TK60G2 series RC tank Controller
Turn your RC tank into proportional radio control with vivid sound.
THIS IS NOT 100% PLUG AND PLAY BOARD, SIMPLE CHANGE IS NEEDED FOR FULL OPTIONS
(specifications and design are subject to change without notice)
TK60 series controller uses 4~10 channels RC system to control R/C tank's forward/backward movement, sharp turning, pivoting, turret rotation and gun barrel evaluation at variable speed 60A track motor driver 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 Max. of 15W sound output power 0.8A BEC Support air-soft gun with sound synchronization Support TAMIYA 1/16, TAMIYA 1/35, VStank and HL IR battle unit and format Support RealRecoil servo port Support elevation servo port Support gun barrel stabilizer Safety shutoff prevents unwanted movement while signal lost Auto R/C signal detection Support 3S Li-Po battery Miniature design(92mm X 52.3mm X 25mm)
*Horizontal turret stabilizer has motor gain control function which allows user to fine tune performance in different motor and voltage configuration.
*Sound set code info is on "Sound Set Code" page
Transmitter: FS-i6S, self-centering VrA and VrB type Radio
Assign SwB to CH7, SwC to CH8, VrA to CH9, VrB to CH10
TK60 Software Package List
*Depends on Turret board
Connector and Pin Assignment
Remove RX-18 or 2.4G control board from HL tank
Connect CH1~CH8 channel cables to receiver according to control mode.
Plug Left and Right track motor to CN6 and CN7 on TK60, or solder motor wire to CN6-A, CN6-B, CN7-A and CN7-B if track motor is 540/550.
(Optional) Plug battle unit base to CN2 Infrared Port
(Optional) Plug Gun flasher and recoil unit switch to CN3 Gun Flash Port
(Optional) Plug speaker to CN5 Speaker Port
Plug volume control unit to CN4
Rewire Air-soft unit if you want to elevate and depress gun directly, see "HL Gun Elevation and AirSoft Correction" section
Set Main Gun Function Mode to match your tank hardware configuration (HL AirSoft, HL or TAMIYA Recoil),
Plug 8-P upper hull functions cable to CN9,
Plug smoker unit and switch to CN10 and CN11,
(Optional) separate smoker heater wire from smoker unit and connect to CN12
(Optional) plug IR011 to J1
(Optional) plug recoil servo to J2
(Optional) plug LED flasher to servo to J3
(Optional) plug elevation servo to J4
(Optional) plug gun swing servo servo to J5
(Optional) plug rotate light unit to L1, L2 and L3 connector
(Optional) plug LED flasher to L5
(Optional) plug LED flasher to L7 and L8 as Right and left blinker
Install a switch (for example, HL Smoke Unit Switch Cable) to SW connector( Switch Cable Port) as power switch.
HL tank already have power switch on battery cable path, so additional switch is not required, 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.
TK60 board has 0.8A BEC( Battery eliminate circuit), can power receiver through channel cables, no additional battery is needed for receiver
Set trimmers on transmitter to center position,
Connect TK60 to battery or power adaptor( See FAQ )
Switch on TK60 board and transmitter,
Send different commands( see control mode diagram) to test each function, if board not functions accordingly, adjust trimmer on transmitter.
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.
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
TAMIYA battle unit wiring diagram
HL battle unit installation: wire CN2 connector to HBU and Flash Unit Flasher as the following
TAMIYA recoil unit installation( -T Version, or set Main Gun Function Mode to TAMIYA Recoil MODE )
STEP1. disconnect white and blue wire from recoil unit switch( see arrow in yellow), add cable connector to recoil switch( see arrow in red ), left green-white-blue cable not touched ( see arrow in green)
STEP2. green wire and white wire in green-white-blue cable goes to 3rd pin on CN9 and 4th pin on CN9(see arrow in green), black and red wire in red-black cable goes to 4th and 5th pin on CN3(see arrow in red).
HL recoil unit installation:
STEP1. Set Main Gun Function Mode to HL Recoil MODE,
STEP2. Connect detection SW( Pressed-to-Short type ) to 4th and 5th pin on CN3 or via the plug (Yellow and brown wire) from HL HIGH-TENSION FLASHER. Latest released HL recoil unit already has detection switch on it.
STEP3. connect motor - to 4th pin on CN9.connect motor + to 3rd pin on CN9.
Asiatam recoil unit installation:
STEP1. Set Main Gun Function Mode to TAMIYA Recoil MODE,
STEP2. Connect Recoil motor + to 3rd pin on CN9.connect motor - to 4th pin on CN9.
