ROBBE HeliCommand 3A Manual De Instrucciones página 18

24-25
The set-up steps
1) Learning the stick direction
• In set-up mode the LED will fl ash green at regular intervals.
Check that any electric power system is disconnected.
• Hold SET button pressed in, and move the transmitter controls to their
full travel (in any order) with the button pressed in:
Right-aileron, elevator forward (push), right yaw (tail rotor stick), then neutral
again; collective pitch maximum and leave it there. Now release the button.
From this point on you must not change the direction of any channel at the
transmitter (apart from deliberately reversing collective pitch).
2) Servo direction(s) "collective pitch"
(and recognizing linkage type)
The LED must fl ash twice (press SET button briefl y if necessary to move on to
the appropriate step). If you now increase the collective pitch stick setting, the
swashplate should rise evenly, without tilting. You can now select the right one
from the ten possible options, working forward or back by moving the aileron
stick to either side. Store the correct setting with a long press on the SET button
(> 1 second until LED fl ashes 3 times).
3) Servo directions „elevator" (+ „aileron")
The LED must fl ash three times (press SET button briefl y if necessary). The
elevator stick should now tilt the swashplate evenly, without changing its height.
You can now select the right one from the two or eight possible options, working
forward or back by moving the aileron stick to either side.
For single servo linkage type only: choose amongst the 2 possibilities using
right roll stick movements only. If additionally the aileron (roll) direction has to
be changed, hold the aileron stick to the left for a longer time (1.5 s) and test
with left stick movements. (available only with HeliCommand versions carrying
a two-fi gure code on the label, left of the part No.) With other linkage types, the
direction of aileron travel should automatically be correct after storing; other-
wise the servo connections are swapped over, or the aileron or pitch stick direc-
tion have been "learned" incorrectly; in that case repeat the procedure). Store
the setting with a long press on the SET button (>1 second until LED fl ashes
four times). Now all three directions of swashplate travel should be correct.
If the swashplate is not level, adjust the mechanical linkages at this point.
24
26-27
Setting up the HeliCommand RIGID
Before using the system in a fl ybar-less helicopter please note that it is essen-
tial to activate RIGID mode (using the PC).
The attitude-maintenance stabilisation ("head gyro") maintains an angle of in-
clination once set, and prevents the model from ballooning up into wind - to
the extent of the helicopter's control system's power to provide the corrective
action. You can observe this function at the swashplate, as it will remain in the
inclined attitude you have set.
Depending on the setting, some care is required before take-off to ensure that
the swashplate is not accidentally set at too great an angle (through slow drift
or accidental movement), and that the RIGID gain is not set too high.
Unlike usual practice with tail gyros, the gain setting does not need to be set
hard up to the limit of oscillation!
The HeliCommand must only be used to control fl ybar-less helicopters with the
Rigid mode switched on !! Otherwise there is a risk of generating excessive
aileron / elevator rates; this could overload the sensors internally, and this in
turn could have a serious adverse effect on the horizontal mode and the po-
sition mode!
Scale models often have their swashplate travels mechanically reduced to
about half of „conventional" aileron and elevator travels. When employing the
HeliCommand, we recommend to undo the reduction, i.e. increase the macha-
nical throw in order to achieve optimum stability.
Rigid stabilisation has to be activated using the PC. Please check www.robbe.
com/rsc under ‚downloads' or www.helicommand.com for the latest software
update, after you have done the basic installation.
26
4) Servo direction, "tail rotor"
(If external gyro is used, skip this step.) The LED must fl ash four times (press
SET button briefl y if necessary). Select correct direction of tail rotor servo by
moving the aileron stick to either side: with tail rotor stick to the right, the nose
should move to the right, the tail rotor must "blow" to the right. You can now ad-
just the tail rotor neutral point, since heading hold is disabled in Step 4. Check
the setting, and store it with a long press on the SET button (>1 second).
5a) Installed position (sensor direction)
and direction of rotor rotation
The LED must fl ash fi ve times (press SET button briefl y if necessary). The He-
liCommand now needs to know its installed orientation, i.e. whether the round
side of its housing is facing right, left, forward or back. Program this by moving
the aileron or elevator stick towards the appropriate side of the swashplate,
then give SET button a long press (>1 second) while direction of tilt is correct.
5b) Direction of main rotor rotation
In step 5 move tail rotor stick in same direction as the direction of rotation of the
main rotor (viewed from above), and store with the SET button (>1 second).
Concluding the setup
Switch on again and check the controls. Set any travel reductions at the trans-
mitter to prevent mechanical fouling, and set the correct collective pitch range
(because travels may now be different to those set when you were using the
transmitter's mixer). Any major travel reductions should be set in the HeliCom-
mand using the PC adaptor. The swashplate should now be exactly horizontal;
if not, adjust it at this stage.Coarse adjustment: there should be a point in the
middle of the collective pitch range where all the servo output arms are at
neutral simultaneously. If not, unscrew the output arms and replace them in the
correct position. For fi ne-tuning: adjust the pushrods. Final adjustment is also
possible using the transmitter trims; if you do this, use the SET button so that
the HeliCommand "learns" them again.
Activate a RIGID mode (using the PC) if using the system in a fl ybar-less
helicopter.
For transmitters featuring multiple fl ight modes (phases): It is important to have
identical trim values for all fl ight modes while the HeliCommand is activated !
This is particularly important in Rigid mode. Activate a RIGID mode (using the
PC) if using the system in a fl ybar-less helicopter.
The available Rigid-options are shown in the drawing:
[OFF] mode
This corresponds to HeliCommand 3D. Not suitable for fl ybar-less helicopters!
[FIX] mode
Activates the RIGID function permanently (in addition to Horizontal and Positi-
on mode as defi ned by Pilot Channel).
Take particular care with the RIGID gain, because you cannot reduce it in this
mode during fl ight using the pilot channel, and excessive values can generate
dangerous lurching or oscillating movements. Adjustment here is only available
via "sens. gain" setting in the PC (not via the "pilot channel default" setting).
[FADER] mode
Disables Hor. and Pos. mode, so the handling is like a „normal" helicopter, i.e. the
attitude has to be controlled manually. On both sides of the pilot channel (trans-
mitter slider) only RIGID stabilisation is superimposed symmetrically as far as the
maximum value of "RIGID sens. gain", which can be set via PC. Slider end on either
side equals the center position of the [FIX] mode! With slider at centre point, gain
("head gyro" for elevator and aileron equally) is reduced to 33%. This mode is
suitable for fi nding the optimum RIGID-gain setting. If later you switch to the
[FIX] mode, you should reduce the gain setting via PC by the same proportion
as found on the pilot slider. (E.g. Rigid-sens-gain (roll)=7, Slider=70%: new
Rigid gain=7x70%=4.9, i.e. set to 5)
25
27