. This product may be used for model airplane or surface use if on the correct frequency. The product described in this manual is subject to regulations of the Ministry of Radio/Telecommunications and is restricted under Japanese law to such purposes. 2. Exportation precautions (a) When this product is exported from Japan, its use is to be approved by the Radio Law of the country of destination. (b) Use of this product with other than models may be restricted by Export and Trade Control Regulations.
INSTRUCTION MANUAL 6XAs / 6XHs FOR AIRCRAFT / HELICOPTERS FM/PCM SYSTEM, 6 CHANNELS Futaba Corporation
INTRODUCTION Thank you for purchasing a Futaba® 6XAs/6XHs series digital proportional R/C system. This system is extremely versatile and may be used by both beginners and experts. In order for you to make the best use of your system and to fly safely, please read this manual carefully. If you have any difficulties while using your system, please consult the manual, your hobby dealer, or Futaba. This product is to be used for sport and recreational flying of radio-control models only.
TABLE OF CONTENTS Introduction to the T6XAs/T6XHs System .........................................................................1 ACRO Transmitter Controls and Switch Identification ......................................................2 ACRO & HELI Transmitter Switch Functions ...................................................................2 Charging the Ni-Cd Battery.................................................................................................3 Operating With The Trainer Cord .....
DRSW........... Dual Rate Switch Select............................................................................ 39 ACRO ........... Acrobatic model mode .............................................................................. 39 HELI.............. Helicopter model mode ............................................................................. 39 MOD ............. Modulation (FM/PPM or PCM)................................................................ 40 COPY ........... Data Copy ............
Introduction to the 6XAs/6XHs Systems TRANSMITTER The versatile T6XAs/T6XHs PCM1024 multi-function 6-channel transmitter may be used with any Futaba FM/PPM receiver! In addition, your system will work with Futaba PCM1024 receivers when you select the built-in PCM transmission option. The liquid-crystal display panel allows rapid data input into its easy-to-read LCD display.
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TRANSMITTER CONTROLS – AIRCRAFT (T6XAs System) Flap Knob (Ch. 6) Airbrake Switch (B) Carrying Liquid-Crystal Handle Display Antenna Elevator Dual Rate Switch (A) Aileron Dual Rate Switch (C) Landing Gear Switch (Ch. 5, Sw.
CHARGING THE Ni-Cd BATTERIES 1. Connect the transmitter charging cord into the charging socket (on the right of the case, when facing the front) and airborne Ni-Cd batteries to the receiver connector on the charger. 2. Plug the charger into a wall socket. 3. The charger’s LEDs should light, indicating charging current is flowing. The batteries should be left on charge for about 15 hours. Only charge the batteries with the charger supplied with your system.
2. Set the student transmitter modulation mode to PPM. Collapse the student’s antenna, and fully extend the instructor’s antenna. Remove the RF module from the transmitter held by the student (if it is a module-type transmitter). 3. Plug one end of the trainer cord into each transmitter, with power switched off. The trainer jack is in the center of the rear face of the transmitter. Do not force, the connector is keyed. 4. Turn on the instructor’s transmitter. DO NOT turn on the student transmitter power.
decreases for counterclockwise motion. When you are satisfied with the spring tensions, you may close the transmitter. Very carefully reinstall the rear cover. When the cover is properly in place, tighten the four screws. Changing the T6XAs/Hs transmitter’s mode If you wish to change the mode of the transmitter, say from mode 1 to mode 2, turn on the transmitter holding the two flashing MODE buttons down. You’ll see a display “STCK X,” where X is a number representing the current transmitter mode.
RECEIVER AND SERVO CONNECTIONS Receiver output channel 1 2 3 4 5 6 Aircraft (ACRO) Right aileron or combined right flap + aileron* or right elevon† (tailless) Elevator or V-tail‡ right side or left elevon† (tailless) Throttle Rudder or V-tail‡ left side Landing Gear Flap or combined Left flap + aileron* Helicopter (HELI) Aileron Elevator Throttle Rudder Gyro sensitivity Pitch Multiple entries indicate that the servo function varies with the selected programming (*=FLPR mode, †=ELVN mode, ‡=VTAL mode)
RADIO INSTALLATION While you are installing the battery, receiver, and servos into your model’s fuselage, please pay attention to the following guidelines: Servo Notes Mounting Use the supplied rubber grommets when you mount each servo. Be sure not to overtighten the screws. If any portion of the servo case directly contacts the fuselage or the servo rails, the rubber grommets will not attenuate vibration, which can cause mechanical wear and servo failure.
