GREMSY H16 USER MANUAL

Ver 1.6
INTRODUCTION
GREMSY H16, a 3-axis gimbal is the lightest and most pow-
erful gimbal in its class for both handheld and aerial applica-
tions. Thanks to ultra high resolution encoders with up to 0.005
degree resolution and advanced motor control in combination
with an ultra accurate IMU sensor, the GREMSY H16 produces
amazingly smooth footage bringing a new level of stability to
even the most demanding situations. Designed to be as light as
possible, the GREMSY H16 can support a wide range of profes-
sional cameras and accessories with a combined weight of up
to 16lbs.
CONTENTS
01. GETTING STARTED 03. SOFTWARE-TUNING 06. UPGRADING FIRMWARE
• GREMSY H16 components 1 • Stiffness tuning 17 29
• Charging the battery 2 • Auto tuning 18
• Installing the battery 3 • Expert/advanced settings 19
• Attentions before starting 3 • Follow mode settings 21 07. TROUBLESHOOTING
• Battery handling 4 • Rotation limit 22 30
• Using the built-in stand 5 • IMU sensor 23
• Mounting the camera 5 08. SPECIFICATIONS
• Powering up the H16 6 31
• Status LED indicator 7 04. REMOTE CONTROL
• Operation mode 8 • SBUS/PPM settings 24
• Installing software / app 10 • JR/SPEKTRUM settings 26
• Using USB/WIFI connection 11 • JOYSTICK settings 27

02. BALANCING 05. WORKING OPERATION

• Tilt axis front-back balance 13 • Normal operation 28
• Tilt axis vertical balance 14 • Inverted operation 28
• Roll axis balance 15 • Suitcase operation 28
• Pan axis balance 16
GETTING STARTED 01

GREMSY H16 COMPONENTS

01. Top handle

02. Quick release adapter
03. Pan motor
04. Pan axis adjustment
05. Battery
06. Side handles
07. Tilt motor
08. Camera tray / slider
09. Roll axis adjustment
10. Tilt axis front to back adjustment
11. Tilt axis vertical adjustment
12. Top bar adjustment
13. Top bar tray/ slider
14. Roll motor
15. Roll axis extended adjustment
GETTING STARTED 02

CHARGING THE BATTERY

Follow these steps:

01 02 03 04 05 06 07 08 09 02

01. Connect the AC power cord to the charger.

02. Connect the AC power cord to the wall socket. All LEDs will light for 1
second and the charge status LED will flash green, which indicates 01
the charger is ready to charge.

03. Choose Li-ion battery and select the recommended charging current of 2A. “3400 mAh”
06
04. Connect the battery main charge lead to the charger lead input on the
front of the charger. Make sure the red plug connects to the red socket and 03
the black plug connects to the black socket of the charger.
“4S”
05. Connect the 4S 3400mah gPower battery to the charge lead. Make sure “Li-ion” “2A” 05
the red positive (+) and black negative (-) terminal connect to correspond-
ing colored terminal on the charger.
04
06. Connect the battery balance lead to the “4S” balance socket on the
side of the charger. The charger will automatically start charging.

07. The cell 1-4 LED’s will glow continuously indicating a 4 cell battery pack
is being charged. The charge status LED and the cell status LED will light
Battery Specification Charger Specification
solid red.
Battery Type: Lithium Ion AC Input Voltage: 100-240V, 50-60HZ
Capacity: 3400 mAh Output Power: 20W
08. The charge status LED will glow solid green when the battery is fully Voltage: 14.8v Charging Current (Selected by Switch): 1A, 2A, 3A
charged. Max Continuous Discharge: 2C (6.2A) Current Drain for Balancing: 200mA
Max Charge Voltage: 4.2V per cell Dimensions: 135mm (L) x 35mm (W) x 20mm (H)

09. Unplug the battery from the balance port and charge lead. The battery is
Minimum Discharge Voltage: 3.0V per cell
Dimensions: 135mm (L) x 35mm (W) x
Weight (Without Cable): 176g
4 LEDs for Balancing Indicator
now ready for use. 20mm (H) 1 LED for Charging Status
Weight: 192.5g
GETTING STARTED 03

INSTALLING THE BATTERY

“OFF”

Slightly put one side of the battery to the battery compar- Make sure the power switch is set to the “OFF” postition.
ment then insert the other side. Then connect the battery lead to the power input connecter
of the H16.

