dji Snail User manual

V1.0 2017.01
User Manual
用户手册
使用者手冊
ユーザーマニュアル
사용자 매뉴얼
Bedienungsanleitung
Manual del usuario
Manuel de l’utilisateur
DJI Snail
Racing Propulsion System
竞速多旋翼动力系统
競速多旋翼動力系統
レース用推進システム
레이싱 추진 시스템
Rennantriebssystem
Sistema de propulsión para carreras
Système de propulsion

User Guide 2
使用说明 14
使用說明 24
ユーザーガイド 34
사용자가이드 46
Bedienungsanleitung 58
Guía del usuario 70
Guide de l’utilisateur 82
Contents

2
©2017 DJI All Rights Reserved.
EN
Disclaimer and Warning
Thank you for purchasing the DJI™ Snail Propulsion System
(hereinafter referred to as “product”). Read this disclaimer
carefully before using this product. By using this product, you
hereby agree to this disclaimer and signify that you have read
it fully. Please install and use this product in strict accordance
with the User Manual. SZ DJI TECHNOLOGY CO., LTD. and
its affiliated companies assume no liability for damage(s) or
injuries incurred directly or indirectly from using, installing or
retting this product improperly, including but not limited to
using non-designated accessories.
DJI is a trademark of SZ DJI TECHNOLOGY CO., LTD. (abbreviated
as “DJI”) and its aliated companies. Names of products, brands,
etc., appearing in this manual are trademarks or registered
trademarks of their respective owner companies. This product and
manual are copyrighted by DJI with all rights reserved. No part of
this Product or manual shall be reproduced in any form without
the prior written consent or authorization of DJI.
This disclaimer is produced in various languages. In the event of
divergence among dierent versions, the Chinese version shall
prevail when the Product in question is purchased in China,
and English version shall prevail when the Product in question is
purchased in any other region.
Legend
Important Hints and Tips Reference
Warning
When powered on, the motors and propellers will rotate very
quickly and can cause serious damage or injuries. Always be
vigilant and make safety your top priority.
1. Always attempt to fly your aircraft in areas free of people,
animals, power lines, and other obstacles.
2. DO NOT approach or touch the motors or propellers when the
unit is powered on.
3. Ensure that there are no open circuits or short circuits when
soldering the ESC cables.
4. Before takeoff, ensure that the propellers and motors are
installed correctly.
5. Ensure that all parts of the aircraft are in good condition. DO
NOT y with worn or damaged parts.

©2017 DJI All Rights Reserved.
3
EN
Introduction
The Snail Racing Propulsion System is a multirotor propulsion
system designed for racing multirotor aircraft with a max thrust
of 1.32kg/rotor. Based on the operation environment of racing
multirotor aircraft, impact analysis and drop tests are performed
on the Snail 2305 Racing Motor to guarantee its rugged
structure.
The Snail 430-R Racing ESC uses a 32 bit motor driver chip with
a maximum main frequency of 100MHz. Its advanced algorithms
allow a responsive motor drive with precise control and its small
power supply ripple ensures normal performance of other power
supply units when motors reach maximum current output. Like
most DJI products, the ESC rmware can be updated, ensuring
that the Snail is constantly rened.
Features
Active Braking Function
3D Mode*
Two Throttle Signal Modes
Regular throttle signal: 30Hz to 500Hz PWM signal
OneShot125 signal: 30Hz to 1000Hz
High Rotational Speed Motors
46,000rpm (7 pole pairs)
322,000rpm (1 pole pair)
6. Only use compatible, authorized DJI parts.
7. Ensure that all parts are rmly in place and all screws are tight
before each ight.
8. The input throttle signal mode (regular or OneShot125) cannot
be changed while the product is in use. Set the input throttle
signal mode on your flight controller. Restart the electronic
speed controller to apply the new mode.
9. Do not connect the electronic speed controller to a DC
regulated power supply, or the power system and the
electronic speed controller will be damaged when the product
captures energy produced during deceleration as this product
has Active Braking Function by default.
10. Ensure that the motors rotate smoothly before takeo.
Active Braking Function: The motor actively reverses torque
when decelerating, recovering some of the rotational energy.
Normal braking relies mainly on air resistance.

