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GREMSY S1 User Manual

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Summary of Contents for GREMSY S1

  • Page 2: Revision History

    REVISION HISTORY REVISION DATE DESCRIPTION User Manual Apr 20 2018 LEGEND Notes are used to highlight special operating conditions or steps of a procedure. NOTE Warnings are used to highlight procedures which, if not strictly observed, may result in personal injury or loss of life. WARNING Tips.

  • Page 3: Table Of Contents

    Powering Up The Gremsy S1 Step 1 Step 2 Step 3 Status LED Indicator Operation Modes Gremsy S1 Has 2 Operation Modes Gremsy S1 Supports Working Operation Swithching Between Modes Installing Software / App Using USB/BLUETOOTH Connection Using USB Connection...
  • Page 4 BALANCING Mounting The Camera Tilt Axis Front-Back Balance Tilt Axis Vertical Balance Roll Axis Balance Pan Axis Balance SOFTWARE - TUNING Stiffness Tuning General Method Step 01 - Tilt Stiffness Step 02 - Roll Stiffness Step 03 - Pan Stiffness Auto tuning Filter Gyro Filter...
  • Page 5 CanlinkConfiguration Introduction CANLINK Connection Using CANLINK Fine Trim The Horizon Step 1: Step 2: Step 3: REMOTE CONTROL SBUS/PPM Settings Receiver Connection Channel Setting JR/SPEKTRUM Settings JR / Spektrum Satellite Receiver Connection Channel Settings UPGRADING FIRMWARE How To Upgrade TROUBLESHOOTING...

  • Page 6: Getting Started

    GETTING STARTED...

  • Page 7: Introduction

    GETTING STARTED INTRODUCTION S1 is the upgraded version of Gremsy T1 with many added features built specifically for inspection. Having HDMI , SMA port built in and one arm design allows camera set up a lot easier. Moreover its compact and ultra lightweight translate to longer flight time thus making it one highly demanded gimbal for industrial experts.

  • Page 8: Features

    GETTING STARTED FEATURES HDMI SUPPORT Having HDMI ports on the gimbal allows camera setup more convenience and clean. SMA SUPPORT Having SMA ports on the gimbal allows GPS antena of some special cameras (Dual Pro R, for example ) could be connected easily without having the antena cable get twisted during gimbal operation SINGLE ARM DESIGN Having single arm design enable light weight but still maintain rigidity and allow...

  • Page 9: More I/O

    Temperature is maintained within 0.2 degrees Celsius accuracy. HIGH PERFORMANCE gMotion Controller, designed and made by Gremsy based on a 32 bit high GIMBAL CONTROLLER performance ARM microprocessor providing fast response and accurate calculation.

  • Page 10: Clean Design - Internal Wiring

    COMPACT & ULTRA Small in hand, powerful in the sky. The slimmed down S1 is small enough to fit LIGHTWEIGHT into your backpack and take anywhere, yet strong enough to handle up to 1.5 lbs payload.

  • Page 11: Specifications

    GETTING STARTED SPECIFICATIONS Product Name Gremsy S1 System Type 3-Axis Digital Gyro-Stabilized Weight 1.65 lbs / 750 g Camera Cage (Standard) (W X L X H) 120mm x 65mm x 72mm Construction All Aluminum Input Voltage 14 – 52V Working Current...

  • Page 12: Gremsy S1 Mechanical Components

    GETTING STARTED GREMSY S1 MECHANICAL COMPONENTS 01. Gimbal mount 08. Tilt top bar 02. Pan motor 09. Camera plate 03. Pan adjustment 10. Tilt front- back adjustment 04. Roll motor 11. Tilt vertical adjustment 05. Gimbal controller 12. Top camera screw 06.