STEP2. Connect detection SW to 4th and 5th pin on CN3 or via the plug (Yellow and brown wire) from HL HIGH-TENSION FLASHER
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 TK60 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.
3 LED and cable connector are needed( Part Number is F003)
An IR LED and cable connector are needed( Part number is IR005/IR010 ).
Solder color wire (red wire in this example) to long pin of IR LED, black wire(-) to short pin,
Plug cable into J1.
GBS is an optional module of TK60. When GBS is turned on, it detects the tank movement and compensate gun rotation and elevation to stabilize the gun automatically. When GBS is turned on, operator can still change gun elevation and direction under GBS compensation, GBS have the following features:
-2-axis gun stabilization in turret rotation and gun elevation.
- Fully programmable gun elevation real angle calculator allows GBS to work with different elevation setup,
- Fully programmable turret motor controller allows GBS to work with different motor/gear box setup,
-Engine deck detection, gun raise automatically when gun travels above engine deck,
- Auto reload position, Gun barrel goes to to reload position after fire, and return to last position when reload when reload time expired,
- AdjustableEngine deck level,
- Adjustable auto reload position,
- Gun barrel momentum effect,
- GBS unit dimensions: 20 x 16 x 3mm.
Servo for GBS -
-Control System: +Pulse Width Control 1520usec
-Operating Angle: 45 Deg. one side
Power on GBS
Power on GBS calibration -When power on TK60G2, GBS starts a reset process and must be kept stationary.
Head Light LED is turned ON during GBS calibration and you must not to move the tank during calibration. The GBS are very sensitive and you should not touch or vibrate the GBS during power on reset. The process will take around 2 seconds. Head Light LED will be turned off when calibration completed.
An in-series 200-ohm resistor is needed for GBS LED
Mounting of GBS -The GBS unit must be mounted securely and horizontally on the turret, here is an example, first to use Tamiya 5mm square beam, cut into 5~6mm in length, make 1.6mm hole, then glue to turret floor by cement
Bolt GBS unit with the screws came with GBS unit, and plug connector to J6 port on TK60G2, Length of GBS cable can not exceed 80mm or TK60G2 may miss reading GBS.
For accurate motion detection, it must be kept within 5 degree with turret base plate. mounting directions is as shown in following picture. Servo for elevation is Futaba S3003 in this setup.
Recommended GBS mounting position for Leopard 2
Turning GBS on/off - GBScan be turned on/off by Gun Barrel Stabilizer on/off commanded, you can also hear click sound when turn it on and off
Adjusting gun elevation angle -The gun elevation V gain setting is used to adjust the amount of gun elevation servo angle to meet different mechanical setup. adjusting procedures are
-First to put TK60G board in IR programming mode.
-Turn GBS on and moves the gun barrel to horizontal position.
-Tilt the tank for 15-20 degree.
-Use IR configure remote to adjust servo gain value until the gun is horizontal again.
-Power off TK60G board, remove jumper and turn power again to leave IR programming mode.
Adjusting gun elevation angle calculator gains - The angle calculator's fast gain and slow gain settings are used to adjust the angle calculation, adjusting procedures are
-First to put TK60G2 board in IR programming mode.
-Turn GBS on and moves the gun barrel to horizontal position.
-Tilt the tank for 10-20 degree.
-Rotate turret in various speed ( from low to full speed), if elevation speed is too slow, increase slow gain a bit, otherwise, reduce slow gain,
-rotate turret to 12 o'clock position, tilt the tank hull about 15-20 degree in various speed, if elevation speed is too slow, can not keep up tank hull tilt speed, increase fast gain a bit, if elevation moves faster the hull tile speed and over the position it should be (overshoot), decrease fast gain a bit
-Power off TK60G2 board, remove jumper and turn power again to leave IR programming mode.
Adjusting turret rotation motor control gains -Turret rotation motor P , I and D gain are used to meet the characteristic of turret rotate motor and design on your tank. adjusting procedures are as the following.
-First to put TK60G2 board in IR programming mode.
-Turn GSU on
-Rotate tank hull from stationary to low speed, if turret motor does not start as quick as tank hull rotation, increase I gain a bit, if turret motor runs too fast (overshoot) , decrease I gain a bit.
-Rotate tank hull in various speed( low, middle and full) , if turret rotation speed is too slow, can't keep up hull rotation, increase P gain, otherwise, reduce speed gain,
-Stop tank hull rotation from various speed, if turret stops too early, decrease D gain, if turret stops too late increase D gain.
