Setup Guide SK 720 Flybarless System SK-PB1, SK-PB2 Power Bus

Rev. 3.10 February 2012 2012 Skookum Robotics

Table of Contents
Safety Warnings ............................................................................................................................................. 3 Getting Started............................................................................................................................................... 4 Modes & LED Indicator States ................................................................................................................... 5 Installing the SK 720s Software................................................................................................................. 4 Connecting the SK 720 ................................................................................................................................... 8 Connecting Using a 3-Point Swashplate .................................................................................................... 9 Connecting Using a 4-Point Swashplate .................................................................................................. 10 Mounting the SK 720 ..................................................................................................................................... 6 Connecting and Mounting the Power Bus................................................................................................... 12 Proper Servo Alignment............................................................................................................................... 17 Checking Pitch and Phasing ......................................................................................................................... 20 Setting Collective Pitch ............................................................................................................................ 20 Setting Cyclic Pitch ................................................................................................................................... 23

2012 Skookum Robotics, Ltd

So youve decided to go ahead and buy a Skookum Robotics SK 720 Flybarless System congrats! The SK 720 is a high performance flybarless controller, providing both flight control and optional self-levelling for electric and nitro RC helicopters. Aside from superior flybarless control, the SK 720 also features a user interface to help in setting up and tuning the unit, and Setup Wizards to walk you through the setup steps within the interface. The SK 720s box contains: 1 SK 720 1 SK PL1 Anti-Vibration Kit

1 USB Cable

1 Decal Sheet

2012 Skookum Robotics, Ltd

Safety Warnings
RC helicopters are not toys and have the potential to cause serious personal injury and propter damage. Use of this gyro places a flight control computer (the SK 720) between the radio receiver and the servos that position the helicopters controls. Loss of control of the helicopter may result if the SK 720 is mistuned or set up incorrectly. WARNING: Stand clear! Always test fly in an area away from spectators and keep yourself at a safe distance when flying the helicopter, especially after any change in the gyros setup or tuning. DO NOT stand closer than 10m (30 feet) from the helicopter during test hovers or any other flying. Keep bystanders clear of the flight area at all times. WARNING: Always safe the motor before you use the PC setup software or SK LCD terminal to set up or tune your SK 720. Basic safety practice is to kill the engine on a nitro RC helicopter, or disconnect the motor or main battery on an electric RC helicopter, whenever the heli is behind the flight line, or is being adjusted in any way.

2012 Skookum Robotics, Ltd

Getting Started
Installing the SK 720s Software
To install the SK 720 software to your computer, connect the SK 720 to your PC using the included USB cable. The SK 720 will be recognized as a mass storage device open it and find the file named SK720_setup.exe. Open this file and follow the instructions on the installation wizard. Once this is installed, youre ready to begin the Setup Wizards and the setup of your SK 720.

If the SK 720s software cannot open, make sure you are running the latest version of Windows .NET Runtime. See Microsofts website for the most recent edition. You can find the most up to date version of the SK-720s software on the Updates page of our website.

2012 Skookum Robotics, Ltd

Modes & LED Indicator States

The SK 720s LED indicates the gyros current function. The table below outlines the LEDs patterns for each function: LED State Slow Green Fast Green Solid Red Solid Green Green, with Red Flicker Flashing Red Alternating Red / Green Meaning Setup Mode USB File Transfer Flight Mode Initializing Flight Mode Ready to Fly Flight Mode High Vibration Warning Error State Firmware Updating Do Not Disturb

The SK 720 switches to Setup Mode when it is connected to a PC via the USB cable or to the LCD terminal. In this mode the SK 720 provides control mixing, but no stabilizing action this allows you to complete mechanical setup and servo trimming. When initializing, the SK 720 needs to be completely still for several seconds. The SK 720 will fly without being properly initialized, but it will not be in trim make sure you have a solid green LED before flying! The most common causes for the flashing red error state are: The cyclic stick wasnt centred during gyro initialization in flight mode Your helicopter has onboard electrical system voltage problems. The SK 720 is too hot or too cold The Micro SD card failed to initialize In most cases resetting the SK 720 will clear the error state. NOTE: The green with red flicker vibration warning indicates that vibrations are too high for self level to function. However, the SK 720s primary flight control is not affected by high vibrations. Only self-level shuts down during instances of high vibration.

