TK50H  Series Tank Gamming Controller

TK50H 系列遙控坦克競賽控制器

THIS IS NOT 100% PLUG AND PLAY BOARD, SIMPLE CHANGE IS NEEDED FOR FULL OPTIONS

非即插即玩控制器, 需簡易調校

(specifications and design are subject to change without notice)

(若有規格及設計變更恕不另行通知)

Overview 功能概要

• Support Natural Gear

• Uses 10-CH  S.BUS  RC system to control R/C tank's forward/backward movement, sharp turning, pivoting, turret rotation and gun barrel evaluation at variable speed

• Ultrasonic ESC*3  for two track motor and turret rotation

• Ultra Low turn-on resistance FET for track motor ESC

• Support Gun Barrel Stabilizer ( G2 Variant )

• 22KHz, 8-bit high quality sound with digital sound mixer

• Maximum of 5 channel of sound track, main gun, machine gun, turret rotate, gun barrel elevation and engine sound can be generated at the same time

• 7W sound output power, 4-Ohm Speaker is recommended

• 0.8A BEC

• EPM*2 for gun elevation(EPM1) and turret rotation/gun traverses(EPM2) 

• Wide operating voltage rage, from 7.2 to 12V, support  3S Li-Po battery

• Support air-soft gun with sound synchronization

• Support TAMIYA and HL IR battle unit and format

• Support RealRecoil servo port

• Support Recoil Solenoid for 2nd Machine Gun( MG2 )

• G variant Support gun barrel stabilizer

• Safety shutoff prevents unwanted movement while signal lost

• Miniature design(60mm X 50mm X 20mm) for 1/25~1/16  R/C Tank

• V2 Smoker driver

• Adjustable Low Battery threshold

• Adjustable ESC start voltage

• Support multiple Type of Tank

• 支持空檔功能

• 使用10動 S.Bus 遙控系統, 以可變速的方式控制坦克的前進,後退,轉向,原地迴旋,超原地迴旋, 砲塔迴旋及砲身俯仰

• 三組超聲波電子變速器用於履帶及砲塔迴轉

• 超低阻抗FET用於履帶變速器

• 支持砲管穩定器( G2 版本 )

• 8位元,22KHz採樣率的高音質音效及5音軌數位式混音

• 最多五路音效. 主砲, 機槍, 砲塔迴轉, 砲管俯仰及引擎音效可以同時產生

• 7W 瓦特音效輸出功率, 推荐使用 4-Ohm 喇叭

• 0.8安培BEC, 可以直接供電給接收機

• 兩組電變伺服器模組用於砲管俯仰(EPM1)及砲管左右(EPM2) 

• 寬操作電壓,由7.2到12V,支持 3S鋰電(需修改部份配件阻抗, 如迴轉馬達)

• 支持air-soft gun並與砲擊聲同步

• 支持TAMIYA 紅外對戰器及規格

• 支持真實砲縮伺服機接口

• 內建自動斷電機制

• 內建斷訊安全機制

• 微形化設計(60mm X 50mm X 20mm)

• V2 版引擎發煙軟體

• 可調式低電壓保護起動電壓

• 可調式馬達啟動電壓

• 支持多種坦克類別

Terminology 專有名詞

Natural Gear disable track ESC during shift in state, see section 10-CH  S.Bus mode control scheme for details

空檔功能關閉履帶電子變速器當處於入檔狀態

Ultrasonic ESC is the ESC block which switch FET at ultrasonic speed, make motor rotation extreme  smooth and quite.

Adjustable ESC start voltage: offset can be added to ESC input vs. output curve to meet the characteristic   of motor

Carefree reversing: Unlike some other control board, there is no need for TK series board to delay before being commanded to reverse, can go from full forward immediately to full reverse or vice versa
 

EPM ( ESC/PWM module) is peripheral which can be switched to ESC or PWM mode, allows the user to drive brushed motor or servo motor, in ESC mode, ESC port is enabled, can be used to drive brushed motor, In PWM mode, PWM port is enabled to driver servo motor, sound effect stopped when servo motor reach end point, TK50 has 2 EPMs for gun elevation(EPM1) and turret rotation/gun traverses(EPM2),

RealRecoil allows you to recreate real gun barrel recoil movement with single & cheap servo motor

Recoil Solenoid allows you to recreate MG/Auto cannon barrel recoil movement with Solenoid

V2 Smoker driver smoker fan/compressor speed is proportional to engine RPM and Load

V2  Mixer turning is achieved by reducing track speed and also increase opposite track speed to achieve smoother turning.

Adjustable Low Battery threshold cut off ESC output when battery voltage is lower than threshold, and threshold can be adjusted according to type and cells

Momentum Effect to simulate inertia of tank hull movement

BEC stands for battery elimination circuit.This circuit powers the receiver thought channel cable, therefore no secondary battery source is required.

