Manual

Mode 4: Input Calibrate Mode
Input Calibrate mode is not technically a tune. Instead, it is used to calibrate the input signals.
This is used in R/C and analog mode. Before entering input calibrate mode, make sure your input signals
are connected, your transmitter is powered on if using radio control, and the inputs at their desired
neutral position. Once in the tune mode, move each input slowly all the way to one side, and then to the
other. Return the inputs to the desired center. The motors will not move. The signal range the kangaroo
has been sent during this Calibrate Mode setup will be recorded as the full scale signal range, and the
positions the inputs are in at the end of setup are recorded as the neutral value. To save the input, click
and release the autotune button again. Please note that you must calibrate both channels if you are
using both channels. Although calibrate mode is not a tune, you must power cycle the system to use the
new calibration.
The autotune cycle:
During the autotune cycle, the kangaroo measures various system parameters to calculate the
control settings. The cycle happens automatically. The system will move itself within the range selected
during setup. Depending on the system it may move rapidly. Ensure that the system will not cause
damage or injury during the tune cycle. Also be sure it is well mounted before starting the tune.
The tune cycle consists of a series of oscillations and linear moves between various points within the
defined range at different speeds and motor powers. If two channels are used, the motion will alternate
between the two channels.
When the tune cycle has finished successfully, the motors will stop and the LED will turn on solid. If the
LED is instead blinking, it means that the tune was not successful. The number of blinks corresponds to
the error number that caused the tune to fail.
Tuning error number (blinks)
Error description
1
Wiring error. Check your connections and make sure everything is
connected correctly.
2
System Range. The system can’t tune in the range provided or reached
one of the limits. Make sure you started the tune in the center of
motion.
3
Control Error. The system either lost control, failed to move or can’t
stop.
4
Wrong Mode. Some combination of inputs and settings are invalid. For
example, mixed mode with limit switches is an invalid combination and
will return this error.
5
Tune Aborted. You have stopped the tune in the center.
6
Limit Switch. You either hit a limit switch during the tune or have
started the tune with a limit switch depressed.
7
Index error. Either the system failed to see an index pulse it expected,
or saw one in the wrong position. Index pulses should be normally low.