  • Page 13: Gremsy S1 I/O Connectors

    GETTING STARTED GREMSY S1 I/O CONNECTORS GIMBAL MOUNT: POWER: to get power directly from external batteries of the drone or other CONNECTORS & PINOUTS power supply. Voltage input range from 14V to 52V and is down converted to a stable 12V by the internal circuit to provide power to gimbal and accessories.
  • Page 14 GETTING STARTED COM3: to interface with other modules that use serial protocol (UART). Connector type: JST SM04B-ZESS-TB SBUS: to interface with other modules that use serial protocol (UART). Connector type: 3 pin, 2.54mm pitch PPM: To interface with PPM receiver. Connector type: 3 pin, 2.54mm pitch USER MANUAL...
  • Page 15 JR: to interface with JR/SPEKTRUM satellite receiver. Connector type: JST S3B-ZR AUX: There are S1, S2, S3, S4, S5, S6, S7,S8, S9 optional signal (0.2A max) , GND (1A max) for users to connect to other devices such as AV signal or camera trigger...This port is internally connected to AUX port on the tilt stage.
  • Page 16 GETTING STARTED HDMI: HDMI output from tilt stage. Connector type: Micro HDMI SMA: To receive SMA signal from tilt stage `..This port is internally connected to SMA port on tilt stage. Connector type: SMA USER MANUAL...

  • Page 17: Gimbal Controller: Connectors & Pinouts

    Connector type: Micro USB TYPE B TILT STAGE: CONNECTORS & AUX: There are S1, S2, S3, S4, S5, S6, S7,S8, S9 optional signal (0.2A max) , PINOUTS GND (1A max) for users to connect to other devices such as AV signal or camera trigger...This port is internally connected to AUX port on the gimbal mount.
  • Page 18 GETTING STARTED HDMI: HDMI input. Connector type: Micro HDMI SMA: SMA input. Connector type: SMA USER MANUAL...

  • Page 19: Gremsy S1 Electronic Diagram

    GETTING STARTED GREMSY S1 ELECTRONIC DIAGRAM USER MANUAL...

  • Page 20: What's In The Box

    GETTING STARTED WHAT’S IN THE BOX A B C D E 01. GREMSY S1 GIMBAL 02. SLIDE CAMERA & CAMERA SCREW 03. GREMSY S1 CABLES A. Micro USB Cable E. Sbus Cable B. Power Supply Cable F. Auxiliary Cable C. Canlink Cable For Pixhawk G.

  • Page 21: Gimbal Mounting

    GETTING STARTED GIMBAL MOUNTING GIMBAL MOUNTING There are two ways to mount the gimbal: Using 4x M3 to mount the top part (4 threads are arranged 32mmx32mm in squared pattern) onto the frame or damping isolator Using 4x M3 to mount the top part (4 threads are arranged 51mmx51mm in squared pattern) onto the frame or damping isolator.

  • Page 22: Powering Up The Gremsy S1

    GETTING STARTED POWERING UP THE GREMSY S1 After connecting to the power supply, the gimbal will perform series of alignments, self tests, which last about 5 seconds and will determine the status of the gimbal, indicated by the Status LED color. During this time, don’t touch the gimbal or camera.

  • Page 23: Status Led Indicator

    GETTING STARTED STATUS LED INDICATOR STATE LED STATUS DESCRIPTION Blink Low Battery Solid System Error (Motor or IMU) Blink Calibrating Solid System Boot Blink System Ready Blink Lock Mode Solid Follow Mode Blink Remote with Lock Mode Solid Remote with Follow Mode Blink Auto-tuning in process Blink...

  • Page 24: Operation Modes

    GREMSY S1 SUPPORTS SINGLE OPERATOR: using FOLLOW mode. DUAL OPERATOR: a second operator can use a Remote Controller (SBUS, SPEKTRUM, PPM) to control gimbal’s movement. WORKING OPERATION Gremsy S1 has 1 working operation: NORMAL USER MANUAL...

  • Page 25: Swithching Between Modes

    GETTING STARTED SWITHCHING BETWEEN MODES Using function button PRESS TIMES MODES Once time Turn motors ON 2 times Lock mode 3 times Follow mode Hold 3 seconds Turn motor OFF 4 times Calibrate Gyros Using mode channel on remote control POSITIONS MODES High...

  • Page 26: Installing Software / App

    GETTING STARTED INSTALLING SOFTWARE / APP Mobile apps are available in App Store and Google Play App name: gTune Searching: “gremsy gtune” Desktop software Download at: www.gremsy.com -> Support -> Product Support -> Gremsy S1 USER MANUAL...

