TK6.0 series RC tank Controller

Turn your V5.3 and earlier Henglong tank into proportional radio control and decent sound in 10 mins.

Overview

• TK6.0 series controller uses 4-CH conventional PWM or 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

• Plug and Play for Henglong  V5.3  and earlier  

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

• Carefree reversing

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

• 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

• 3W sound output power

• 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 IR battle code

• Support RealRecoil servo port

• Safety shutoff prevents unwanted movement while signal lost

• Auto R/C signal detection

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

• V1 Engine Sound Simulation

* W variant

Side-By-Side Comparison with Henglong TK6.0

Side-By-Side Comparison with Henglong TK6.1

Transmitter: FS-i6S, self-centering VrA and VrB type Radio

RX:FS-iA10b

TK6.0  series connector layout

 Connection diagram( Click to download full size image )  

TK6.0 and 6.1  connector and pin assignments(Text in red is the modification required for HL TANK)

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

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.

TK20 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).

In HL original design, gun Elevation and AirSoft sharing same driving H/W, so the gun elevation can only be controlled  in one direction, if you missed the angle you want, you will need to wait a full cycle of gun elevation, to correct this problem, we add dedicate AirSoft control h/w to TK20 board. the following shows you how to correct HL tank and get two direction elevation.

The picture below is original wiring in HL tank:

Modify it as the following:

Green box in the diagram above represent the small PCB in tank, small  red, black, blue ... orange in it represent the wire color.

1. Disconnect red wire between safety switch and gun barrel elevation unit.

2. Change original 3P connector to 4P type, add additional wire from safety switch to 4P connector,

3. Add 4P connector HUL-8P PCB connector

4. AirSoft unit is now controlled by red-black pair, gun barrel unit is controlled by red-white pair. and you can connect 8P connector to CN9 on TK-18/20 with original cable.

5(Optinal). refer to wiring diagram, 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 on TK22 in case you stall motor.

2.2 ohm resistor can also be found on RX-18.

Here is a video of airsoft setup for Taigen Tank

Tail Light in HL tank is wire to MG light, so the Tail Light flashes when MG firing, this is very funny to us, to correct this problem and make tail light to be controlled with Headlight, please refer to the picture below and rewire it.

1. Remove 2 pin plug from PCB, twist angled pins to opposite side,

2. Connect Tail Light LED + pin(  Red wire of Tail Light cable) to CN9.3 pin( Yellow wire )

3. Connect a 200 Ohm resistor between 2-P connector pin and CN9.2 pin(Green), a SMD type resistor is used in this example to save space.

Original wiring diagram

Corrected wiring diagram

RealRecoil( Patent Pending) servo port allows you to recreate real gun barrel recoil movement with single &  cheap servo, what you need to do is to link servo and gun barrel then RealRecoil takes the rest. direction of servo movement can be set by user, please see section "Tank Personalization"

HL Hop-up options "HIGH-TENSION FLASHER" can be easily installed and works with TK20 to simulate gun nuzzle flash when firing.

A white LED and cable connector are needed( Part Number is F003)

Solder color wire (red wire in this example) to long pin of white LED, black wire(-) to short pin,

Plug cable into J3.

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

Steps to change settings:

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

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

STEP 2: Install a jumper to J2 as shown below, Turn power on,

STEP 4:Refer to function table listed below, point Configuration IR 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

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

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

Function tables:

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

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

*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.

*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.

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

*pivot turn is also named as super spin.

Momentum effect On/Off: Press "SLEEP(0x36)" or "" on IR Configuration Remote to select

*This function is only available on TK22

Reload Sound On/Off: Press "Timer Off(0x3C)" or " "on IR Configuration Remote to select

*This function is only available on TK22

Firing tank gun hull recoil On/Off: Press "SURROUND(0x29)" on IR Configuration Remote to select

*This function is only available on TK22

Strength of firing tank gun hull recoil: Press "VOL UP" key on IR Configuration Remote to select

Available Settings	Indicator flashes times	Description
1	1	Small( 1 ) to Large( 16 )movement
:	:
6	6*
:	:
16	16

RealRecoil servo direction: press "CH down" or "PROGR -" key on IR Configuration Remote to select

Q: Airsoft unit fires continuously and have no cannon sound.

A: When main Main Gun Function Mode is configured to AirSoft Mode, TK22/20 start to drive AirSoft motor (thought CN9 3rd &4th pin) when fire cannon command is received. when Airsoft just fired, Airsoft switch is closed , Tk22 knows it thought  CN3  Pin4 & Pin5. and then stop to drive Airsoft Motor and start to generate cannon. So in order to make it works properly,  AirSoft motor need to be connected to CN9 pin3 and pin4. AirSoft switch connector to CN3  Pin4 & Pin5.

You can simply test it by a tweezers, to short and release it will stop AirSoft motor.

Q: How to avoid damage that caused by short circuit to the board?
A: Damage can be prevented by using a current limited power adaptor as power source, first to find a ~6V, 400mAh power adaptor, 1K 1/4W ohm resistor, LED and a motor cable(from HL cable Set)

then connect + wire(with white strip) from adaptor to red wire of HL cable, - wire to black wire of HL cable, adn wire resistor and LED as the following to act as indicator.

Each time, when you did some modification on circuit or after installation, use this as power source fist. plug connect each by each, and LED will be dimmed immediately if any shortage in circuitry and not thing on TK board will be damaged because power can only supply low & limited current.