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©2017 DJI All Rights Reserved.
EN
2305 Motor (CCW) × 2 2305 Motor (CW) × 2 430-R ESC × 4
Heat-shrink Cover × 4 Screws (M3 × 5, M3 × 6)
Standard Package
Optional Package
5048 Tri-blade
Propeller Pair
ESC Programmer
Quick-Release Propeller Pairs
6048-3D
Propeller Pair
5024S 6030S 7027S 5048S Tri-Blade
Maximum Continuous Current: 30A
DJI ASSISTANTTM 2 Software
Complete Electromagnetic Compatibility Test
Radiated Emission
Electrostatic Discharge Immunity
Radiated RF Electromagnetic Field Immunity
Typical Applications: Racing multirotor aircrafts
* Get 6048-3D Propellers and update the ESC rmware via DJI
Assistant 2 to activate the 3D mode of the 430-R Racing ESC
(Refer to Connecting the ESCs for more information).
In the Box

©2017 DJI All Rights Reserved.
5
EN
A DJI Snail Propeller Adaptor is required for mounting 6048-
3D Propellers and 5048 Tri-Blade Propellers on the motors.
5048S Tri-Blade Quick-Release Propellers are recommended
for use with the Snail Racing Propulsion System. Y-shaped
and aerodynamic designed blades enable them to provide
racing multirotor aircraft with sufcient strength and stiffness.
Connecting the ESCs
Tool Required: Power distribution board (PDB), electric soldering
iron and soldering tin.
1. Solder the ESC’s black GND cable and white VCC cable to
the pads on the PDB as shown.
2. Connect the signal cable to your ight controller. The signal
cable’s white wire transmits the control signal; the black wire is
for GND.
3. Connect the motor to the ESC. Test the motors and ensure
that the rotation direction of each motor is correct. You can
reverse the rotation direction by swapping the positions of
any two cables. See below the ESC Conguration for more
information on how to reverse the motor rotation direction.
4. A PMW signal cable is also used to connect PC to update
rmware.
Be sure to solder the cables onto the pads according to
the specications of your PDB. The PDB in the gure uses
its outer pads for the black GND cables, and the inner
pads for the white VCC cables. Cut the cables to length.
The cables should be shortened to avoid bunching up
near the solder points. As shown in the picture.
PWM Signal Cable (To ight controller)
VCC Cable (White), GND Cable (Black)
Ensure that there are no open circuits or short circuits
when soldering the ESC cables.

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©2017 DJI All Rights Reserved.
EN
Mounting the Motors
The dimensions and thread sizes of the motor are illustrated
below. Ensure they are compatible with your frame arms before
mounting the motors.
28.2 mm
17.3 mm
ф29 mm
ф2.95 mm
19 mm
16 mm
4 × M3
Thread Depth
3 mm
10.3 mm
3 × M2
Thread Depth
3 mm
Assembly hole on the
bottom of the motor
Assembly hole on the top of the
motor without the Quick-Release
Propeller Adapter, spring and screws
Use a suitable Propeller Adapter and airframe that can
withstand the large thrust delivered by the Snail Racing
Propulsion System.
Choose an appropriate screw length and screw size
according to the depth of the assembly hole and thickness of
the motor mounting plate. Using screws that are too long or
too large may not be able to secure the motor.
When mounting or removing the motors, be careful to prevent
foreign articles from entering the motors.
Assembling the Propellers
Quick-Release Propellers
This example uses the 5048S propellers. Instructions also apply
to the installation of 5024S, 6030S and 7027S.
1. Pair the propellers marked CW with the clockwise rotating
motors; pair the unmarked propellers (white ring on the