Type of Tank determines Battle Date when doing IR battle( See Variants section )

坦克類別決定紅外對戰數據

Note: HENG-LONG TANK doesn't have Damaged State and Badly Damaged State. speed reduction can be turned off by Speed reduction in damage state and Speed reduction in badly damaged state function.

註: 恆龍原廠坦克沒有受損及嚴重受損狀態, 本控制器的機動性能減損功能可以經由受損狀態速度及嚴重受損速度關閉

Note: Suggested Value, can be changed by Reload Time and Invulnerability time setting function

註: 建議值, 可以透過裝填時間及無損害時間設定修改

Product Identification System 產品識別系統

Variants 版本

※1 20A if to connect motor from on-board connector, 60A if hardwire motor to PCB pads

※2 TK50HS can be upgraded to TK50HESP/TK50HSP, please contact HAYA, Distributor or us for details.

Hardware Variants 硬體版本

Software Revisions 軟體版本

Boot loader Revisions 系統啟動加載器版本

Boot Loader is a application, executed in TK board, to handles sound pack update

系統啟動加載器版本是個應用程序, 用於處理音效更新

Accessories 零配件

Control scheme 控制圖說

10-CH  S.Bus mode

10通道 S.Bus 模式

Transmitter: Haya

發射機: Haya

RX: FS-iA10B

Receiver to TK50SH board connection

Motor cable connection and SERVO REVERSER settings example

MAXIMUM RATING

Pin Assignment Marking

Pin 1 of each connector is designated by square pad mark

Connector and pin assignments

※1 Head Light LED is also GBS LED during GBS calibration

※2 V2.1 and above software release

Upper Hull Functions (CN9) Mode Table

Upper Hull Functions (CN9) Mode	CN9.3	CN9.4	CN3.4	CN3.5
Airsoft	MG1 LED+ and Head Light LED+ and AIRSOFT Motor+	AIRSOFT Motor-	AirSoft/Recoil Switch	AirSoft/Recoil Switch
Tamiya Recoil	MG1 LED+ and Head Light LED+ and TAMIYA Recoil unit     green Wire	TAMIYA Recoil unit white Wire	TAMIYA Recoil Unit Switch	TAMIYA Recoil Unit Switch
MG1 Smoke /Recoil ※	MG1 LED+ and Head Light LED+ and MG Recoil Solenoid+ /Air Pump +	MG Recoil Solenoid- /Air Pump -	Not connected	Not connected
Cannon Smoke※	MG1 LED+ and Head Light LED+ and Air Pump +	Air Pump -	Not connected	Not connected

※ V2.2 software release and above

Slip ring connection guide

Shared power wire 

Dedicated wire

Installation Guide

Set Upper Hull Functions (CN9) Mode to match your tank hardware configuration (HL AirSoft, TAMIYA Recoil or MG recoil),

Disconnect RX-18 and plug cables to the same connector on TK board,

Set Sound Volume to middle

Install a switch cable (for example, HL Smoke Unit Switch Cable) to SW connector( Switch Cable Port)  as power switch.

Because HL tank already have power switch on battery cable path, so additional switch is not required, just to use a jumper to short pins in SW Cable port or connect a switch cable and keep it switched on.

When high current track motors are used, such as 400/480 motor, power switch on battery cable path will not be able to handle, connect a switch cable (for example, HL Smoke Unit Switch Cable) to this port as power switch.

Connect a recoil servo to J2(Optional),

Rewire Air-soft unit if you want to elevate and depress gun directly, see "HL Gun Elevation and AirSoft Correction" section

(Optional). wire a 2.2 ohm 1/2W (color code: red read gold gold) in-serial resistor to turret rotate, elevation and airsoft motor to limit the current to protect FETs in case motor stall  occured.

Connect channel cables to receiver according to RC mode( See picture "TK series connector and pin assignments" ) . if you are not sure what mode you RC system is, just swap CH2 and CH3 and try again.

TK40 board has BEC( Battery eliminate circuit), can power receiver through channel cables, no additional battery is needed for receiver

Set CH1, 2 and 3 trimmer on transmitter to center position, Set CH4 trimmer on transmitter to most left or right  position,

Connect power adaptor( See FAQ )

Switch on TK board and transmitter, you should hear turret traverse sound. if not, please contact us.

gently move CH4(Multi function control signal 2) trimmer to center till turret traverse is gone.

gently move CH2(Throttle ) trimmer up and down if you hear motor hum sound.

Cannon firing sound should be generated and recoil servo should moves when move CH3 stick to most top position, if not, gently move CH3(Multi function control signal 2 ) trimmer up and down till it work correctly.

You are all set

Disconnect power adaptor and connect battery( make sure that battery is fully charged).