  • Page 27: Using Usb/Bluetooth Connection

    GETTING STARTED USING USB/BLUETOOTH CONNECTION To configure and monitor data of Gremsy software/app either USB/BLUETOOTH connection is required. USING USB CONNECTION Make sure the Silab USB driver is already installed. The driver can be found at: www.gremsy.com -> Support -> Product Support -> Gremsy S1...

  • Page 28: Using Bluetooth Connection

    WIFI as default, user can switch to bluetooth by the button on top- right corner. The app will memorize the selected connection for later use. After being accepted to use bluetooth, the app starts scanning for Gremsy bluetooth integrated gimbals.

  • Page 29: Balancing

    BALANCING To achieve the best performance from the S1, proper balancing is necessary. Accurate balance is critical in shots where the gimbal will be subjected to extreme movements or accelerations. There are 3 axes that need to be precisely balanced prior to powering up the gimbal.

  • Page 30: Mounting The Camera

    BALANCING MOUNTING THE CAMERA Use a 1/4”-20 screw to secure the camera to the camera tray, then put the camera to the gimbal and tighten the top bar screw slightly (if the camera has hot shoe supported) Mounting camera has large width on the second slot of the crossbar (Sony A6000, Sony A6300) Mounting camera has small width on the first slot of the crossbar (Black magic micro cinema camera, Flir Dual Pro R )

  • Page 31: Tilt Axis Front-Back Balance

    BALANCING TILT AXIS FRONT-BACK BALANCE When the proper front-back balance is achieved, the camera will stay level when you remove your hands. 1. Loosen the thumbscrew underneath the camera tray and the top bar adjustment knob. Then, gently slide the camera forward or backward until the tilt axis remains level.

  • Page 32: Tilt Axis Vertical Balance

    BALANCING TILT AXIS VERTICAL BALANCE When the proper vertical balance is achieved, you can rotate the camera in any angle and it will stay at that position. 1. Rotate the tilt axis so that the lens is pointing upward.Then, loosen vertical adjustment thumbscrew, gently slide the camera mount crossbar and the top bar forward and backward until the camera remains pointing upward when released.

  • Page 33: Roll Axis Balance

    BALANCING ROLL AXIS BALANCE When the proper left-right roll balance is achieved, the camera will stay level when you remove your hands. 1. Loosen the thumbscrew underneath the roll bar, then gently slide the roll bar left or right until roll axis remains level. 2.

  • Page 34: Pan Axis Balance

    BALANCING PAN AXIS BALANCE Tilt the gimbal about 20 degrees from the verticality, identify if the gimbal is front heavy or back heavy. Slide the pan axis slider until the camera does not swing. 1. Loosen the thumbscrew, then gently slide the pan axis slider backward/forward until it doesn’t swing and stay at any given position when released.

  • Page 35: Software - Tuning

    SOFTWARE - TUNING After the camera is balanced on the Gremsy, it’s time to fine tune some parameters for best performance.

  • Page 36: Stiffness Tuning

    STEP 02 - ROLL STIFFNESS Slowly increase this setting until you feel an oscillation in the roll axis, then reduce the setting until the oscillation subsides. Pick the S1 up and make sure there is no vibration when you move the gimbal around.

  • Page 37: Auto Tuning

    SOFTWARE & TUNING AUTO TUNING The Auto-Tune function provides automatic adjustment of each motor’s stiffness value to find a good setting, the process will take around 1-2 minutes. Please turn motor ON prior to starting Auto-Tuning. The settings found by Auto-Tuning are usually good to start with however, it’s recommended to manually reduce stiffness if there is an oscillation in a specific axis or increase stiffness in case if it is too low.

  • Page 38: Filter

    SOFTWARE & TUNING FILTER The purpose of the filters is to eliminate noise and vibration due to structural resonances in the camera, lens, or gimbal. Setting the filters too high or too low can cause signal disturbances that can reduce the overall stabilization. GYRO FILTER Defines the strength of the filter applied to Gyro sensor output.

  • Page 39: Expert / Advanced Settings

    SOFTWARE & TUNING EXPERT / ADVANCED SETTINGS There are some expert parameters that normally do not need to be adjusted. Leave these parameters at default settings unless they are required for troubleshooting. HOLD STRENGTH If “Auto power adjustment” is enabled, “Hold strength” will be the minimum power level required for the corresponding axis.

