 0 20 40 60 80 100 END 85 15 Select the Dual Mode DUO...

Page 24: ...Mixing function 1 Activate the function at the transmitter Gyro Mixing setup screen If two or three rates are activated select the selector switch 2 Set the type of gyro to GY 3 Select the desired mode AVCS or Nor and adjust the gyro sensitivity by rate The following page shows a setting example in the CMT mode Sensitivity Display The gain display indicates the actual gain at the GY611 normal scre...

Page 25: ...ing setup screen at each condition The following shows a setting example in the CMT mode Use the following values as the sensitivity setting standard Selector switch Actual gain Hovering Flight Activate the function Set the type of gyro to GY Select the desired mode AVCS or Nor and adjust the gyro sensitivity Select the selector switch ...

Page 26: ... SENS setup screen 2 Select the condition switch Cond for the sensitivity selection 3 Set the NORM IDL1 IDL2 IDL3 and HOLD gains The following page shows a setting example in the CMT mode Sensitivity Display The gain display indicates the actual gain at the GY611 normal screen dis play The following shows the relationship between transmitter and gyro set ting Relationship between transmitter and g...

Page 27: ... shows a setting example in the CMT mode Use the following values as the sensitivity setting standard Hovering 70 AVC or NOR mode Flight 40 AVC or NOR mode Activate the function Set the type of gyro to GY Set the selector switch to Cond Select the de sired mode AVC o r N O R a n d adjust the gyro sensitivity ...

Page 28: ...t the rates at the transmitter remote gain channel CH5 etc End Point ATV function Sensitivity Display The gain display indicates the actual gain at the GY611 normal screen dis play The following shows the relationship between transmitter and gyro set ting Relationship between transmitter and gyro setting Transmitter settings End Point ATV rates Switch Switch Forward side Front side 90 0 90 Normal ...

Page 29: ... Setting function Select the gyro operation mode at the GY611 Mode screen AVC NOR or CMT Gyro Gain Adjustment function Set the G 1 and G 2 gains at the GY611 G x screen Relationship between transmitter and gyro setting Transmitter settings End Point ATV rates Switch Switch Forward side Front side 90 Fixed 90 Fixed Normal mode AVCS mode Normal mode AVCS mode G2 G1 GY611 adjusting range 100 0 100 NO...

Page 30: ...econds Also do not move the transmitter rudder stick from the neutral position during this period At power ON When the power switch is turned on the GY611 automatically ob tains the reference signal for AVCS function correction and initializes itself When the power was turned on in the Normal mode the rudder neutral posi tion already memorized in the GY611 is not updated When the power was turned ...

Page 31: ...osition set in the Normal mode This memorizes the new rudder neutral position in the GY611 When the transmitter has a function that allows trim setting for each flight condition such as the T9Z and T14MZ the AVCS mode trim position is fixed and this operation is unnecessary Never use the transmitter rudder trim in the AVCS mode When the rudder is trimmed during flight the neutral posi tion will chan...

Page 32: ... flight always check the sensor installation state If the sponge is torn replace it Installing to Fuselage 1 Installing sensor and amp Install the sensor so that the bot tom of the gyro is perpendicular to the main rotor shaft axial direction Offset of this axis will also react in the roll and pitch directions GY611 sensor Frame gyro bed Install the GY611 sensor to the fuselage using the accessory ...

Page 33: ...amp rudder input RX 1 4 input con nector to the receiver rud der channel Black Red Connect the amp remote gain input RX AUX con nector to the receiver sen sitivity setting channel To receiver 3 Gyro operation mode selection When using the gyro only in the NOR mode select NOR When using the gyro only in the AVCS mode select AVCS When using the gyro in both the AVCS and NOR modes select CMT S9256 on...

Page 34: ... adjustments mechanically and make minimum trimmer adjust ments at the transmitter In the NOR mode make the following linkage checks In the rudder neutral position connect the linkage at the position at which the servo horn and control wire are perpendicular Perpendicular Control wire Set the servo horn length based on the helicopter manufacturer s instruc tions Move the rudder stick to the right ...

Page 35: ...it at the 100 reference gain Make the following value the gain setting criteria A setting example when a T14MZ series transmitter was used is described below When using another transmitter see Remote gain function on page 21 T14MZ transmitter setting Call the transmitter Gyro setting screen Adjust the gain when hovering to 80 at the AVCS side and the nor mal side on the transmitter screen Set the ...

Page 36: ...g check Checks the transmitter setting in the ACVS mode Check that the transmitter is not set so that the neutral position has shifted Transmitter setting Set all rudder mixings to INH Set all hovering and flight rudder trims to the same position Set rudder End Point ATV to 100 under all conditions Also set the T14MZ or T9Z condition delay function to INH If the normal screen operation mode display...

Page 37: ...m the fol lowing operations Switch the transmitter sensitivity switch quickly internal of within 1 second between AVCS and Normal at least three times is displayed on the LCD screen to show that data is being memorized During this operation never move the transmitter rudder stick from the neutral position for at least 1 second immediately after switching the switch in the state in which the model ...

Page 38: ... the left and right pirouette stopping state by control delay and tracking Adjustment using the delay function of the T14MZ and T9Z transmit ter is also possible Since the gyro gain also has a large effect on the stopping state make this adjustment after adjusting the sensitivity Point ATV amount of the transmitter sensitivity setting channel The actual sensitivity can be checked on the GY611 norm...

Page 39: ... GY611 AVCS sense in the AVCS mode Steering angle neutral suppression and pirouette stop ping 9 When you want to use rudder mixing in the Normal mode set the transmitter so that rudder mixing is applied only during Normal mode operation Never use rudder mixing in the AVCS mode ...

Page 40: ...o Display device 8 character dot matrix liquid crystal display Operating voltage range DC 3 8V to 6 0V Current drain 70mA 5 0V including sensor Dimensions 57 x 32 x 15mm amp 30 x 30 x 18mm sensor Weight 34g amp 30g sensor Specifications S9256 Ratings Dimensions 40 x 20 x 36 6mm Weight 57g Speed 0 06sec 60º at 4 8V Torque 3 4kg cm at 4 8V ...

Page 41: ... Gyro gain 2 side p16 GDir Gyro reverse p16 Gyro T14MZ gyro sense mixing GYRO SENS E T9C T9Z gyro sense mixing H Hello Power on screen display High High side I IDLE Transmitter power OFF state INH Use inhibited state L LCD Liquid crystal display screen LmtA B Linkage limit setting p20 Low Low side LOW BAT Low battery error display M Mode Operation mode setting p18 N NCGA B Rudder control gain Nor ...

Page 42: ... 0 0 100 0 20 20 F3C F3C 3D CMT CMT NOR AVC Copy and use GY611 Parameters Sheet Parameter Helicopter Date Initial Set Gyro Gain Adjustment Gyro Reverse Rudder Control Gain Control Delay I Gain Tracking Flight Mode Operation Mode Setting D1Dx D1DA 0 0 100 D1DB 0 0 100 Control Delay D AVS 100 50 150 AVCS Sense Lmtx LmtA 100 LmtB 100 Linkage Limit Setting value value Remarks ...

Page 43: ...43 REFERENCE FUTABA CORPORATION Makuhari Techno Garden Bldg B6F 1 3 Nakase Mihama ku Chiba 261 8555 Japan Phone 043 296 5119 Facsimile 043 296 5124 FUTABA CORPORATION 2005 6 ...

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