The board might be act very strange when it's power by this, such as motor can not moves will, cannon fired unexpectedly when turret rotation sound comes up, these are quite normal because current is not enough.

Q: I accidentally shorted speaker wire and now had barely any sound, everything still works but hardly any sound.
A: A FB( pointed by red arrow) might be damaged because of over current, please remove it and short its two pads by solder or wire. Of course, It's the best if you can find a 200 ohm FB and replace the broken one.

2nd, the audio amplifier ( pointed by green arrow) goes very hot when operating, do not apply glue or double faced adhesive tape on it and left some space for it for heat dissipation.  

Q: How to interface to 6W external sound booster(amplifier)
A: This picture shows the pin assignment of external 6W amplifier, in this example, Battery + & Battery - are power input pin, SIN+ and - is for audio signal input,  SPK+ and - is speaker port

First to disconnect black wire from HL Volume control board and isolate it with tape, wire a 2-P, 2.54mm pitch connector wire to Volume control board as shown below

Then to power amplifier by battery

Finally, connect power form TK22 to Battery+ & Battery - pin, connect 2-P, 2.54mm pitch connector wire SIG+ and SIG-,and then connect sparker to SPK+ and SPK- pin.

Here is pin assignment of another type 6W AMP, just refer to the above and wire pins with same pin assignment.

Generally, higher the input power, higher the sound output power on speaker, so we can also use a DC-to-DC voltage booster to convert battery voltage into higher voltage, then to drive external audio amplifier to have more solid and powerful sound,

Because output ripple is much lower after DC-to-DC conversion, so this can also reduce  motor "humm" sound during motor start up and at low speed. another benefit of this configuration is that you can use 8-ohm speaker but still have good loudness. In the example below, we use an adjustable DC-to-DC voltage booster to convert battery voltage into 12V.

Step 1: first to connect AMP to TK board and battery as describe previous and make sure it sounds correctly,

Step 2: connect DC-to-DC voltage booster to battery only, measure the output voltage, if voltage is higher or less than 12V, adjust VR on it till output voltage is around 12V,
Step 3: disconnect AMP from battery power then connect to the output of DC-to-DC voltage booster.

HINT: use VR pointed by black arrow in this diagram to adjust voltage to 12V before powering amplifier

Wiring diagram for 15W amplifier: Use VR on DC/DC converter to set output voltage to 15V

Q: When I move left stick backward, only the right track goes backward the left track does not move, It is possible I crossed the +positive and --negative terminals when connecting the new motors?
A: Yes, when +positive and --negative terminals are crossed, one of terminal will burn out immediately, you can bend FETs a little bit to check these traces, one of them should be broken. you can reconnect it by soldering to fix the problem.

We recommend that to use power adapter(7.2V, 400mAh) as power source after rewiring. then switch to battery when everything are tested OK.

Q: Tank hull recoil movement direction is not correct, moves forward and then backward while firing main gun.
A: Just need to swap motor cables, CN6 to Motor Right, CN7 to Motor Left, and turn on servo reverser function on throttle channel from radio transmitter.

Q: All function runs but just no sound!!

A: This can be the common issue on HL Volume Control board, just to short outer pins of CN4 with tweezers to verify it. if  sound comes out when doing this, the HL volume control board is broken.

Q: Do I need noise filtering capacitor on motor

A: Yes, it's needed to prevent back EMF to interference TK20 board. All HL stock tank already have it on motors

This type of capacitor is not good, DO NOT USE!

Q:Tank moves backward faster than forwards and does not turn. It only turn if firstly turn steering stick and secondly throttle stick.

A: To turn off mixer on transmitter and test again.

Q: Can get motor sounds, cannon sounds, turret sounds, but no motion on either drive motors or turret rotation gearbox

A:  Check if battery voltage is too low, auto cutoff function cuts motor off when battery voltage is too low.

- Cannon

- Machine Gun

- Gun elevation

- Turret travels( 4 sections, start, loop1, loop2 & stop)

- Engine Start, engine step 1~8, engine stop.

Q: What is Mixer

A: A piece of software that converts Rudder and Throttle control signal to Left and Right track speed signal. All TK board has mixer on it, mixer function on RC transmitter need to be turned off.

Q: What is Safety shutoff:

A: Controller cuts motor off and waits signal come back.

Q: What is Auto cutoff:

A: The motor cutoff will occurred when battery input drops below minimum supply voltage of controller.

Q: Which RC system can works with TK board:

A: Basically, TK can work with all kind of aftermarket RC system as long as it's PWM system, here is a table list most popular one.

Q: Audio Amp thermal protection:

A: that turns off device when junction temperature over 150 degree C to prevent damage

Q: Is it possible to make additional settings using existing IR signals for example to make HL IR signal and 9 hits can take, originally 5 hits?  

A: yes,  IR code to receive, IR code to transmit, preset & battle data can be set independently.

Q: Is it possible to set setting with other device (not SONY IR code remote)?

A: Only Sony IR code remote can be used, you can also have universal remote and configure it to SONY mode.

Q: Any Other SONY remote, such as SONY Bravia unified IR Configuration Remote, can config TK20?
A: Can't sure, with more and more setting function are added, some code not common on every remote are used. so we suggest to use same remote as we use.

Q: What's BEC

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

 Use dry battery or power supply as power source at testing to keep burn down anything if any error on modification. then use chargeable battery when every function working normally.

Read carefully and fully understand the instructions before commencing assembly.

Metal part on FET can not be touched with any metal when TK board is operating.

MADE IN TAIWAN