©2017 DJI All Rights Reserved.
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EN
Other Propellers
This example uses the 6048-3D propellers. Instructions also
apply to the installation of 5048 Tri-Blade Propellers.
Tools Required: M2 hex key and Snail Propeller Adapter.
1. Remove the screws securing the Quick-Release Propeller
Adapter on the 2305 Racing Motors, and then remove the
Quick-Release Propeller Adapter.
bottom of the propellers) with the counterclockwise rotating
motors (with white dots).
2. Align gap A inside the propeller nut with n B on the Propeller
Adapter. Press the propeller down onto the adapter rmly and,
while holding the propeller pressed down, rotate the propeller
in the lock direction (propellers marked CW rotate counter-
clockwise; propellers without markings rotate clockwise) until
you feel it secure in place.
3. To remove the propeller, press the propeller down rmly and,
while holding the propeller pressed down, rotate the propeller
in the unlock direction until it can be removed easily.
2. Remove the cap on the Snail Propeller Adapter.
3. Align the holes of the black Propeller Adapter with the holes
on the CW motors. Insert the M2×4 screws and tighten to
secure. Align the holes of the red Propeller Adapter with
the holes on the CCW motors. Insert the M2×4 screws and
tighten to secure.
B
2
1
A

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©2017 DJI All Rights Reserved.
EN
Stand clear of the motors and DO NOT touch the propellers
when they are spinning.
Use only DJI approved propellers.
Use appropriate propellers for your needs, as they can wear out.
Pay attention to screws properly during installation and removal.
Before mounting 6048-3D Propellers, select 3D Mode in DJI
Assistant 2 and update the corresponding rmware. (Refer to
Using DJI Assistant 2 for details)
PC
Using DJI Assistant 2
DJI Assistant 2 is used to update and configure the ESC.
Remove propellers before connecting to DJI Assistant 2.
430-R ESC ESC Programmer
Unplug any other serial devices connected to your PC before
updating. Then follow the instructions below.
1. Download and install DJI Assistant 2 from the Official DJI
website. (http://www.dji.com/snail/info#downloads)
2. Connect the ESC Programmer to the ESC with the PWM
signal cable and to your computer using the USB cable on the
programmer.
3. Connect a battery (3-4S LiPo) to supply power to the ESC.
Do not disconnect the ESC from your computer or the power
supply until conguration is complete.
4. Install the unmarked propellers onto the red Propeller Adapter,
and install the propellers marked with CW onto the black
Propeller Adapter.
5. Secure the propellers by rotating the red cap onto the axes of
the red Propeller Adapter and black cap onto the axes of the
black Propeller Adapter.

©2017 DJI All Rights Reserved.
9
EN
Ensure that your computer is connected to the Internet during
update.
Ensure that the battery level is adequate for the update.
DO NOT unplug the USB cable during the update.
Retry to update if DJI Assistant 2 displays an update failure
prompt.
If the ESC is not recognized by the DJI ESC Assistant, check
if there is more than one FTDI device connected such as
another DJI Updater or programmer, an FTDI USB adapter
or development board (e.g. a BeagleBone, Raspberry or
Arduino board). Unplug the other FTDI devices. Restart the
DJI Assistant 2 and the ESC, and try again.
4. Launch DJI Assistant 2. When a connection is established,
the software will display the connected devices. Use your DJI
account to log in.
5. Click Settings to set parameters.
6. Click the rmware update and select the version you would
like to update. DJI Assistant 2 will automatically download
and update the rmware. Restart your ESC after the update is
complete.
ESC Conguration
Calibrate the throttle range and switch the motor rotation
direction using the remote controller.
1. Power on the remote controller and receiver. Ensure a good
communication between them. Push the throttle stick all the
way up. The motor start a slow double beep, a single beep
sequence.
2. Then the warning sound will alternate between a quick single
beep and a quick double beep. Pull the throttle stick all the
way down after hearing a single beep to calibrate the throttle.
Pull the throttle stick all the way down after hearing a double
beep to reverse the motor rotation direction. By rotating the
desired motor quickly in any direction, this motor’s rotation
direction will be changed.
3. The warning sound becomes a chime when completed.
4. Restart the ESC after reversing its rotation direction.