  • Page 40: Follow Mode Settings

    Within the window zone, the camera maintains its direction. TILT LOCK If this option is selected, the tilt axis will maintain its angle and only be controlled by remote control. AIRBORNE This feature is not available on the S1. USER MANUAL...

  • Page 41: Rotation Limit

    SOFTWARE & TUNING ROTATION LIMIT Travel of Tilt and Roll axis can be limited using UP LIMIT and DOWN LIMIT. The Pan axis keeps the ability to pan 360 degrees itself. UP LIMIT Set the up limit for Tilt or Roll axis (in 1 degree unit). The default values are -90 for Tilt and -45 for Roll.

  • Page 42: Imu Sensor

    SOFTWARE & TUNING IMU SENSOR The IMU sensor used in the S1 is a combination of a high precision 3 axis gyroscope sensor and a 3 axis accelerometer sensor. IMU board is enclosed in a weather proof case and being heated where the temperature inside is controlled around 50°C with 0.2°C accuracy.

  • Page 43: Gyro Calibration

    (below -20C or above 50C) please re-calibrate the gyro. CALIB AT STARTUP: this feature is not available on the S1 After Gyro Calibration, Gyro Offset X, Y, Z will change to a new value depending on the temperature.

  • Page 44: CanlinkConfiguration

    SOFTWARE & TUNING CANLINK CONFIGURATION CANLINK is Gremsy’s proprietary solution to get information from the third party INTRODUCTION flight controller to correct horizon drift. Without CANLINK, our gimbal can maintain locked horizon most of the cases where prolonged acceleration is not presented . When prolonged...
  • Page 45 SOFTWARE & TUNING STEP 1: TURN MOTOR ON for the first time, make sure the pan axis is aligned with the forward direction of the copter during turning on the motor. LED status will change to pink color. STEP 2: Use radio control to move the pan to a position which is 180 degree away from the forward position of the copter.

  • Page 46: Remote Control

    REMOTE CONTROL S1 supports SBUS , SPEKTRUM and PPM receivers. There are some parameters to be aware of before assigning channels to the receiver. SMOOTH: increasing this number will smooth out the movement of the corresponding axis but will also cause a delay.

  • Page 47: Sbus/Ppm Settings

    REMOTE CONTROL SBUS/PPM SETTINGS RECEIVER CONNECTION Connect SBUS, PPM receiver to SBUS, PPM port which is located on the gimbal mount. The receiver must be connected to correct wires order. The SBUS/PPM port has 5V output to power the receiver, please do not use external power supply to power the receiver at the same time.

  • Page 48: Jr / Spektrum Satellite Receiver Connection

    REMOTE CONTROL JR/SPEKTRUM SETTINGS JR / SPEKTRUM SATELLITE Connect satellite receiver to the JR port on the gimbal mount as shown in the RECEIVER CONNECTION picture. Make sure satellite receiver is already bound to the transmitter (RED led is solid). CHANNEL SETTINGS Choose 10 bit or 11 bit type resolution on the software and assign proper channels as per SBUS settings.

  • Page 49: Upgrading Firmware

    UPGRADING FIRMWARE Only USB connection allows upgrading firmware. Refer to Section “01. GETTING STARTED” for USB connection. Make sure Silab USB driver is already installed. The driver can be found at: www.gremsy.com -> supports -> product support NOTE...

  • Page 50: How To Upgrade

    UPGRADING FIRMWARE HOW TO UPGRADE 01 - Power on the S1. 02 - Connect USB cable from S1 controller to Mac/PC. 03 - Run the gTune Desktop software. 04 - In the software, select “Serial” option on “connection” tab. 05 - Select the port in the list.

  • Page 51: Troubleshooting

    TROUBLESHOOTING...
  • Page 52 Stiffness setting is too high Reduce stiffness Thumbscrew/top bar nut is not Check tightening tightened Gremsy T3 has oscillation in Camera mounting is not stiff Check camera mounting one or more axes enough Filters settings are incorrect: Please read more in manual about Gyro filter...

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