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Summary of Contents for XF ROBOT C-40T
- Page 1 V1.0 C-40T 2024.12 3-axis Gimbal User Manual ©2024 XF All Rights Reserved...
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Page 2: Using This Manual - Legend
Using this Manual – Legend Important Tips Explanation... -
Page 3: Revision History
Revision History Date Document Version 2024.12.30 V1.0... - Page 4 Caution Always stay alert when using C-40T 3-axis Gimbal and its accessories to control an unmanned aerial vehicle (UAV) or other carriers. Careless may result in serious harm to yourself and others. 1. Make sure that the external power supply for the gimbal is a lithium battery (2S~6S) with an input voltage between 7.4V~26.4V.
- Page 5 Catalog Introduction Diagram Installing the Payload Controlling the C-40T Headtracker Direct Control Private Protocol Control S.BUS / CRSF Control PWM Control MAVLink Control Gimbal Modes Gimbal Sensitivity Carrier AHRS Fusion Configuring, Calibrating & Firmware Upgrading Connect the Gimbal Parameter Configuration Basic Operation...
- Page 7 C-40 User Manual Introduction The C-40T 3-axis Gimbal is compatible with a payload device no heavier then 40g. With a 3-axis nonorthogonal mechanical stabilization structure and high- torque motors, the C-40T is able to provides an extreme stabilization effect against the vibration and high-speed air impact.
- Page 8 C-40 User Manual Installing the Payload 1. Remove the four screws on the top of the gimbal, and separate the top lid and interface PCBA from the gimbal. There are cables connecting between the gimbal and the interface PCBA. Do not separate the PCBA too far or may damage the gimbal. 2.
- Page 9 C-40 User Manual 3. Route the payload cables through the roll motor and the pitch motor in sequence. The cables should have a certain margin length and should not be tight, otherwise it will lead the gimbal spinning unsmoothly or rebounding. NANJING XIANFEI ROBOT TECHNOLOGY CO., LTD.
- Page 10 C-40 User Manual 4. Install the lids as below. 5. Mount the payload device onto the gimbal by four M1.6 countersunk head screws. NANJING XIANFEI ROBOT TECHNOLOGY CO., LTD.
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Page 11: Pwm Control
C-40 User Manual Controlling the C-40T The C-40T supports Headtracker direct / private protocol control, S.BUS / CRSF control, PWM control and MAVLink control, with the priority of the four control methods above decreasing in order. Headtracker Direct Control Headtracker User Manual... - Page 12 C-40 User Manual Gimbal Modes There are three operating modes of the C-40T as below: FPV Mode (Mode 0) All three axes follow the movement of the carrier with eliminating slight shaking. Pitch-lock Mode (Mode 1) Both the roll and yaw axes follow the movement of the carrier with eliminating slight shaking.
- Page 13 C-40 User Manual Configuring, Calibrating & Firmware Upgrading Configure the gimbal and upgrade firmware of the gimbal with the GimbalConfig software. Ensure the driver of the Config Module is installed on the computer before configuring, calibrating or upgrading. Connect the Gimbal 1.
- Page 14 C-40 User Manual Parameter Configuration Basic Operation After the gimbal is connected to the GimbalConfig software, the software will automatically download the parameter from the gimbal, or you can click “Download Param” to perform the download operation. Click “Save Param” to save the current displayed parameter as a local file. Click “Open Param”...
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Page 15: Channel Mapping
C-40 User Manual Channel Mapping (Headtracker direct, S.BUS/CRSF & MAVLink control) Select the channels corresponding to gimbal mode, gimbal sensitivity, roll, pitch and yaw respectively. For Headtracker direct control (through datalink or Air Unit), all channels should be mapped to CH01. Mounting Type The mounting type of the gimbal is AUTO by default, and the gimbal will automatically switch to DOWN/UP mode according to its attitude at power-on. - Page 16 C-40 User Manual Parameter Tuning For cameras with larger moment of inertia, mounting them on the gimbal may result in gimbal shaking. In such cases, increasing the gain value can enhance stabilization effects. It is strongly recommended to use the default gain parameters if unnecessary.
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Page 17: Appendix 1 Mavlink Configuration
C-40 User Manual Appendix 1 MAVLink Configuration ArduPilot SERIAL1 SERIAL1_BAUD SERIAL1_OPTIONS 1024 SERIAL1_PROTOCOL SR1_ADSB 0 Hz SR1_EXIT_STAT 0 Hz SR1_EXTRA1 0 Hz SR1_EXTRA2 0 Hz SR1_EXTRA3 0 Hz SR1_PARAMS 0 Hz SR1_POSITION 0 Hz SR1_RAW_CTRL 0 Hz SR1_RAW_SENS 0 Hz SR1_RC_CHAN 0 Hz Serial port number can be changed according to the actual situation.
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