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©2017 DJI All Rights Reserved.
EN
System Status Beep Codes
The motors will beep when the Snail is in use. The table below
contains more information about the warning sound.
Alarm Description
Chime Ready to work
Rapid Beeping
Minimum throttle signal not reached. Check
the ight controller, remote controller or
remote controller receiver.
Slow Beeping No throttle signal.
Alternating Single
and Double Beeps
Using the remote controller for conguration and
set motor rotation direction.
Specications
Max Thrust 1.32kg/rotor (16.8V, Sea Level)
Recommended Battery 4S LiPo
Recommended Takeoff Weight 125–250g/rotor (Sea Level)
Operating Environment -10° to 50℃
ESC
Max Allowable Voltage 17.4V
Max Allowable Current*
(Continuous) 30A
Max Peak Current*(3 sec) 45A
Supported Throttle Signal
Modes Regular/OneShot125
Max OneShot125
Signal Frequency 1000Hz
Max Regular Signal Frequency 500Hz
Default PWM Output
Signal Frequency 16kHz
Weight (Without Cables) 2.8g
Supported Battery 3S–4SLiPo
Motor
Stator Size 23×5mm
KV 2400rpm/V
Weight (Without Cables) 27.8g
* Tested at the temperature of 25℃, well ventilated
Propellers Diameter×Thread Pitch Weight (single one)
5048S propellers 5×4.8inch (12.70×12.19cm) 5.50g
5024S propellers 5×2.4inch (12.70×6.10cm) 3.45g
6030S propellers 6×3.0inch (15.24×7.62cm) 3.20g
6048-3D propellers 6×4.8inch (15.24×12.19cm) 4.10g

©2017 DJI All Rights Reserved.
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EN
Performance and Parameters
The following data was generated using 5048s tri-blade Quick-
Release propellers. Use this data to facilitate the proper use of
the propulsion system.
A payload of 120g to 300g per rotor is recommended for
optimal performance.
DO NOT overload the system. A payload more than 400g
per rotor will severely compromise safety and performance.
It is recommended to pair with racing aircraft weighing
less than 650g (including battery).
Snail Racing Propulsion System Performance
Thrust (g/rotor）
Power Loading (g/W)
1
2
3
4
5
6
7
8
0 200 400 600 800 1000 1200
The data above was measured with an input voltage of 14.8 V, at a temperature of
25°C and sea level. The thrust was adjusted by the throttle.
5048 propellers 5×4.8inch (12.70×12.19cm) 5.68g
7027S propellers 7×2.7inch (17.78×6.86cm) 4.32g
950
1000
1050
1100
1150
1200
1250
1300
1350
0 12 13 14 15 16 17
Max Thrust (g/rotor)
Input Voltage (V）
The data above was measured at full throttle, at a temperature of 25°C and sea level.

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©2017 DJI All Rights Reserved.
EN
η
P
T
I
80
70
100
90
60
50
40
30
20
10
0
5000 1500010000 20000 25000 30000 35000
1
0.9
0.8
0.7
0.6
0.5
0.4
0.3
0.2
0.1
0
800
700
600
500
400
300
200
100
0
250
200
150
100
50
0
(N·m)
T
I (A)P (W)
η (%)
N (rpm)
TI
P
η
80
70
60
50
40
30
20
10
0
40
35
30
25
20
15
10
5
0
5000 1500010000 20000 25000
1400
1200
1000
800
600
400
200
0
500
450
400
350
300
250
200
150
100
50
0
(g/rotor)I (A) P (W)
η (%)
N (rpm)
T
η – Electrical Eciency, T – Thrust, I – Current, P – Input Power, N – Rotational Speed
The data above was measured with an input voltage of 14.8V, at a temperature of
25°C and sea level. The rotational speed was adjusted by the throttle. Electrical
eciency is the product eciency of the system including the ESC and motor.
2305 Racing Motor Performance
Performance Diagram
Speed Constant 2400rpm/V
Back Electromotive Force Constant 0.0056364 v ∙s/rad
Mechanical Time Constant 200ms
Motor Rotor Inertia 1.84kg∙mm²
T – Torque, I – Current, P – Output Power, η – Eciency, N – Rotational Speed
The data above contain theoretical values measured with an input voltage of 14.8V,
for reference only. When operating at a temperature of 25°C with no additional cooling
devices, the motor cannot operate with a current more than 50A. It can support
short term operation (about 1 to 10 sec) with a current between 25A and 50A, and
continuous operation with a current under 25A. The motor run time should depend on
the actual environmental temperature and cooling conditions.
Characteristic Parameters

EN
This content is subject to change.
Download the latest version from
http://www.dji.com/snail
Copyright © 2017 DJI All Rights Reserved.
Total Rotor Inertia (5048S Propeller Included) 6.62kg∙mm²
Torque Constant 0.0054267N∙m/A
Line-to-Line Inductance 14μH
Line-to-Line Resistance 61mΩ
Thermal Time Constant 100s