the vertical fin or the tailboom, and let the excess length trail behind the aircraft (be sure it cannot tangle with the tail rotor on a helicopter). You may run the antenna inside of a non-metallic housing within the fuselage, but range may suffer if the antenna is located near metal pushrods or cables. Be sure to perform a range check before flying. With the antenna collapsed, you should be able to walk 20 - 30 paces from the model without losing control or seeing “jitter” in the servos.
Airplane Frequencies The following frequencies and channel numbers may be used for flying aircraft in the U.S.: 72 MHz band Ch. No. MHz 36 72.510 12 72.030 37 72.530 13 72.050 38 72.550 14 72.070 39 72.570 15 72.090 40 72.590 16 72.110 41 72.610 17 72.130 42 72.630 18 72.150 43 72.650 19 72.170 44 72.670 20 72.190 45 72.690 21 72.210 46 72.710 22 72.230 47 72.730 23 72.250 48 72.750 24 72.270 49 72.770 25 72.290 50 72.790 26 72.310 51 72.810 27 72.330 52 72.830 28 72.
TRANSMITTER DISPLAYS & BUTTONS When you first turn on your transmitter, the screen shown below appears on the LCD display. Before flying, or even starting the engine, BE SURE that the model number appearing in the lower right of the display matches the model that you are about to fly! If you don’t, servos may be reversed, and travels and trims will be wrong, leading to an immediate crash.
WARNING DISPLAYS Your transmitter is designed to warn you about several potential problems that may occur, including low battery voltage and switching on with mixing functions active. Each display has a unique sound associated with it, as described below. Low battery flashing Warning sound: Beep beep beep — (beeping does not stop until transmitter is turned off) The LOW BATTERY warning is displayed when the transmitter battery voltage drops below 8.5V.
Flying Safety To ensure the safety of yourself and others, please observe the following precautions: Ni-cd Battery Charge the Batteries! Don't forget to recharge the batteries before each flying session. A battery low in charge will soon die, causing loss of control and a crash. Plug in the charger that comes in this system and hook up the transmitter and airborne batteries the day before a planned flying session.
AIRCRAFT (ACRO) MENU FUNCTIONS *Pages 14 to 42 describe the Basic Menu functions for fixed-wing aircraft, provide a detailed setup example, and then describe the functions individually. Helicopter functions may be found in the following section, pages 43 to 54. Map of ACRO Menu Functions .................................................. 14 Aircraft Setup Example ............................................................... 15 Pattern Aircraft Trimming Chart ..............................................
MAP OF ACRO AIRCRAFT FUNCTIONS T6XAs/Hs Acro Mode Menu [ACRO] Normal Display Mode Press both Mode Select keys Throw Adjust [ATV] Model Select [MODL] Memory Reset [REST] Dual Rate Set [D/R] Trim Memory [TMEM] Dual Rate Sw. [DRSW] Exponential [EXP] Copy Model [COPY] Select Model Type [ACRO] Servo Reversing [REV] Parameters [PARA] Select Model Type [HELI] Sub-Trims [STRM] Failsafe [F/S]* Modulation: PCM or FM [MOD C or F] Flaperon Mix [FLPR] Prog. Mix 2 [PMX2] Flap Trim [FLTR] Prog.
AIRCRAFT SETUP INSTRUCTIONS (GENERAL 120 CLASS STUNT PLANE) its memory number prominently near its onThe aircraft setup procedure presented below uses a F3A-class model as an example off switch inside the fuselage. and assumes that there are two aileron servos, 3. Enter the Parameter (PARA, p. 38) menu by one in each wing. You may use a similar pressing the down MODE key three times.
key (“ON” should appear flashing in the display). aileron moves the right directions. display shows Channel 1 reversed. The Connect the right aileron servo to receiver CH1 and the left aileron servo to receiver CH6. Note that you can get differential by adjusting the up and down motion of the two servos in the FLPR menu. Now we’ll set the servo throw directions. 7. Next we’ll set the direction of the elevator servo, channel 2.