NOTE: The battery and input connecter are keyed. Do not

force the battery and input connector together.

ATTENTION BEFORE STARTING

• Do not attemp to calibrate the accelerometer unless it is requested by a Gremsy technician.
• Do not perform 360 degree rotations on TILT or ROLL axis otherwises cables will get twisted and broken.
GETTING STARTED 04

BATTERY HANDLING
01. WHEN USING THE BATTERY • When the battery is worn out, insulate the terminals with adhesive tape or similar materials before
disposal.
Misusing the battery may cause the battery to get hot, explode, or ignite and cause serious injury.
Be sure to follow the rules listed below while charging the battery. Failure to do so may cause the
Be sure to follow the safety rules listed below:
battery to become hot, explode, or ignite and cause serious injury.
• Do not place the battery in fire or heat the battery.
• When charging the battery, either use a specified battery charger or otherwise ensure that the
• Do not install the battery backwards so that the polarity is reversed.
battery charging conditions are met.
• Do not connect the positive terminal and the negative terminal of the battery to each other with
• Do not attach the batteries to a power supply plug or directly to a car’s cigarette lighter.
any metal object (such as wire).
• Do not place the batteries in or near fire, or into direct sunlight. When the battery becomes hot, the
• Do not carry or store the batteries together with necklaces, hairpins, or other metal objects.
built-in safety equipment is activated,preventing the battery from charging further, and heating the
• Do not penetrate the battery with nails, strike the battery with a hammer, step on the battery, or
battery can destroy the safety equipment and can cause additional heating, breaking, or ignition of
otherwise
the battery.
subject it to strong impacts or shocks.
• Do not continue charging the battery if it does not recharge within the specified charging time.
• Do not solder directly onto the battery.
Doing so may cause the battery to become hot, explode, or ignite.
• Do not expose the battery to water or salt water, or allow the battery to get wet.
• Do not disassemble or modify the battery. The battery contains safety and protection devices
which, if damaged, may cause the battery to generate heat, explode or ignite.
• Do not place the battery on or near fires, stoves, or other high-temperature locations. Do not
02. WHEN CHARGING
The temperature range over which the battery can be charged is10°C to 45°C. Charging the battery
place the battery in direct sunshine, or use or store the battery inside cars in hot weather. Doing so
at temperatures outside of this range may cause the battery to become hot or to break. Charging the
may cause the battery to generate heat, explode, or ignite. Using the battery in this manner may also
battery outside of this temperature range may also harm the performance of the battery or reduce
result in a loss of performance and a shortened life expectancy.
the battery’slife expectancy.
• Do not insert the battery into equipment designed to be hermetically sealed. In some cases hydro-
For optimal performance and extended life, do not allow your battery voltage to drop below 3.3V per
gen or oxygen may be discharged from the cell which may result in rupture, fire or explosion.
cell, or 13.2v total.

Immediately discontinue use of the battery if, while using, charging, or storing the battery, the
battery emits an unusual smell, feels hot, changes color, changes shape, or appears abnormal in any 03. WHEN DISCHARGING THE BATTERY
other way. Do not discharge the battery using any device except for the specified device. When the battery is
• Do not place the batteries in microwave ovens, high-pressure containers, or on induction cook- used in devices aside from the specified device it may damage the performance of the battery or
ware. reduce its life expectancy, and if the device causes an abnormal current to flow, it may cause the
• In the event that the battery leaks and the fluid gets into one’s eye, do not rub the eye. Rinse well battery to become hot, explode, or ignite and cause serious injury.
with water The temperature range over which the battery can be discharged is -10°C to 60°C. Use of the battery
and immediately seek medical care. If left untreated the battery fluid could cause damage to the eye. outside of this temperature range may damage the performance of the battery or may reduce its life
If the device is to be used by small children, the caregiver should explain the contents of the user’s expectancy.
manual to the children. The caregiver should provide adequate supervision to insure that the device
is being used as explained in the user’s manual.
GETTING STARTED 05

USING THE STAND

Assemble stand Put gimbal on the stand

MOUNTING THE CAMERA

Use 2 1/4”-20 screws to secure the camera to the camera tray, top
and bottom.
GETTING STARTED 06

POWERING UP THE H16

NOTE: always start the gimbal with a balanced camera set up otherwise after ini-
tialization the controller will return an error followed by a red color indicator.