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免责声明
感谢您购买 DJITM Snail 竞速多旋翼动力系统。在使用 Snail 竞速多旋
翼动力系统之前，请仔细阅读本声明，一旦使用，即被视为对本声明
全部内容的认可和接受。请严格遵守手册安装和使用该产品。因用户
不当使用、安装、改装（包括使用非指定的 DJI 零配件，如：电机、
电调、螺旋桨等）造成的任何损失，深圳市大疆创新科技有限公司及
其关联公司将不承担任何责任。
DJI 是深圳市大疆创新科技有限公司及其关联公司的商标。本文出现
的产品名称、品牌等，均为其所属公司的商标或注册商标。本产品及
手册为深圳市大疆创新科技有限公司版权所有。未经许可，不得以任
何形式复制翻印。
关于不同语言版本的免责声明可能存在的语义差异，中国以中文版为
准，其他地区以英文版为准。
符号说明
重要注意事项操作 使用提示 词汇解释
产品使用注意事项
高速旋转的螺旋桨可能会对人身财产造成一定程度的伤害和破坏，因
此在使用 Snail 竞速多旋翼动力系统时，请务必注意安全。
1. 使用时请远离不安全因素，如障碍物、人群、高压线等。
2. 切勿贴近或接触旋转中的电机或螺旋桨，避免被旋转中的螺旋桨
割伤。
3. 确保电调焊接正确，电路无短路、无开路。
4. 使用前请检查螺旋桨和电机是否安装正确。
5. 使用前请检查各零部件是否完好。如有部件老化或损坏，请更换新
部件。
6. 请使用 DJI 提供的配件。
7. 每次飞行前，请检查飞行器各部分结构及螺丝是否松动。
8. 输入油门信号模式（普通油门信号或 OneShot125）在电调运行过
程中不可更改。如需切换，请在飞控中更改输入油门信号模式，然
后重新给电调上电。电调在重新上电后会自动检测当前模式。
9. 由于电调默认带主动刹车功能，请勿使用直流稳压电源连接电调进
行测试，否则将会导致电调以及电源损坏。
10. 起飞前请检查电机是否可以流畅旋转。
主动刹车：电机主动提供反向力矩来使螺旋桨减速。若关闭主动
刹车功能，螺旋桨减速将主要通过桨叶的空气阻力实现。

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简介
Snail 竞速多旋翼动力系统是一款单轴最大拉力为 1.32kg 的多旋翼动
力系统，适合竞速多旋翼飞行器。Snail 2305 竞速电机根据竞速多旋
翼飞行器的使用场景，进行了力学的冲击仿真以及科学的跌落测试，
保证结构的强度，增加耐摔性。Snail 430-R 竞速电子调速器专为竞速
多旋翼飞行器设计，采用了主频高达 100MHz 的32 位定制电机驱动
芯片；搭载先进的控制算法，实现急速精准稳定的电机驱动控制；供
电纹波小，保证大电流输出的情况下不会对其他设备的供电造成影响。
固件支持用户自行升级，方便用户享受未来的新功能。
产品特性
支持主动刹车功能
支持 3D 模式 *
支持两种油门信号
普通油门信号：30 - 500Hz 的PWM（脉宽调制）信号
OneShot125 信号：30-1000Hz
支持最高转速电机
46000 rpm （7对极电机）
322000 rpm （1对极电机）
最高 30A 持续电流
支持 DJI ASSISTANTTM 2 PC 调参
完整的电磁兼容性测试
辐射骚扰测试
静电抗扰度测试
射频电磁场辐射抗扰度测试
典型应用：竞速多旋翼飞行器
* 如需使用 3D 模式，需配合 6048-3D 螺旋桨并通过 DJI Assistant 2 调参软
件对电调进行固件升级
（详见第 19 页使用 DJI Assistant 2 调参软件）
。
物品清单
逆时针旋转 2305 电机 ×2顺时针旋转 2305 电机 ×2 430-R 电调 ×4
备用热缩套 ×4 M3×5 螺丝 ; M3×6 螺丝
标准配件