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.
Type of Tank determines Battle Date when doing IR battle( See Variants section )
Note: Suggested Value, can be changed by Reload Time and Invulnerability time setting function
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.
Main Gun Function Mode: Press "POWER" key on IR Configuration Remote to select
*Use this mode on Hooben Tank.
Receive TAMIYA IR Code: press "TV/VIDEO" or "->" Key on IR Configuration Remote to select
Receive HL IR Code: press "VOL DOWN" Key on IR Configuration Remote to select
IR Battle Preset Data: press "MTS" or "A/B" Key on IR Configuration Remote to select
Note1: Reference setting for HL Tank
Momentum effect On/Off: Press "SLEEP(0x36)" or "" on IR Configuration Remote to select
Reload Sound On/Off: Press "Timer Off(0x3C)" or " "on IR Configuration Remote to select
Taking a hit hull recoil On/Off: Press "JUMP(0x3B)" on IR Configuration Remote to select
Strength of taking a hit hull recoil: Press "CH Up" or "PROGR +" key on IR Configuration Remote to select
Firing tank gun hull recoil On/Off: Press "SURROUND(0x29)" on IR Configuration Remote to select
Strength of firing tank gun hull recoil: Press "VOL UP" key on IR Configuration Remote to select
RealRecoil servo direction: press "CH down" or "PROGR -" key on IR Configuration Remote to select
Gun elevation servo direction: press " Teletext ON(0x3F)" or "" key on IR Configuration Remote to select
Speed reduction in damaged state: press "3" key on IR Configuration Remote to select.
Speed reduction in badly damaged state: press "DISPLAY" or "DRC-MF" key on IR Configuration Remote to select.
Armor type: press number key "9" on IR Configuration Remote to select
Sending IR code when firing machine gun: press number key "6" on IR Configuration Remote to select
Primary weapon reload time: press number key "4" on IR Configuration Remote to select
Rounds of Primary weapon: press number key "8" on IR Configuration Remote to select,
Primary weapon IR code: press number key "0" on IR Configuration Remote to select
Invulnerability time: Vehicle is Invulnerable during this period, press number key "7" on IR Configuration Remote to select
Max hit can take: Press number key "5" on IR Configuration Remote to select
*The following setting function is only available on TK60G2
Function Page Selection: Press "-/--" Key on IR Configuration Remote to select. for TK60G2 only
*Text in black means that setting function is on page1.
GBS LED enable: press "TV/VIDEO" or "->" Key on IR Configuration Remote to select
Elevation Sound Mode: press "SOUND Mode" Key on IR Configuration Remote to select
*Default setting for TK60
**Default setting for TK60G2
Horizontal GBS motor P gain increase: Select page 4 , press number key "1" on IR Configuration Remote to increase gain
Horizontal GBS motor P gain decrease: Select page 4 , press number key "4" on IR Configuration Remote to increase gain
Horizontal GBS motor I gain increase: Select page 4 , press number key "2" on IR Configuration Remote to increase gain
Horizontal GBS motor I gain decrease: Select page 4 , press number key "5" on IR Configuration Remote to increase gain
Horizontal GBS motor D gain increase: Select page 4 , press number key "3" on IR Configuration Remote to increase gain
Horizontal GBS motor D gain decrease: Select page 4 , press number key "6" on IR Configuration Remote to increase gain
Horizontal GBS sensitive increase: Select page 4 , press number key "8" on IR Configuration Remote to increase gain
Horizontal GBS sensitive decrease: Select page 4 , press number key "0" on IR Configuration Remote to increase gain
Vertical GBS slow response gain increase: Select page 3 , press number key "1" on IR Configuration Remote to increase gain
Vertical GBS slow response gain decrease: Select page 3 , press number key "4" on IR Configuration Remote to increase gain
Vertical GBS fast response gain increase: Select page 3 , press number key "2" on IR Configuration Remote to increase gain
Vertical GBS fast response gain decrease: Select page 3 , press number key "5" on IR Configuration Remote to increase gain
Vertical GBS servo angle gain increase: Select page 3 , press number key "8" on IR Configuration Remote to increase gain
Vertical GBS servo angle gain decrease: Select page 3 , press number key "0" on IR Configuration Remote to increase gain
Engine deck level increase: Select page 3 , press "VOL UP" on IR Configuration Remote to increase level
Engine deck level decrease: Select page 3 , press "VOL Down" on IR Configuration Remote to decrease level
Engine deck level Function Enable: Select page 3, press "MUTE" Key on IR Configuration Remote to select
Engine deck level detection switch polarity : Select page 3, press "JUMP" Key on IR Configuration Remote to select
Auto Load Position UP: Select page 3 , press "CH UP" on IR Configuration Remote to increase level
Auto Load Position Down: Select page 3 , press "CH Down" on IR Configuration Remote to decrease level
Auto Load Position Function Enable: Select page 3, press "POWER" Key on IR Configuration Remote to select
Point Configuration IR remote to TBU/HBU and press key listed below to show vehicle status or test IR battle function. No jumper should be installed on J1.