After connecting the battery and turning the power switch on, the gimbal will perform
gyro calibration (if “Calib Gyros on Start up” is selected) and series of alignments, self
tests, which last about 10 seconds and will determine the status of the gimbal, indicat-
ed by the Status LED color. During this time , don’t touch the gimbal or camera.

“ON”
STEP 01:
Connect the battery and turn the power switch on.

STEP 02:
Wait about 10 seconds, do not touch the gimbal or camera.

STEP 03:
If the status LED is blinking green, the gimbal is ready for use. By default, the gimbal
is in Follow mode. Press the Function Button one time to turn motors on. Pan and tilt
will hold the last orientation during turning on motor in follow mode so use your hand
to position pan and tilt as your prefered orientation.

NOTE: the controller will record the pan position the first time you turn motors on “Status LED”
as home position. To return to home position, turn motors off and on again.

If the status LED is blinking red, the battery is empty.

If the status LED is solid red, something is wrong with the sensor and motors cannot start.

Connect to the software/apps to check details of the error message.

Read “LED STATUS INDICATOR” in next section for more information.

GETTING STARTED 07

STATUS LED INDICATOR

STATE LED STATUS DESCRIPTION

1 Blink

2 Solid System Error (Motor or IMU)

3 Blink

4 Solid System Boot

5 Blink System Ready

6 Blink Lock Mode

7 Solid Follow Mode

8 Blink Remote with Lock Mode

9 Solid Remote with Follow Mode

10 Blink Auto-tuning in process

11 Blink Canlink with Lock Mode

12 Solid Canlink with Follow Mode

GETTING STARTED 08

OPERATION MODE
The GREMSY H16 has 2 operation modes: The GREMSY H16 supports:

LOCK MODE: is a stabilization mode where the camera maintains orientation SINGLE OPERATOR: using FOLLOW mode or Joystick to control the direc-
independently of the rest of the gimbal and the orientation can be changed by tion of a camera.
an external control signal from remote control or joystick.
DUAL OPERATOR: a second operator can use a Remote Controller (SBUS,
FOLLOW MODE: in this mode the camera will mimic the operator’s movement SPEKTRUM) or iPad Application with Motion/Gesture Control.
and allows one person to control camera tilt and pan without using an external
device like a remote control.

SWITCHING BETWEEN MODES

USING THE “FUNCTION BUTTON” USING THE MODE CHANNEL ON REMOTE CONTROL

PRESS TIMES MODES POSITIONS MODES

Follow mode
Pos 01
Turn motors on 01
Motors on Pos 02
02
Lock mode Pos 03
Lock mode Motors on

03 Motors off MODE channel

Follow mode

NOTE: if there is a remote control signal, changing modes or turning motors

Hold 3 seconds on/off by other methods such as using the function button or software will
not take effect because the remote control signal has highest priotity and
override the command.
Calib Gyros
GETTING STARTED 09

OPERATION MODE
USING SOFTWARE

Click on the Lock/Follow button at the top-right corner of the software Click on Motors ON/OFF to turn motors ON/OFF.
window to toggle between modes.

USING IPAD

Click on the Lock/Follow icon to choose Lock Mode/Follow Mode. Click on the center circle icon to turn motors On/Off.