2012 Skookum Robotics, Ltd

Below is the SK 720s software interface, designed and developed for the setup and tuning of your SK 720. The SK 720s Setup Wizards provide step by step instructions on using the interface and setting up your helicopter. They must be completed before flying your helicopter.
Figure 1 - The SK 720s Software Interface

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Following the Setup Wizards ensures proper setup of the SK 720 and your helicopter. You must complete all 4 of the Setup Wizards before spooling up your heli. If youre unsure about how to proceed in any of the setup wizards, video walkthroughs of the wizards (and more!) are available on our YouTube channel at: http://www.youtube.com/user/SkookumRobotics. More information and troubleshooting tips are available at www.skookumrobotics.com/wiki, and you can reach the Skookum Robotics team by emailing us at info@skookumrobotics.com.
Figure 2 The SK 720s Setup Wizards

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Connecting the SK 720

Your helicopters servos get connected midway through the Initial Setup Wizard. DO NOT connect them until you reach that step in the Wizard. Cables are connected to the SK 720 with the signal wire on the top (closest to the SK 720 label), positive in the middle and ground on the bottom. On electric helis, the SK 720 is powered via the ESC. Nitro helis require the SK 720 to be powered by a battery or BEC connected to any open port on the SK 720. The SK 720s servo bus has 10 ports on the side of the unit. The table below outlines the abbreviations and names for each port. Port EX-LED IO-D/E IO-C IO-B IO-A(T) SW-A SW-L SW-R SW-C Tail Full Name External LED Input/Output D/E Input/Output C Input/Output B Input/Output A /Throttle Swash - Aft Swash - Left Swash - Right Swash - Centre Tail

2012 Skookum Robotics, Ltd

Connecting Using a 3-Point Swashplate

The diagrams below outline the servo connections to the SK 720 using 3- and 4-point swashplates. When using a three point swashplate, you can mount the centre servo in front or behind the left and right servos
Figure 3 - Connecting the SK 720 to a 3-point swashplate, with the centre servo mounted aft

2012 Skookum Robotics, Ltd

Connecting Using a 4-Point Swashplate

When using a four point swashplate, the centre servo gets mounted at the front of the heli, and the aft servo is mounted at the back.
Figure 4 - Connecting the SK 720 to a 4-point swashplate

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Your SK 720 can be used with Spektrum, JR, Futaba SBUS and traditional receivers. Satellite receivers are connected to the SAT RX ports at the side of the SK 720.
Figure 5 - Connecting the SK 720 to two satellite receivers

Using two Sat RXs is not necessary, though we recommend using a second satellite for larger helicopters. If you use a second Sat RX, make sure that the antennae point in different directions to the other RX to improve signal diversity.

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Spektrum/JR Sats are the default setting for receivers in the SK 720s interface. Newer Spektrum TXs (DX7se and newer) use 2048 resolution, older (DX-7, DX-6 and older) use 1024.
Figure 6 - Spektrum/JR Sats can be set to 2048 or 1024 resolution

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SBUS receivers are also connected to the SK 720 via the SAT RX port at the side of the unit using the SK-SB1 SBUS adapter. If you are running servos directly from your SBUS receiver, run a power-only jumper cable (red and black wires only) to your receiver along with the SBUS adapter. Power can be provided from an open port on the SK 720 or a BEC. This will provide enough power for the receiver and servos.
Figure 7 - Connecting the SK 720 to an SBUS receiver

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By default, the receiver in the SK 720s software is set to Spektrum/JR - make sure to specify Futaba SBUS in the Control Tab of the SK 720s software. Figure 8 (below) demonstrates.
Figure 8 - Setting the receiver type to Futaba SBUS

2012 Skookum Robotics, Ltd

PPM Receivers are connected to the SK 720 via the IO/B port. If you are using a PPM Receiver, make sure to specify that type of RX in the SK 720 software.
Figure 9 - Connecting a PPM RX to the SK 720

2012 Skookum Robotics, Ltd

By default, the receiver in the SK 720s software is set to Spektrum/JR - make sure to specify PPM Receivers in the Control Tab of the SK 720s software. Figure 10 (below) demonstrates.
Figure 10 - Setting the receiver type to PPM

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Traditional receivers are connected to the EX-LED and I/O ports using two jumper cables and the SK-CBL Traditional RX cable kit. Note that the ESC or throttle servo is connected directly to the RX rather than the IO A/T port.
Figure 11 - Connecting the SK 720 to a traditional receiver

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The diagram below displays the pin placement of the SK-CBL on the SK-720. RPM sensors are connected to the IO-C port regardless of the SK 720s setup. As a result, RPM sensors cannot be used along with a Traditional RX setup.
Figure 12 - SK-CBL placement on the SK 720

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Be sure to specify Traditional Receiver in the SK 720s software when using a traditional receiver.
Figure 13 Setting the receiver type to Traditional Receiver

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Mounting the SK 720

You can mount the SK 720 in a variety of orientations. There are only two requirements for mounting the SK 720: 1. The units label must face up or down 2. The unit must be mounted with its edges square to the helicopters frame. Below is a diagram outlining the possible orientations of the SK 720.
Figure 14 - Possible mounting orientations of the SK 720

The SK-720 must be mounted in any of the orientations shown above. Mounting in any other orientation will cause an immediate tipover if you try to fly your heli.