the throttle servo by pressing the Minus (–) DATA INPUT key. Verify the throttle stick makes the servo move the carburetor opening in the correct direction. 8. Now we’ll set the direction of the rudder servo. When you move the left-hand stick towards the CENTER of the transmitter (to the right), the trailing edge or rear rudder should move to the right. Check to make sure! If the rudder moves the wrong direction, activate the opposite direction by pressing the Minus (–) DATA INPUT key.
both to match up, then set the subtrim back to zero and mechanically adjust the clevis to get as close as you can, then readjust the subtrim if necessary. Note 1: you should NOT use subtrims instead of mechanically adjusting the pushrods to be close. This is because you can reduce the travel of the radio, especially if you have to set the subtrim near 100%. As we stated before, get the pushrods close mechanically first, then use the subtrim adjustment to get it just right.
servo arm so that the throw is adjusted in the 90-100% range. 19. To set the right aileron’s LEFT motion, move the aileron stick all the way to the left and hold it. The letters “L/D” should appear next to the flashing percent sign (as shown in the figure above). Again listen and hit the minus DATA INPUT key until the buzzing stops. If the servo is not buzzing, leave the setting at 100%. You may wish to increase or decrease this number depending on how rapidly the model rolls to the left.
If you wish to have the flaps operate with the CH6 knob, go back to the FLTR menu and input a number greater than zero. Adjust the number to get the desired amount of flap travel as you turn the knob. If you wish to have differential in your flaperons, go to the flaperon menu and reduce the number to something less than 100%. If you choose 0%, you’ll get only up aileron motion. 24. One more basic function that you will find extremely useful is the trim memory function.
you quickly want to get back to the default 100%, press both DATA INPUT keys simultaneously. We suggest using an initial value of 75%, which will limit the aileron travel to roughly 7/16” (11 mm). NOTE: if you set the dual rate to 0%, you will have ZERO CONTROL AUTHORITY when the switch is in that position. DON’T DO IT! Elevator dual rate setting: press the CURSOR key one time to get the little arrows above or below the numeral 2. Now set the elevator dual rates in the same way you set the ailerons.
(–) keys until they do go the right direction. Then press the CURSOR key again, and the percent indicator will flash. Now you may input the percentage of mixing. Start out with 10-20% and increase it until the corners in your loops are square enough. 31. Programmable mixers: now take advantage of your system’s custom programming capabilities. You may use programmable mixers (PMXI or PMX2, p. 35) to get rid of unwanted tendencies (for example, pitching up during knife-edge flight.
2. Control throws Fly the model and apply full deflection of each control in turn 3. Decalage Power off vertical dive (crosswind if any). Release controls when model vertical (elevator trim must be neutral) Method 1: Roll into near vertically-banked turn. Method 2: Roll model inverted 4. Center of Gravity 5. Tip weight (coarse adjustment) 6. Side Thrust & Warped Wing 7. Up/Down Thrust 8. Tip weight (fine adjustment) 9. Aileron differential Fly model straight & level upright.
10. Dihedral 11. Elevator alignment (for models with independent elevator halves) Method 1: Fly the model on normal pass and roll into knife-edge flight; maintain flight with top rudder (do this test in both left & right knifeedge flight) Method 2: Apply rudder in level flight Fly the model as in Test 6 and pull up into an inside loop. Roll it inverted and repeat the above by pushing it up into an outside loop. A. Model has no tendency to roll B. Model rolls in direction of applied rudder C.
ATV — Adjustable Travel Volume The ATV function is used to set (or limit) the travel of each servo, and may be set independently between a value of 10% and 120% for each travel direction. At a 100% setting, the throw of the servo for full stick motion is approximately 40° for channels 1 – 4 and approximately 55° for channels 5 – 6. Reducing the percentage settings reduces the total servo throw in that direction.
D/R — Dual Rates If this is your first computer radio, you may have never been introduced to dual rates before. Dual rates are used because most models respond more rapidly to control inputs while they’re flying at higher speeds, and it is possible to be really gentle with the controls and yet still over-control. Dual rates are used to adjust the transmitter so that a control actuated at high speed will not cause a radical response, so they are very useful for beginning pilots as well as experts.