Installation Video Guide on Internet:

https://www.youtube.com/watch?v=_eIRTIMyl2g

Flysky i6s transmitter setup

1.Turn on Transmitter i6s and enter setting function, go to system->output mode, than set Serial to S.BUS

2. Enter aux channel setup, set channel 5 to SwA, channel 6 to SwD, channel 7 to SwB, channel 8 to SwC, channel 9 to VrA and channel 10 to VrB

3. Go to system->stick mode, then set to M1 mode

4. Go to end points page, set end point to 100% for every channel.

Receiver and control board:

1. Plug connector with S.BUS label on it into S.BUS port on receiver.

Recoil unit installation

TAMIYA recoil unit

SETP1. Set  Upper Hull Functions (CN9) Mode to TAMIYA RECOIL MODE

STEP2. disconnect white and blue wire from recoil unit switch( see arrow in yellow), add cable connector to recoil switch( see arrow in red ), left green-white-blue cable not touched ( see arrow in green)

STEP3. green wire and white wire in green-white-blue cable goes to 3rd pin on CN9 and 4th pin on CN9(see arrow in green), black and red wire in red-black cable goes to 4th and 5th pin on CN3(see arrow in red).

Asiatam recoil unit

STEP1. Set Upper Hull Functions (CN9) Mode to Asiatam Recoil Mode

STEP2. Connect  Recoil motor + to 3rd pin on CN9.connect motor - to 4th  pin on CN9.

STEP2. Connect detection SW to 4th and 5th pin on CN3 or via  the plug (Yellow and brown wire) from  HL HIGH-TENSION FLASHER

Gun barrel stabilizer

Overview

- 2-axis gun stabilization in turret rotation and gun elevation.

- Fully programmable gun elevation real angle calculator allows GBS to work with different elevation setup,

- Fully programmable turret motor controller allows GBS to work with different motor/gear box setup,

- Engine deck detection, gun raise automatically when gun travels above engine deck,

- Auto reload position, Gun barrel goes to to reload position after fire, and return to last position when reload when reload time expired,

- Adjustable Engine deck level,

- Adjustable auto reload position,

- Gun barrel momentum effect,

- GBS unit dimensions: 20 x 16 x 3mm.

Servo for GBS

-Control System: +Pulse Width Control 1520usec Neutral
-Required Pulse: 3-5 Volt Peak to Peak Square Wave
-Operating Voltage: 4.8-6.0 Volts

-Operating Angle: 45 Deg. one side

Sensor calibration

A reset process to calibrate GBS sensor is performed by GBS module when Tk50 is turned on, tank must be kept stationary during reset process, this reset process can also be trigger any time by On-The-Fly GBS calibration command sent from transmitter.

Adjusting gun elevation angle - The gun elevation V gain setting is used to adjust the amount of gun elevation servo angle to meet different mechanical setup. adjusting procedures are

-First to put TK60G board in IR programming mode.

-Turn GBS on and moves the gun barrel to horizontal position.

-Tilt the tank for 15-20 degree.

-Use IR configure remote to adjust servo gain value until the gun is horizontal again.

-Power off TK60G board, remove jumper and turn power again to leave IR programming mode.

Adjusting gun elevation angle calculator gains - The angle calculator's fast gain and slow gain settings are used to adjust the angle calculation, adjusting procedures are

-First to put TK60G2 board in IR programming mode.

-Turn GBS  on and moves the gun barrel to horizontal position.

-Tilt the tank for 10-20 degree.

-Rotate turret in various speed ( from low to full speed), if elevation speed is too slow, increase slow gain a bit, otherwise, reduce slow gain,

-rotate turret to 12 o'clock position, tilt the tank hull about 15-20 degree in various speed, if elevation speed is too slow, can not keep up tank hull tilt speed, increase fast gain a bit, if elevation moves faster the hull tile speed and over the position it should be (overshoot), decrease fast gain a bit

-Power off TK60G2 board, remove jumper and turn power again to leave IR programming mode.

Adjusting turret rotation motor control gains -Turret rotation motor P , I  and D gain are used to meet the characteristic of turret rotate motor and design on your tank. adjusting procedures are as the following.

-First to put TK60G2 board in IR programming mode.

-Turn GSU on

-Rotate tank hull from stationary to low speed, if turret motor does not start as quick as tank hull rotation, increase I gain a bit, if turret motor runs too fast (overshoot) , decrease I gain a bit.

-Rotate tank hull in various speed( low, middle and full) , if turret rotation speed is too slow, can't keep up hull rotation, increase P gain, otherwise, reduce speed gain,

-Stop tank hull rotation from various speed, if turret stops too early, decrease D gain, if turret stops too late increase D gain.