2012 Skookum Robotics, Ltd

The alignment of your SK 720 is very important. If your SK 720 is even a few degrees out of alignment problems can occur with tuning the unit. A few degrees of misalignment are measured as a difference of over 2mm or 1/16 between the two ends of the unit compared to the helicopters frame. Handling and control issues are often the result of improper alignment, so make sure that all the SK 720s edges are 90 to the helicopters frame. Proper alignment is shown below.
Figure 15 - Proper alignment of the SK 720

2012 Skookum Robotics, Ltd

The SK 720 can also be mounted in a variety of different locations on your helicopter. Ideally the SK 720 is mounted at or near the helis centre of gravity for the lowest possible vibrations and best performance. However, you can mount your SK 720 away from the centre of gravity as long as the orientation requirements are met.
Figure 16 - Mounting the SK 720 away from the helicopter's centre of gravity.

For normal flight, the SK 720 is not sensitive to vibrations. However, the high vibrations that can occur in the course of a helis flight can negatively affect the Self Levelling and logging features. To minimize the vibrations transferred to the SK 720, use the antivibration kit included with your SK 720.

2012 Skookum Robotics, Ltd

Figure 17 - The SK 720 mounted to the SK-PL1 Anti-Vibration Kit

The vibration kit uses the thin foam between the metal plate and the SK 720, and the thick foam in between the metal plate and your helicopter. Cutting the thick foam pad in half like the image above gives the best results. In the case of excessively high vibrations, two metal plates glued together will provide a greater buffer between the SK 720 and your helicopter. To correctly bond two plates together, slightly scuff the plates and use CA glue.
Figure 18 - The SK 720 and SK PL1 using two metal plates

2012 Skookum Robotics, Ltd

The SK 720 should never come into contact with the helicopters frame this will transfer vibrations from the helicopter directly to the SK 720. The SK 720 can be loosely tied down with a Velcro (or similar) strap. Tightly strapping the SK 720 will, however, transfer the vibrations from the helicopter to the SK 720.
Figure 19 - Incorrect mounting of the SK 720, with the unit directly contacting the helicopter's frame

Figure 20 - Correct mounting of the SK-720, using the included anti-vibration kit

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The last inch (2.5cm) of wires leading into the SK 720 should not be tied tightly. This will also lead to excessive vibrations.
Figure 21 Tightly bound (incorrect) cables leading to the SK-720

Figure 22 - Loose (correct) cables leading to the SK-720

If youre running the SK 720 on a helicopter with a rotor diameter over 1100mm (i.e. a 550) or any nitro heli, you should use the SK 720 in conjunction with the Power Bus. The power bus will isolate the SK 720 from the vibrations carried by heavier wiring in large and nitro helis, and is designed to handle the high levels of electrical current from the high voltage servos typically used in larger helis.

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Connecting and Mounting the Power Bus

The Power Bus connects straight to a 2 cell (7.4V) battery or BEC, and is designed to handle 20 Amps of continuous current. It can run high voltage, low voltage, and a combination of high and low voltage servos from a single power supply. The Power Bus is also handy for cleaning up the cables connecting to the SK 720 and reducing vibrations that can result from having cables tightly connected to the SK 720. When running high voltage servos only, you need to bridge the PWR-LV and HV ports with the included jumper cable. The low voltage rail is only powered when connected to the HV rail via jumper or BEC.
Figure 23 - Power Bus and SK 720 with high voltage servos

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The cables connecting BUS-B and BUS-C to the SK 720 are connected across the top row of pins, as shown below.
Figure 24 - Pin connections between the SK 720 and Power Bus

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If you are using a combination of high and low voltage servos, connect the low voltage servos to the LV rail and bridge the LV and HV rails using a BEC. Be sure to set your BECs output to your servos specified voltage.
Figure 25 - Connecting both high and low voltage servos to the Power Bus