USING IPHONE USING ANDROID

Click on the Lock/Follow icon to choose Lock Mode/Follow Mode. Click on the Lock/Follow icon to choose Lock Mode/Follow Mode.
Click on the center circle icon to turn motors On/Off. Click on the center circle icon to turn motors On/Off.
GETTING STARTED 10

INSTALLING THE SOFTWARE / APP

Download at:
www.gremsy.com -> Support -> Software & Manuals.
GETTING STARTED 11

USING USB/WI-FI CONNECTION

To configure and monitor data of Gremsy Software/Apps either USB/WI-FI connection is required.

01. USING USB:

NOTE: make sure the Silab USB driver is already installed. Driver can be found
Connect / Disconnect
at: www.gremsy.com -> Support -> Software & Manuals. Button

STEPS TO CONNECT:
Serial Port List

1 - Power on the H16.

2 - Connect USB cable from Gremsy controller to Mac/PC.
3 - Run the GremsySC software.
4 - In GremsySC software, select “Serial” option on “connection” tab.
5 - Select the port in the list.
6 - Click on the “Connect” button.

USB Mac/Pc
Cable
GETTING STARTED 12

USING USB/WI-FI CONNECTION

02. USING WI-FI CONNECTION: DEFAULT WI-FI PASSWORD:

gremsygstabi

ON MAC/PC ON iOS/ANDROID DEVICES

STEPS TO CONNECT: STEPS TO CONNECT:

1 - Select the wifi network named gStabi_xxxx 1 - Select the wifi network named with gStabi_xxxx
2 - Enter the default wifi password: gremsygstabi 2 - Enter the default wifi password: gremsygstabi
3 - Run the gStabiSC software. 3 - Start the gStabi Application. Application will detect and connect to gStabi
4 - In the gStabiSC Software, select the “Wifi” option on the “Connection” tab. System automatically.
5 - Click on the “Connect” button.

Wifi connection default values:

IP: 10.10.10.254
PORT: 8080
BALANCING THE H16 13
To achieve the best performace from the Gremsy, proper balancing is necessary. Accurate balance is critical in shots where the gimbal will be subjected to
extreme movements or accelerations (running, horseback riding, biking, car mounts, helicopters…). Proper balance will result in longer battery runtime.
There are 3 axes that need to be precisely balanced prior to powering up the gimbal.

STEP 1: TILT FRONT-BACK BALANCE

When the proper front-back balance is achieved, the camera will stay level when you remove your hand.

1. Loosen the thumbscrew on the back of 2. Gently slide the camera forward or back- 3. Tighten the thumbscrew and close the
the slider and top bar nuts. ward until the tilt axis remains level. clamp to lock the camera and camera tray in
position.
BALANCING THE H16 14

STEP 2: TILT VERTICAL BALANCE

When the proper vertical balance is achieved, you can rotate the camera in any angle and it will stay at that position.

1. Rotate the tilt axis so that the lens is 2. Gently slide the camera mount crossbar 3. Tighten the clamps and nuts. Check the
pointing upward and loosen both vertical and the top bar forward and backward until number markings on both vertical rods are
adjustment clamps. the camera remains pointing upwards when the same.
released.
Sometimes you may need to go back to tilt
front to back balance if the vertical balance
could not be achieved.
BALANCING THE H16 15

STEP 3: ROLL BALANCE

When the proper left-right roll balance is achieved, the camera will stay level when you remove your hand.

1. Loosen thumbscrew in the front of slider 2. Slide the camera left or right until roll 3. Tighten the thumbscrew and close top
and top bar clamp. axis remains level. bar clamp to lock the camera tray in posi-
tion.

NOTE:
In case the roll balance in previous steps is
out of room. You can loosen 4xM4 bolts on
the roll extended adjustment and slide it left
or right to have more room for balance.

Tighten 4xM4 bolts and continue previous

steps.
BALANCING THE H6 16

STEP 4: PAN BALANCE NOTE: Make sure the battery is installed before doing Pan Balance.

Tilt the handle about 20 degrees and identify if the gimbal is front heavy or back heavy. Slide the pan axis slider until the camera does not swing.

1. Gently loosen the clamps on the pan axis 2. Align pan axis parrallel with the handle 3. If the front of the gimbal is pointing to
slider to allow the pan axis slider to slide bar and release. Observe which way the pan the low side it means the gimbal is front
front or back. axis rotates. heavy. Slide the pan axis slider to back.