EXP — Exponential Settings Exponential settings may be used to changes the response curve of the servos to make flying more pleasant. You can make the servo movement less or more sensitive around neutral for aileron, elevator, throttle (except HELI type), and rudder. It can also be set for each side of the dual rate switches. Negative exponential (-) makes the servo movement around the stick neutral less sensitive and positive (+) makes the servo movement more sensitive.
REV — Servo Reversing The servo reverse function may be used when you need to change the direction that a servo responds to a control stick motion. When you use this function, BE SURE THAT YOUR CONTROL IS MOVING THE CORRECT DIRECTION. If you are using any preprogrammed mixers such as flaperon, be sure to set correct travels in the REV menu setting up the preprogrammed function. Reversing Servos 1. Get to the REV screen with the up or down arrow keys. 2.
FLPR — Flaperon Mixing The Flaperon mixing function uses two servos to individually control two ailerons, combining the aileron function with the flap function. Both ailerons can be raised and lowered simultaneously for a flap effect. Of course, aileron function, where the two controls move in different directions, is also performed. The down travel of the left and right ailerons can be adjusted, so you can also get a differential effect.
FLTR — Flap Trim Function The Flap Trim function is used to specify the amount of flap travel produced by moving the flap control (the CH6 knob). If flaperon (FLPR) function has been activated, FLTR is automatically turned on. Sailplane folks call this effect “camber,” because the model’s airfoil is changed across the span. Setting Flap Trim function 1. Use the up or down arrow keys to select the FLTR window. 2. Press the CURSOR key to get to the activation setting. The INH indicator will flash on and off.
ABRK — Airbrake Function The ABRK function, when activated, simultaneously moves the flaps and offsets the elevator, and may be used to make steep descents or limit airspeed in dives. All the controls move to the defined positions by flipping the airbrake switch downwards. Normally, with a single flap, the flap is dropped. With flaperons, you’ll want to raise both to prevent tip-stalling, but you may experiment with small values of down flaperons to slow the model down.
VTAL — V-Tail Mixing V-tail mixing is used with V-tail aircraft so that Ch 2 Ch 4 Ch 2 Ch 4 both elevator and rudder functions are combined for the Up Elevator Left Rudder (view from rear) two tail surfaces. Both elevator and rudder travel can be adjusted independently. However, if you program in too much elevator or rudder travel, when both rudder and elevator are commanded the servos may reach their travel limits before full stick motion has occurred.
ELVN — Elevon Mixing The Elevon function should be used with delta wings, flying wings, and other tailless aircraft whose layouts combine the aileron and elevator functions, and requires one servo for each elevon. Connect the right 2CH 1CH aileron to receiver CH1/AIL and the left aileron to CH2/ELE. The amount of aileron and elevator response can be adjusted Aileron operation independently.
1->4 — Aileron -> Rudder Mixing Aileron-to-rudder mixing is a function which causes the rudder to move automatically with the motion of the aileron stick. This is done because when ailerons are used to command a turn, the down-moving aileron has more drag than the up-moving one, so the plane’s fuselage tries to yaw against the turn. Adding rudder mixing cures this problem by making the fuselage point straight into the oncoming air stream (this is also called “coordinating the turn”).
6->2 — Flap -> Elevator Mixing Flap-to-elevator mixing trims the elevator to compensate for trim changes when the flaps are commanded to drop or rise. This usually requires a relatively small amount of elevator travel. The mixing point may also be offset to match the neutral flap position. Inputting settings for 6 -> 2 mixing 1. Press one of the MODE buttons until the 6->2 window appears. The default is for the function to be inhibited. Press the CURSOR key twice to make the INH display flash on and off.
2->6 — Elevator -> Flap Mixing Elevator-to-flap mixing makes the flaps drop or rise whenever you pull on the elevator stick. It is used to make tighter “pylon” turns or squarer corners in maneuvers. Elevator-to-flap mixing is set up so that the flaps droop (are lowered) when up elevator is commanded. DOWN flap or flaperon UP elevator Notice that this mixing function works with the flaperon setting.
correct for an undesired pitching tendency (the latter is described in the ACRO model setup section). Using the Programmable mixers 1. Call up the mixer screen by repeatedly pressing one of the MODE buttons until the PMXI or PMX2 window appears. The default is for the function to be inhibited. To activate, press the CURSOR key, then press the (+) DATA INPUT key. This will cause the flashing INH display to change to a flashing ON display. 2.