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Receivers use the same connections to the SK 720 whether you use the Power Bus or not. However, using traditional or PPM receivers limits the number of output channels available on the SK 720. PPM receivers can be connected to the IO-B port on the Power Bus, or, if you dont need the aux. (IO) ports, to IO-B on the SK 720. However, BUS-C cannot be used when connecting a PPM receiver directly to the SK 720. Since traditional receivers use the EX-LED port and all of the IO- ports, the aux. ports on the Power Bus are not available. RPM sensors are also not available when using a traditional receiver, as the IO-C port normally reserved for an RPM sensor is used for the receivers rudder input.
Figure 26 - Connecting the SK 720 and Power Bus to a traditional receiver

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The IO-C port on the SK 720 is reserved for RPM sensors in all connection options, except when using a traditional receiver. When using the Power Bus, IO-C is left open on the SK 720 for the use of an RPM sensor.
Figure 27 - Connecting an RPM sensor to the SK 720

The SK 720 is compatible with all phase and crankcase sensors as of the release of this manual, including Hyperion and Eagle Tree sensors. However, if you use an Eagle Tree sensor you must swap the red and black wires. Most sensors will be damaged by voltage higher than 5.5V. If you are using HV servos on your heli, the SK 720 will output the higher voltage to the RPM sensor. Using a step-down to the sensor will be necessary if you use HV servos.

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Proper Servo Alignment

The alignment of your servos is key to the proper handling of your heli with the SK 720. However, this is a simple as setting your servo trims within the SK 720s software. With both sticks set to their centres, adjust the servo trims so your servos are as close as possible to 90 to their linkages, as shown below.
Figure 28 - Servos trimmed 90 to linkages.

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Make sure to adjust the trims for the swashplate servos and the tail servo. Your swashplate servo trims are adjusted in the Swash Servos tab in the SK 720s interface.
Figure 29 - Trimming the swashplate servos in the SK 720's software.

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The tail servo is trimmed in the Tail Servo tab. The tail servo can be trimmed by adjusting the value in the box itself, or using the Setup Servo with Rudder Stick button.
Figure 30 - Trimming the tail servo in the SK 720s software.

Once youve set the servo trims in the SK 720s software, mechanically adjust the swashplate linkages to level the swashplate, and the tail linkage to give 0 of tail pitch at centre stick.

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Checking Pitch and Phasing

If your SK 720 equipped heli seems like its not handling properly, its important to check the mechanical condition of your heli as well as the SK 720. Issues with blade pitch, phasing, and tracking can often lead to handling issues but often are relatively easy to fix. There are a few factors to consider when checking and tuning your blade pitch and phasing: Whether your blades are centred at 0 collective pitch Your minimum and maximum collective pitch Your cyclic pitch Proper blade phasing Blade tracking

Setting Collective Pitch

To check if your blades are centred, set your collective stick to 0% and mechanically adjust each blade using a pitch gauge until it reads 0.
Figure 31 - Checking for zero pitch.

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To set your minimum and maximum collective pitch, measure the pitch values with the collective stick at 0 and 100. Adjust the collective pitch range in the SK 720s software until you reach your desired collective pitch.

Figure 32 - Measuring minimum collective pitch, with the collective stick at 0.

Figure 33 - Measuring maximum collective pitch, with the collective stick at 100.

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Typically +/- 12 degrees of collective pitch is normal, but you can set your collective pitch according to your own preference. You can adjust the collective pitch range using the Collective Pitch mixing field in the Swashplate tab, as shown below.
Figure 34 - Adjusting the collective pitch in the SK 720's software.

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Setting Cyclic Pitch

The first step of setting the cyclic pitch is to hold one of your main blades over the tail boom, shown in the photo below.
Figure 35 - Aligning a blade over the tail boom.

Next, hold your blades at max cyclic pitch using either the Swash and Cyclic Setup Wizard or the Hold Maximum Cyclic option in the Utility menu. Using the pitch gauge, measure the maximum cyclic pitch. Adjust the Elevator and Aileron mixing fields until you reach 10 of cyclic pitch.
Figure 36 - Adjusting the cyclic pitch range in the SK 720's software.

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Checking your blade phasing, youll again hold one blade over the boom. With your servos powered and your transmitter on, the blade shouldnt move at all when you give elevator inputs. Correct the phasing by making sure that the swashplate linkages are parallel to your helis drive shaft when looking straight down on top of the rotorhead. If your heli has a multi-bladed scale head, you can adjust the phasing using the Phase Trim settings in the Swashplate tab.
Figure 37 - Adjusting phase trim in the SK 720's software.

To adjust the tracking on your main rotor, measure the pitch on each blade with the collective stick at zero. Pick one blade as your master blade, and adjust the other blade or blades to the same pitch as the master.