Tank Personalization 坦克個人化設定

Hardware needed

Settings of TK series board can be changed by a IR configuration remote as IR command transmitter, and TAMIYA battle unit(TBU),  Heng-Leog battle unit(HBU), or our IR configuration line as IR command receiver.

TK50HS控制器上的設定可以通過紅外線遙控器及使用田宮對戰器或紅外設定接收線當做紅外接受器加以設定

紅外設定接收線

Steps to change settings 改變設定步驟

STEP 1: Turn power off, Turn power off, Turn power off,

步驟1: 關閉控制器電源

STEP 2: Plug programming line/TBU through TBU/HBU base into CN2 Infrared Port ,

步驟2: 接上紅外設定接收線/田宮對戰器到CN2接口

STEP 3: Install a jumper to J2 as shown below, Turn power on,

步驟3: 將跳接器插上J2,打開電源

STEP 4:Refer to function table listed below, point IR configuration remote to TBU/HBU/Programming line receiver, and press the button of setting that you want to change,  "*" sign in function table means the default setting that is programmed in factory

步驟4: 參照下面的功能表格, 將紅外發射器對準紅外設定接收線/田宮對戰器, 按下想要改變設定的按鈕. 功能表格上有"*"號的設定值表示是出廠設定

STEP 5: Indicator on TBU/HBU flashes according to new setting value.

步驟5: 在紅外設定接收線/田宮對戰器上的指示燈會以閃爍表示新的設定值

STEP 6: turn power off, remove jumper on J2, then turn power on and TK board runs with new settings.

步驟6: 關掉電源, 取下跳線器,再打開電源, 控制器就會在新的設定值下運作  

Available Settings 可用的設定

All Available settings are separated in 4 function pages, have to set to right page before changing specific setting by using Function page selection

IR configuration key	Function page 1	Function page 2	Function page 3	Function page 4
0	Primary weapon IR code	Low Battery threshold
1	Save current setting to PRESET 1	Gun elevation EPM (EPM1) Mode
2	Save current setting to PRESET 2	Gun elevation servo( PWM1) Direction
3	Speed reduction in damaged state	Turret rotation/gun traverse EPM(EPM2) Mode	Ultrasonic ESC start voltage increase
4	Primary weapon reload time	Turret rotation servo (PWM2) Direction		Cannon Bore evacuator effect duration
5	Max hit can take
6	Sending IR code when firing machine gun		Ultrasonic ESC start voltage  decrease
7	Invulnerability time			Cannon smoke duration
8	Rounds of Primary weapon
9	Armor type
ENTER	Use saved settings
PROGR + /CH UP	Strength of taking a hit hull recoil	Ultrasonic ESC1 (CN6) input select
PROGR - /CH Down	RealRecoil servo direction
Volume +	Strength of firing tank gun hull recoil
Volume -	Receive HL IR Code
Mute	Mixer mode	Use saved settings(2)
Power	Upper Hull Functions (CN9) Mode	Firing tank gun hull recoil On/Off (2)		Cannon Bore evacuator effect Enable
MTS or A/B	IR Battle Preset Data
-/--	Function Page Selection	Function Page Selection	Function Page Selection	Function Page Selection
TV/VIDEO ->[]	Receive TAMIYA IR Code
SOUND MODE	Use saved settings	Engine Sound Throttle input select
SURROUND	Firing tank gun hull recoil On/Off
SLEEP	Momentum effect On/Off	Taking a hit hull recoil On/Off(2)
DCM-RF
DISPLAY [?]	Speed reduction in badly damaged state	Software version / Software version major number	Ultrasonic ESC start voltage reset to zero
JUMP	Taking a hit hull recoil On/Off (1)
Timer Off	Reload Sound On/Off	Software version minor number
Teletext

Function page selection: Press "-/--" Key on IR Configuration Remote to select.

*Text in black means that setting function is on page1.

Function page 1

Save current setting to PRESET 1: Press number key "1" on IR Configuration Remote to save,

將目前設置儲存到預設值1: 按紅外發射器上數字健"1"

Save current setting to PRESET 2: Press number key "2" on IR Configuration Remote to save,

將目前設置儲存到預設值2: 按紅外發射器上數字健"2"

*Once you've adjusted everything, you can push "1" or "2" to save current setting to PRESET 1 or 2. If you don't do this saving the board remembers the last settings.

Use saved settings: Press "ENT" or "SOUND MODE" Key on IR Configuration Remote to select.

載入預設值: 按紅外發射器上"ENT"或""SOUND MODE"

*To switch between the presets you press either "sound mode" or "enter" button, once the preset is selected, switch tank off and remove setup jumper. Switch back on and away you go.

*載入預設值後需重新開關電源使控制器運行在新的設定值下

Mixer Mode: Press  (MUTE) key on IR Configuration Remote to select( TK50HS, TK50HSP ).