4. If the back of the gimbal is pointing to 5. Try sliding the pan axis slider to the front
the low side it means the gimbal is back or back until the camera does not swing and
heavy. Slide the pan axis slider to front. camera will stay at any given position when
released. Tighten both clamps to make sure
pan axis slider is locked in place.
SOFTWARE-TUNING 17
After the camera is balanced on the gStabi, it’s time to fine tune some parameters for best performance.

STIFFNESS TUNING
Stiffness settings have a significant impact on the performance of the Gremsy System. The “Stiffness” settings adjust the degrees to which the gimbal tries to correct
for unwanted camera movement and hold the camera stable. The higher you can run the setting without vibration or oscillation, the better.

GENERAL METHOD:
Start with a low value of 20 for all axes then turn motors on. Slowly increase this setting until you feel an oscillation in each axes, then reduce it until the oscillation
subsides. You can touch on the camera to feel the oscillation during tuning. Increase the stiffness setting 5-10 points at a time until oscillation appears then reduce
5 points until oscillation subsides.

STEP 01 - TILT STIFFNESS

Slowly increase this setting until you feel an oscillation in the tilt axis, then reduce the
setting until the oscillation subsides. Make sure there is no vibration when tilting the
camera up and down and when moving the handle in any orientation.

STEP 02 - ROLL STIFFNESS

Slowly increase this setting until you feel an oscillation in the roll axis, then reduce
the setting until the oscillation subsides. Pick the gstabi up and make sure there is no
vibration when you move the handle around.

STEP 03 - PAN STIFFNESS

Slowly increase this setting until you feel an oscillation in the pan axis, then reduce
the setting until the oscillation subsides. Pick the gstabi up by the top handle and
make sure that no vibrations are present when you move the handle around.
SOFTWARE-TUNING 18

AUTO TUNING
The Auto-Tuning function provides automatic adjustment of each motor’s stiffness value to find a good setting, the process will take around 1-2 minutes.
Please turn motor on prior to starting Auto-Tuning.

NOTE:
The settings found by Auto-Tuning are usually good to start
with, however it’s recommended to manually reduce stiffness
if there is oscillation in a specific axis or increase stiffness in
case if it is too low.

AUTO TUNING
SOFTWARE-TUNING 19

EXPERT / ADVANCED SETTINGS

ADVANCED SETTINGS
There are some advanced parameters that normally do not need to be adjusted. Leave these parameters at default settings unless they are required for troubleshooting.

GYRO TRUST: GYRO FILTER:

If this value is high, attitude estimation will trust the gyro more and the acceler- Defines the strength of the filter applied to to Gyro sensor output. If the gim-
ometer less. If Gyro Trust is too high attitude estimation is only accurate short bal has oscillations that cannot be corrected by adjusting stiffness settings, you
term and will drift over time since gyros are subject to drift. If Gyro Trust is low, can use the Gyro Filter to further tune the gimbal and remove the oscillation.
attitude estimation is accurate in long term but is subject to the effects of hori- If the oscillation is fast or buzzing (high frequency), try increasing Gyro Filter.
zontal acceleration and will cause the attitude estimation to be inaccurate while If the oscillation is slow or rocking (low frequency), try decreasing Gyro Filter.
accelerating/decelerating.
NOTE: the higher the Gyro Filter the more delay you add to angle estimation of the con-
troller. Normally for lightweight camera, the inertia of camera is small therefore the rate of
OUTPUT FILTER: change in movement is fast, in turn it’s necessary to keep the filter low enough that angle
Defines the strength of the filter applied to motors output. If the gimbal has oscil- estimation of the controller is not lagging compared with rate of change in movement of the
lations that cannot be corrected by adjusting stiffness settings, you can use the camera. For heavy cameras the inertia of the camera is large therefore the rate of change in
Output Filter to further tune the gimbal and remove the oscillation. movement is slow which allows a higher Gyro Filter.
If the oscillation is fast or buzzing (high frequency), try increasing Output Filter.
If the oscillation is slow or rocking (low frequency), try decreasing Output Filter.