F/S — Fail Safe Function (PCM mode only) The Fail Safe function is used to prescribe what the PCM receiver will do in the event radio interference is received, and doesn’t work with FM receivers. In this menu, you may select from one of two options of operation for each channel. The “NORM” (normal) setting holds the servo in its last commanded position, while the “F/S” (Fail Safe) function moves each servo to a predetermined position. The default setting is NORM (normal) for all channels.
PARA — Parameter Menus The parameter function includes a number of submenus that are used to input basic model data settings. This is best understood by viewing the menu structure on p. 14. These are placed in a submenu under PARA because they are not changed very often. There are five submenus within the PARA menu, including REST (Data Reset), DRSW (Dual Rate Switches), ACRO/HELI (Model Type), and MOD (Modulation). To access these menus, you press the CURSOR key to step through them in sequence.
DRSW — Dual Rate Switch (PARA sub-function) If this is your first computer radio, you may have never used dual rates before. Dual rates are used because most models have different response characteristics depending on their airspeed. Usually they respond more rapidly to control inputs at high speeds, and it is possible to be really gentle with the controls and yet still over-control.
3. If you are sure you wish to choose a new model type, press both DATA INPUT keys simultaneously again. This resets the model type and erases the memory. The model type letters will stop flashing to indicate the changed model type. MOD — Modulation Select (PARA sub-function) The Modulation menu is used to select the PCM or PPM mode of transmission, to match the receiver being used (PCM = Pulse Code Modulation, and PPM = Pulse Position Modulation, also called FM for Frequency Modulation).
3. If you are sure you wish to copy the current memory contents into the destination memory, press both DATA INPUT keys simultaneously again. This carries out the copy function and overwrites the destination memory. A beep indicates that copying is complete. TMEM — Trim Memory The trim memory function is one that you will find extremely useful. It is used after the model is trimmed out and flying the way you like.
move the trim tab for that channel until the triangle disappears — this is the nominal neutral trim. Repeat for the other channel numbers. When you've done all three, hit the DATA INPUT keys simultaneously, then center the trim tabs. You've initialized the trim. MODL — Model Select Your T6XAs/XHs system can store up to six independent sets of model data in its memory. The Model Select (MODL) function allows you to choose from any of the six sets of model data.
HELICOPTER (HELI) MENU FUNCTIONS The following section (pages 43 – 54) describes how to use the helicopter-specific menu functions for helicopters (model types HELI). Descriptions of the other functions are contained in the aircraft (ACRO) section which precedes this one, pages 14 –42. Helicopter Functions Map......................................................43 Helicopter Setup Example......................................................45 Helicopter Trimming Chart ....................................
TRANSMITTER CONTROLS – HELICOPTER (T6XHs System) Hovering Pitch (Ch. 6) Gear Switch / Ch. 5 (Sw. B) Carrying Liquid-Crystal Aileron Dual Handle Display Rate Switch (C) Antenna Throttle Hold Switch (D) Elevator Dual Rate Switch (A) Idle-Up Switch (Ch. 5, Sw.
HELICOPTER SETUP INSTRUCTIONS The following example shows how the T6XAs/XHs may be programmed for a helicopter model. Your model’s settings will be dependent on the setup and linkages. Ask an experienced pilot for assistance. Receiver Pitch Servo (CH6) FP-R127DF Dual Conversion FM 7CHANNEL RECIVER 7 6 5 4 3 2 1 B Charging Jack Rudder Servo (CH4) Switch Harness Throttle Servo (CH3) Elevator Servo (CH2) To Battery Aileron Servo (CH1) Optional Gyro System 1.
to reverse channels as necessary to get proper throw directions. Pitch: the pitch angle (CH6) should vary from -2° to +10° with full stick motion. Adjust servo arms and ATV values to get this motion, measured with a pitch meter. If you need to change it on the ground while the engine is running, use the convenient P-AT function. After you’ve set the pitch, be sure to check that both aileron and elevator motions do not cause binding at extreme pitch settings. If they do, use ATV to reduce travels.