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Final Checks: Observe these precautions before every flight

1) 2) 3) 4) 5) 6) 7) Check to ensure that the Indicator LED is solid green (not flashing). Check that positive collective increases blade pitch. Check that right aileron stick tilts the swash for a right roll. Check that nose-up elevator stick tilts the swash for nose-up. Pick up the helicopter, and tilt it nose down and to the right. The swashplate should tilt back and left. Rotate the helis nose to the right 90 degrees. The tail blades should move to counter-act the motion. Always takeoff, land and fly at a safe distance from yourself and bystanders.

WARNING: Remember to return your throttle stick to the idle position before releasing throttle hold. NOTE: In flight mode, the swashplate will tilt slightly forward at full positive collective to compensate for tail-drag. Likewise, it will tilt slightly back at full negative collective.

Flight with the SK 720

In flight mode, the swashplate will not respond to the controls directly. Its action will be similar to a heading-hold tail gyro. After it has been static for a few seconds, it will level the swash during spool up to ensure a stable take off. For most helis, we recommend that you start with 50% cyclic gain, and 50% tail gain. For small helis, you may want to start with 40% cyclic gain, and 30% tail gain. Don't move the cyclic stick until the heli is light on its skids to prevent confusing the gyro before the helicopter can respond to the gyros control inputs. Lift the helicopter off into a hover and try some small elevator and aileron inputs. If the helicopter doesnt hold well in pitch or roll or slides to the side, turn the Cyclic gain up a small amount. If the helicopter wobbles while hovering, turn the Cyclic gain down. If the cyclic control is too slow for you, increase the control rates for cyclic, and if its too fast, lower the control rates.

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Then try some sharp rudder inputs. Incrementally adjust the tail gain to the maximum value possible that doesnt result in any oscillation during hover or after sharp stick motions. When you land your helicopter, always wait at least 5 seconds after the rotor stops before spooling up again. This lets the gyro save any changes to self-tuning, and detect that the helicopter is spooling up for another take off.

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Self Levelling with the SK 720

Your SK 720 features a self-levelling function with four different modes: Always On, Centre Stick, Always On & Inverted, and Centre Stick & Inverted. Always On: This mode will constantly try to level your heli, making it fly like a coaxial helicopter. 3D and other acrobatic manoeuvres are essentially impossible in this mode. Centre Stick: Your heli will fly normally in this mode until you let go of the Cyclic control stick, at which point your heli will self-level. This mode allows a full range of manoeuvres. The Centre Stick setting is commonly used as a bailout or rescue function. Always On & Inverted: This mode will constantly try to level your heli, both upright and inverted. It will try to level your heli upright until it reaches 60of inverted at this point it will try to level your heli upside down. Centre Stick & Inverted: This mode will allow you to fly normally, upright and inverted, until you centre the Cyclic stick. Like the Always On & Inverted mode, it will level your heli upside down once it reaches 60 of inverted. The percentage you set your Self Levelling to will set how fast your heli returns to level. For example, setting your self level to 80% and control rates to 300 deg/s will level the heli at 240 deg/s. When using self levelling as a bailout feature, you should set your self levelling percentage between 80-100%. You can set two banks of self-level settings (one on each cyclic bank). By setting one bank with self leveling off and another to Always On, and flying on the off bank, switching to the Always On bank will act as a bailout function.

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Warranty and Technical Support

Warranty and Repair: Skookum Robotics Ltd warrants this product against any defects in materials or workmanship for a period of 90 days from the purchase date. This warranty is limited to the original purchaser. In the event of a malfunction, Skookum Robotics will repair or replace the product to meet its standard operating condition. This warranty does not apply in cases where the product has been overheated, electrically shorted, subject to crash damage, otherwise abused, or had unauthorized repair attempts. UNDER NO CIRCUMSTANCES DOES SKOOKUM ROBOTICS ACCEPT LIABILITY FOR INCIDENTAL DAMAGE OR INJURIES RESULTING FROM THE OPERATION OF THE SK 720 OR OTHER PRODUCTS. Skookum Robotics will provide customers with technical assistance by email free of charge. If a gyros serviceability is in question following a crash, we will check it over for only the cost of postage. If the unit has malfunctioned and the 90-day warranty period has expired, we will attempt repair, and discuss the cost of possible repairs with the owner, again for only the cost of postage. If you wish to return the gyro unit or related product, please write WARRANTY RETURN clearly on the shipping box, and mail it to the address given below. Manufactured in Canada by Skookum Robotics, Ltd

Email: Website: Return Mail:

info@skookumrobotics.com www.skookumrobotics.com PO Box 46912 Stn D Vancouver, BC V6J 5M4 Canada

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