NOTE: the higher the Output Filter is changed, the more delay you add to the motor output.
Normally for lightweight cameras, the inertia of the camera is small therefore the rate of change
in movement is fast, in turn it’s necessary to keep the filter low enough so that motor output
is not lagging compared with rate of change in movement of camera. For heavy cameras the
inertia of the camera is large therefore the rate of change in movement is slow which allows a
higher Output Filter. Higher filter values also results in higher stiffness settings but too much
filter could cause low frequency vibration.

DEFAULT VALUES:

Gyro Trust 200

Gyro Filter 2

Output Filter 4
SOFTWARE-TUNING 20

EXPERT / ADVANCED SETTINGS

EXPERT SETTINGS
There are some expert parameters that normally do not need to be adjusted. Leave these parameters at default settings unless they are required for troubleshooting.

If “Auto power adjustment“ is selected, “Hold strength” will be the minimum power level required for corresponding axis. The controller will automatically adjust pow-
er level from minimum to maximum level depending on displacement between current angle and commanded angle.

NOTE:
For heavy cameras it’s suggested to increase hold strength for each axis around 10% than default value.

If “Auto power adjustment” is not selected “Hold strength” will be fixed power level provided to corresponding axis and should be adjusted manually. This option is
only recommended for advanced users.

Gain:
Defines how fast each axis will return to commanded positon.

To reload default expert settings just press “Default” in expert menu.

TILT ROLL PAN

HOLD
STRENGTH 40 40 40

GAIN 120

Auto power adjustment: Selected

SOFTWARE-TUNING 21

FOLLOW MODE SETTINGS

The most widely used mode in handheld application is follow mode where the gimbal operator controls pan and tilt of the camera. The camera movement will mimic
the user’s input from the handle while footage remains stable. Once you finish tuning “Stiffness” settings properly you can adjust some parameters of follow mode to
achieve a satisfying result. The follow mode can be configured to be either very linear and robotic, or smooth and cinematic.

SPEED:
Defines how fast camera will follow handle movement.

SMOOTHNESS:
Smooth out the camera movement by adjusting this parameter.
The higher the value is the smoother camera moves but at the expense of more delay in
following the movements of the handles.

WINDOW:
When the handle movement is out of the window zone, the camera starts to move. Within the
window zone, the camera maintains its direction.

TILT LOCK:
If this option is selected, the tilt axis will maintain its angle and only be controlled by joystick or
remote control.

NOTES :
When walking or running, it’s recommended to set the tilt window to 20-30 degrees or have
“Tilt lock” selected to reduce walking motion in the footage.
When riding a horse or running, it’s recommended to set the pan window to around 20-30 de-
grees because you can’t hold the gimbal still.

AIRBORNE:
If this option is selected, there will be power on PAN motor but no stabilization on PAN. It’s use-
ful to avoid the Pan axis from spinning around when take off and landing if used with landing gear
and mount it under multicopter.
SOFTWARE-TUNING 22

ROTATION LIMIT
Travel of each axis can be limited using UP LIMIT and DOWN LIMIT.

UP LIMIT:
Set the up limit for tilt or roll axis (in 1 degree unit).

DOWN LIMIT:
Set the down limit for tilt or roll axis (in 1 degree unit).

TILT OFFSET:
Set the tilt offset (in 0.1 degree unit) and is only applicable when there is no remote control
signal since remote control will override the tilt angle.

ROLL OFFSET:
Set the roll offset (in 0.1 degree unit) is only applicable when there is no remote control signal
since remote control will override the roll angle. This is useful to fine trim the horizon.
SOFTWARE-TUNING 23

IMU SENSOR
The IMU sensor used in the H16 is a combination of a high precision 3 axis gyroscope sensor and a 3 axis accelerometer sensor. The H16 controller has a special
algorithm to provide attitude estimation based on input data from the IMU sensor. This attitude estimation helps the controller to command motor output to
compensate for camera movement.