9. Revolution Mix Setting Revolution mixing (REVO) uses the tail rotor to suppress the torque reaction of the main rotor due to changes in collective pitch. It is disabled whenever Idle-Up or Throttle Hold are activated. REVO may be set on either side of the stick (note the letters R/U and L/D displayed). Adjust REVO mixing for both travel directions as described in the trimming instructions following.
Helicopter Flight Trimming Chart This procedure assumes helicopter is trimmed for hovering. Trimming must be done in near-calm conditions. Repeat tests several times before making adjustments. If any changes are made, go back over the previous steps and verify, or further adjust as necessary. To test … Test Procedure Fly the model 1.
PI-N, I, H — Pitch Rate (Normal, Idle-Up, Hovering) The Pitch Rate may be used to adjust the rotor pitch high-end pitch angle without having to shut off the engine. When active, you may directly input the top-end ATV percentage. This convenient function allows you to bypass the ATV menu, whose use would require that you move the throttle stick above its halfway position to input numbers for its top end.
2. Adjust the hovering setting value by pressing the (+) or (–) DATA INPUT keys. You may select any value between -100% and +100%. You may return to the default setting of 0% by pressing both DATA INPUT keys. IDLE — Idle-Up Servo Response Full Pwr 50% 25% 0% Idle Low High Throttle Stick Motion (0 - 50%) Full Pwr Servo Response The Idle-Up function changes the response of the engine servo below one-half throttle and disengages it from the throttle stick.
HOLD — Throttle Hold The Throttle Hold function moves the engine throttle servo to a selected position near idle, and disengages it from the throttle stick. It is commonly used during autorotation, and activated with switch D . You can set the throttle position to be held over a -50 to +50% range centered about the throttle idle position. Activating throttle hold also disables revolution mixing (REVO). Setting Up Throttle Hold 1. Press one of the MODE SELECT buttons until the H0LD window appears.
2. Now press the CURSOR key twice, this will cause the plus or minus sign in front of the large number to flash on and off. You can set the direction of revolution mixing on each side of the half-throttle position by changing this flashing sign with the (+) or (–) DATA INPUT keys. Therefore, you’ll either set plus or minus for both sides of the throttle stick’s motion (indicated by the R/U or L/D indicator in the window).
(to return to the default 0%, press both DATA INPUT keys). HV-P — Hovering Pitch The Hovering Pitch function may be used to trim the rotor pitch near hover without affecting the throttle setting. Changes in rotor speed caused by temperature, humidity, or other conditions can be accommodated. When used with the hovering throttle function, more exact trimming is possible. Hovering pitch is controlled by the hovering pitch knob.
Elevator Front 120 Aileron 120 120 Pitch Use the reversing function (REV) as necessary to get the proper aileron, elevator, and pitch operations. Choosing the swashplate type 1. Press on the MODE buttons until SWSH appears on the menu. 2. Select the desired swashplate type by pressing the (+) or (–) keys. At this time, the selected type will blink on and off. 3. Press the CURSOR key, and the word SET? appears blinking on and off in the display. 4.
GLOSSARY The abbreviations used with the T6XAs/T6XHs are defined below alphabetically. Related pages are given in parenthesis following the definition. LBAT .... Low battery warning. The battery voltage is unsafe. (11) A ABRK.... Airbrake function (30) ACRO ... Acrobatic aircraft menu (39) ATL ....... Adjustable Travel Limit. Limits throttle trims to only the throttle idle position. (built in to your system) ATV....... Adjustable Travel Volume.
MODEL DATA RECORDING SHEET Make copies before using Model Name ________________ Memory No. 1 • 2 • 3 • 4 • 5 • 6 Model Type ACRO • HELI Modulation FM • PCM MENU FUNCTION REV Servo Reverse (circle N or R) CH 1 CH 2 CH 3 CH 4 CH 5 CH 6 N•R N•R N•R N•R N•R N•R SBTR Subtrims Value % % % % % % ATV R/U % % % % % % L/D % % % % % % % % Adj.
REPAIR SERVICE Before you decide to have your system repaired, if there is no apparent physical damage, read this instruction manual again and check to be sure that you are operating the system as it is supposed to be operated. If you are still having trouble, pack up your system in its original shipping materials and send it to your nearest authorized Futaba R/C Service Center.