EZ Sound pack is created by combing Pack Header, sound effect data region and region mark, can be modified and simulate sound effect result by most of Audio editing tool on the market easily, no extra tool to install and learn, can be adapted in TK20 and Tk60 series and therefore named EZ sound pack
Pack Header is binary code sequence that indicate the process to take place
Pack Header Format
Sound effect data original is the start address of sound effect data regions, it's 242144 or 0x40000
Sound effect data region is the region that contain the audio effect samples that you want to play in specific event.
Sound effect data region format
Region mark is binary code 0xff sequence that denote the end of each sound effect data region, the length of sequence must equal or larger than 128 bytes.
Sound effect data region and Region mark format
Audio editing tool is software which allows editing and generating of audio data, such as Audacity or Sound Forge, more details are on https://en.wikipedia.org/wiki/Audio_editing_software
TK programmer is a hardware device which can program EZ sound pack to TK board, click on the link for details.
Programming port is a connector (J6) on TK board to connect to TK programmer
Raw binary file is sound file without file header, contains only sound effect data, most of audio editing tool have this option when saving file.
Pre-built sound pack is a sound pack built by us to program TK board, it includes two files, sound_pack_name_run_time.bin and sound_pack_name_prog.bin, please write to distributor or us (email@example.com) to request
Sound pack template is a single wav file contains required sound effect data and region mark, can be used as template when building new sound pack, please write to distributor or us (firstname.lastname@example.org) to request
Building a sound pack
Step 1. Open sound pack template with audio editing tool,
Step 2. paste sound effect data to the region to change, process( volume, pitch, noise reduction, echo..) and simulate (looping, repeat, transition.. ) sound effects in audio editing tool,
Step 3. set Global Control =0x80, set Region update control =0x80,
Step 4. save sound pack file in raw binary(*.bin) format, named as sound_pack_name_run_time.bin,
Step 5. set Global Control =0x00, set Region update control =0x00,
Step 6. save sound pack file in raw binary(*.bin) format, named as sound_pack_name_prog.bin.
Procedure to program sound pack
Step 1. Plug LED to J3 as programming indicator,
Step 2. Load sound_pack_name_prog.bin to TK programmer
Step 4. Power off TK board,
Step 5. Program to TK board,
Step 7. Power on TK board, programming indicator flashes till all process required are done.
Step 8. Verify sound effects, if all meets requirements, go to next step, otherwise modify sound pack and then go to step 2,
Step 9. Power off TK board,
Step 10. Load sound_pack_name_run_time.bin to to TK programmer
Step 11. Program to TK board again,
Step 12. Power on TK board, TK board runs with latest programmed sound, setting and software
Q:How to use Motor Additional Pad to connect 540/550 motor?
A: Solder thicker wire to Additional Pad to reduce resistance
Q: My Tk60 can not register a hit from Tamiya tank.
A: To check "Receive Tamiya IR code" setting. TK60 won't response Tamiay IR code when this setting is disabled.
The airsoft motor does not run until after the gun fire sound has played and the
reload sound has happened. I want the airsoft motor to run while the gun sound
plays. I also planned to make recoil work with the airsoft…but when I fire the
gun, the recoil servo operates in time to the sound…but has returned to the
normal position when the airsoft motor operates.
Q: I already set Main Gun Function Mode to HL AirSoft MODE, but AirSoft motor does not run when I give fire cannon command.
A:To correct airsoft unit wiring as HL Gun Elevation and AirSoft Correction section mentioned.
Q: Airsoft unit fires continuously and have no cannon sound.
A: When main Main Gun Function Mode is configured to AirSoft Mode, TK60 start to drive AirSoft motor (thought CN9 3rd &4th pin) when fire cannon command is received. when Airsoft just fired, Airsoft switch is closed , Tk60 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.
How to avoid damage that caused by short circuit to the board?
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: Tank hull
recoil movement direction is not correct, moves forward and then backward while
firing main gun.
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.
Q: What is Mixer
A: A piece of software
Rudder and control
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?
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