GYRO CALIBRATION:
It’s suggested to calib Gyro if you notice any kind of drift in any of the axes although the
controller has had made a dual point temperature calibration and compensation at the
factory. Excessive Gyro drift will cause horizon drift and unwanted behavior. To do Gyro
Calibration please turn motors off and make sure the gimbal remains perfectly stationary
during calibration. It will take 3 seconds to complete a Gyro Calibration.

NOTE: After Gyro Calibration, Gyro Offset X, Y, Z will change to a new value depending on the temperature.

ACCELEROMETER CALIBRATION:
Do not use this function, please contact Gremsy Support Engineers. Accelerometer sensor
was calibrated properly at factory to achieve accurate horizon level with special and precise
equipment. Users do not need to do this unless it’s required for troubleshooting.
REMOTE CONTROL 24
gStabi supports SBUS , SPEKTRUM and PPM receivers. There are some parameters to
be aware of before assigning channels to the receiver.

SMOOTH: increasing this number will smooth out the movement of the corresponding
axis but will also cause a delay.

SPEED: increasing this number will increase the speed of movement in the correspond-
ing axis. Only applicable in Speed Mode.

SPEED MODE: when speed mode is selected, the speed of the corresponding axis will
depend on how far the stick position is from the neutral position. It is recommended that
TILT and PAN channels should be set to speed mode.

ANGLE MODE: when angle mode is selected, the corresponding axis will move to the
angle set by current stick/knob position. It’s recommended ROLL channel should be set
to angle mode.

SBUS/PPM SETTINGS
RECEIVER CONNECTION
Simply connect SBUS/PPM wires from the receiver to the SBUS/PPM connector of the gStabi controller.

“SBUS/PPM”
NOTES: The SBUS/PPM port has 5V out-
put to power the receiver, please do not
RECEIVER use external power supply to power the
SBUS/PPM

receiver at the same time. Doing so may

damage the electronic inside the gimbal.
REMOTE CONTROL 25

SBUS/PPM SETTINGS
CHANNEL SETTINGS
There are 6 channels to assign : MODE, TILT, ROLL, PAN, TILT SPEED, PAN SPEED. Pos 01
Pos 02
Assign MODE channel first then follow the order above because MODE
channel is used to change operating modes of the gimbal and should be Pos 03
assigned with a 3 position switch as follows:

Switch at position 1: FOLLOW MODE , MOTORS ON

Switch at position 2: LOCK MODE , MOTORS ON MODE channel
Switch at position 3: MOTORS OFF

TILT and PAN channel should be in speed mode and ROLL channel in angle mode.

TILT SPEED or PAN SPEED could be assigned to the same channel and should be assigned to throttle stick,dial, or other non-centering control on the
transmitter.

Below is an example of channel assignment to the Futaba T8FG.

CHANNEL CONTROL NOTE

MODE 5 SC 3 positions switch

TILT 2 J2 Speed mode

ROLL 4 T4 Angle mode

PAN 1 J1 Speed mode

TILT SPEED 3 J3

PAN SPEED 6 RD
REMOTE CONTROL 26

JR / SPEKTRUM SETTINGS
JR / SPEKTRUM SATELLITE RECEIVER CONNECTION
Open the plastic cover and connect satellite receiver to the correct connector as shown in the picture. Make sure satellite receiver is already bound to the
transmitter (RED led is solid).

SATELLITE
RECEIVER

CHANNEL SETTINGS
Choose 10 bit or 11 bit type resolution on the software and assign proper channels as per SBUS settings.
REMOTE CONTROL 27

JOYSTICK SETTINGS
JOYSTICK CONNECTION

Connect joystick cable on the joystick connector and on the Pan motor bracket .

JOYSTICK SETTINGS

To enable Joystick operation user should select “JOYSTICK” in CONTROL menu and
switch to Lock mode.

Pan and till speed , Pan and till smoothing are adjustable via software as below.

SMOOTH: increasing this number will smooth out the movement of the corresponding
axis but will also cause a delay.