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可选配件
若选用 6048-3D 桨及 5048 三叶桨，需另外购买 Snail 普通
桨转接件配合安装。
推荐搭配 Snail 5048S 快拆三叶桨使用。Snail 5048S 采用新
一代翼型和优秀的气动设计，并针对竞速多旋翼飞行器快速飞
行做了特殊的优化处理，提供充足的结构强度和刚度。
以图中所示分电板为例。分电板内圈焊盘为电源 VCC，外
圈焊盘为地 GND。剪一段电源线，长度刚好够焊接到板上
即可。焊接时请注意将线焊到正确的电极上。焊接后电源
线朝向板外侧（如图所示），并且线能平贴在分电板上。
安装电调
工具和材料（自备）：分电板、电烙铁和焊锡。
1. 将电调电源线焊到分电板上，注意焊点牢固并且不会出现短路。电
源线白色为电源 VCC，黑色为地 GND。
2. 将电调 PWM 信号线连接至飞控。其中白色线为控制信号线，黑色
线为地线。
3. 将电机的三根线分别连到电调上。调试使电机按照需求方向旋转。
如果不一致，交换该电机的任意两根连线。更多设置电机正反转向
方法，详见使用遥控接收系统设置参数部分内容。
4. 电调 PWM 信号线同时用于固件升级。
电调 PWM 信号线（连接飞控）
电源线（白色，VCC；黑色，GND）
5024S 快拆桨 6030S 快拆桨 7027S 快拆桨 5048S 快拆三叶桨
6048-3D 桨5048 三叶桨 电调编程器
请确保电路中没有短路或开路。

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安装电机
参考电机尺寸将电机安装到合适的力臂上。
28.2 mm
17.3 mm
ф29 mm
ф2.95 mm
拆下快拆桨桨座及弹簧后，电机顶部安装孔
19 mm
16 mm
4 × M3
螺纹深度
3 mm
10.3 mm
3 × M2
螺纹深度
3 mm
电机底部安装孔
Snail 穿越机动力系统的拉力较大，务必确保您所选用的电
机固定座及机架的结构强度与动力系统提供的拉力匹配。
请注意螺纹孔尺寸和螺纹深度。安装电机时，请根据螺纹
深度和您使用的电机固定座厚度，选择合适的螺丝。若使
用过长的螺丝，拧入后可能导致电机无法固定。
安装及拆卸电机时，切勿使异物进入电机。
安装螺旋桨
快拆式螺旋桨
包括 5048S 快拆三叶桨、5024S 快拆桨、6030S 快拆桨及 7027S 快
拆桨，此处安装说明以 5048S 快拆三叶桨为例。
1. 带CW 标志的螺旋桨对应顺时针旋转电机，未带 CW 标志的螺旋
桨（底部印有白圈）对应逆时针旋转电机（桨座带有白点）。
2. 将桨帽内的缺口 A对准电机上的凸出部分 B。用力下压桨帽到底后
沿锁紧方向旋转螺旋桨（CW 沿逆时针，未带 CW 则沿顺时针），
直至螺旋桨可以被弹簧弹起到锁止位置。
3. 如需拆卸，用力下压桨帽到底，然后沿解锁方向旋转螺旋桨，直至
其可以被自由取下。

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CHS
2. 取下普通桨转接件上的旋帽。
3. 将红色普通桨转接件与 CCW 电机上的安装孔对齐，黑色普通桨转
接件与 CW 电机上的安装孔对齐，拧紧螺丝进行固定。
4. 安装未带 CW 标志的螺旋桨到装有红色普通桨转接件的电机上，带
CW 标志的螺旋桨到黑色普通桨转接件的电机上。
5. 将原旋帽安装回普通桨转接件的轴上，并顺时针方向旋转红色旋帽，
逆时针方向旋转黑色旋帽，直至完全固定。
普通螺旋桨
包括 6048-3D 桨及 5048 三叶桨，此处安装说明以 6048-3D 桨为例。
安装时请自备适用于固定螺丝（M2×4) 的内六角扳手及 Snail 普通桨
转接件。
1. 拧开 2305 竞速电机上用于固定快拆桨桨座的螺丝，并取下原桨座
和弹簧。
B
2
1
A