SPEED: increasing this number will increase the speed of movement in the correspond-
ing axis.
WORKING OPERATION 28

NORMAL INVERTED SUITCASE

OPERATION OPERATION OPERATION
- When the gimbal is in follow mode and normal
era is underslung.
along a narrow space.
Moreover you can set the gimbal into Inverted

you to shoot higher and/or at eye level.

gimbal into lock mode then move the handle to
UPGRADING FIRMWARE 29
Only USB connection allows upgrading firmware.
Refer to Section “01. GETTING STARTED” for USB connection.

NOTE:
• Make sure Silab USB driver is already installed. Driver can be found at:
www.gremsy.com -> Support -> Software & Manuals.

• Download the lastest firmware at:

www.gremsy.com -> Support -> Software & Manuals.

HOW TO UPGRADE:

1 - Power on the H16.

2 - Connect USB cable from Gremsy controller to Mac/PC.
3 - Run the GremsySC software.
4 - In gStabiSC software, select “Serial” option on “connection” tab.
5 - Select the port in the list.
6 - Click on the “Connect” button.
7 - Go to “Upgrade” tab.
8 - “Browse” to firmware file from your computer.
9 - Click “Upgrade” button. The process will take about 2 minutes.

HOW TO CHECK FIRMWARE VERSION:

1 - Click “Information” tab.

TROUBLESHOOTING 30

PROBLEM POSSIBLE CAUSES SOLUTION

Status LED is blinking red Low battery Recharge battery

Camera is not balanced well or not installed Check camera balancing

IMU cable is loose Check in software for IMU sensor error, re-seat IMU sensor connector

Check in software for Tilt error, re-seat tilt motor connector and encoder
Tilt motor cable or encoder cable is loose
Status LED is solid red during startup connector
Check in software for Roll error, re-seat roll motor connector and encoder
Roll motor cable or encoder cable is loose
cable
Check in software for Pan error, re-seat pan motor connector and encoder
Roll motor cable or encoder cable is loose
cable

Status LED is solid red during operation IMU sensor cable is loose Re-seat IMU sensor connector

Status LED is solid white after start up Exessive gyro drift Re-calibrate

Gremsy seems to be drifting Gyro sensor is drifting too much Re-calibrate gyro

Stiffness setting is too high Reduce stiffness

Quick clamp/thumbscrew/top bar nut is not tightented Check tightening. If necessary adjust the clamp tension with a hex wrench
Gremsy has ossilation in one or more axes
Camera mounting is not stiff enough Check camera mounting

Filters settings are incorrect: Gyro and output filter should only be changed Please read more in manual about Gyro filter and output filter (Advaced
if other methods of reducing oscillation have failed settings)

Stiffness is too low Increase stiffness

Motors seem to be weak
Autopower adjustment is not enabled Check in Expert menu if Autopower adjustment is enabled or not

Camera is not properly balanced Check camera balance

Increase stiffness settings.

Footage appears to wobble side to side or up
If you can identify which axis is poorly stabilized,
and down
Stiffness setting is low start with that axis’ Stiffness. Higher Stiffness will achieve
better stabilization. The tuning process is described in the
user manual.
SPECIFICATIONS 31

Product Name GREMSY H16

System Type 3-Axis Digital Gyro-Stabilized

Weight (without battery) 2.83 kgs / 6.24 lbs

Weight Ecofly (without battery) 2.23 kgs / 4.91 lbs

Camera Cage (With Top Bar) (L X W X H) 200mm x 195mm x 55-200mm

Camera Cage (Without Top Bar) (L X W X H) 200mm x 195mm x 275mm

Construction Aluminum, Carbon Fiber

Input Voltage 16.8 VDC

Battery 4S 3400mAh Li-ion (weight: 192g)

Connection USB, Wifi

Payload 7.25 kgs / 16 lbs

OS Platform Supported Windows / Mac / iOS / Android

Single Operator Follow Mode, Thumb Joystick

Dual Operator SBUS / Spektrum / PPM

Pan Range 360 degree continuous

Tilt Range +/- 90 degree

Roll Range +/- 45 degree

Encoder Resolution 0.005 degree

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