MotoCrane RADICAL INS 2 User manual

RADICAL INS 2 Advanced Stabilization Operation Manual v1.0
NOVEMBER 2021

To minimize risk of serious injury, death or damage,
before using MotoCrane RADICAL INS 2, all
drivers and operators must read this Operation
Manual and all on-product labels.
All practices and procedures stated herein are
required for the proper and safe operation of
the RADICAL INS 2.
If there are any questions, please contact
MotoCrane Support at
[e-mail].
Keep this Operation Manual near your RADICAL INS
2 for future reference.
Safety Signal Words
This manual and the safety labels attached to this equipment utilize signal words that
signify safety hazards with different levels of severity. The words are preceded by a
triangle signifying that these are safety related. Below are the words used and the
definitions for these words:
●indicates a hazardous situation which, if not avoided, could result in
death or serious injury or damage
●indicates a hazardous situation which, if not avoided, could result in
minor or moderate injury or damage
●is used to address practices not related to physical injury
The terms IMPORTANT and NOTE are also used to describe ideas for better and more
ecient use of the RADICAL INS 2.
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Table of Contents
Safety Signal Words 2
Table of Contents 3
Before the First Drive 5
IMPORTANT PRODUCT AND SAFETY INSTRUCTIONS 6
Safety 6
IMPORTANT: Restricted Use Statement 6
Disclaimer and Limitations of Liability 6
Limited Warranty 7
Intellectual Property 7
Parts of the RADICAL INS 2 8
RADICAL INS 2 System Overview 8
Setting up RADICAL INS 2 Advanced Stabilization 9
Installing the RADICAL INS 2 Sensor 9
Electrical Connections 10
Startup Sequence and Configuration 10
RADICAL INS 2 Control Panel Layout 12
Status 12
Performance Monitoring Gauges 12
Tuning 13
Basic RADICAL INS 2 Tuning 13
Recommended Initial Tuning Values 13
Description of Settings 13
STRENGTH 13
STIFFNESS 13
FILTER 13
Understanding INS Advanced Stabilization 14
High-frequency vs. High-amplitude 14
Optimizing RADICAL INS 2 Tuning 15
Passive Isolator Tuning 15
STRENGTH/STIFFNESS Ratio 15
Oscillation vs. Performance 15
Recommended- Flowcine Tranquilizer 16
Range of Motion Limits in RADICAL INS 2 Stabilization Mode 16
RADICAL INS 2 Restrictions 17
Useful Tips 18
Known Hazards 19
Transporting the RADICAL INS 2 20
Troubleshooting RADICAL INS 2 Advanced Stabilization 20
Diagnosing with LEDs 20
Diagnosing with GUI Warning and Error Messages 20
3

Maintenance 23
Weather & Water 23
Specifications 23
Revision History 24
4

Before the First Drive
Do the following before using RADICAL INS 2 Advanced Stabilization for the first time.
1. Read this entire Operation Manual
2. Read the Warranty in the Terms of Sale
3. Watch the Video Tutorials at www.motocrane.com/support
4. Recommended: Attend MotoCrane Training for in-person demonstration
5

IMPORTANT PRODUCT AND SAFETY INSTRUCTIONS
Safety
The RADICAL INS 2 Advanced Stabilization upgrade is not a toy and can cause serious
injury, death or damage if not used properly. You must exercise caution during use of the
RADICAL INS 2 to ensure a safe filming environment for everyone. This Operation Manual
describes safe operation and should be read in conjunction with the applicable online
training videos or additional in-person training.
IMPORTANT: Restricted Use Statement
The RADICAL INS 2 Advanced Stabilization upgrade must only be used by trained operators
18 years of age or older when properly mounted on an appropriate motor vehicle driven on a
closed course with paved or finished surfaces (for example, asphalt, concrete, or tarmac)
or moderate off-road (for example, gravel or dirt roads) conditions. In addition, the speed
and acceleration of the motor vehicle must not exceed system ratings for RADICAL INS 2
as set forth in this Operation Manual.
Do not modify or adjust the RADICAL INS 2 assembly. The RADICAL INS 2 has been
calibrated before it is shipped to you. No modification or adjustment to the RADICAL INS 2
is allowed without the express written approval of MotoCrane, LLC.
Disclaimer and Limitations of Liability
You agree that you are responsible for your own conduct and any content created while
using the RADICAL INS 2, and for any consequences thereof. You agree to use this product
only for purposes that are proper and in accordance with local laws, regulations or other
legal requirements.
You also agree:
1. Any part of this disclaimer is subject to change without prior notice. Refer to
www.motocrane.com/support for the latest version.
2. MotoCrane, LLC reserves the right of final interpretation of this disclaimer.
3. MotoCrane, LLC has no control over the use, setup, assembly, modification or misuse of
the RADICAL INS 2, and therefore no liability shall be assumed or accepted by
MotoCrane, LLC for any resulting damage, death, or injury incurred directly or indirectly
from the use of the RADICAL INS 2. By the act of use, setup or assembly, the operator
accepts all resulting liability.
6

Limited Warranty
The RADICAL INS 2 has a limited manufacturer's warranty on parts and assembly. See the
Terms and Conditions of Sale for your RADICAL INS 2 for a complete description of this
limited warranty. This Limited Warranty is incorporated by reference into this Operation
Manual.
Intellectual Property
MotoCrane™, and are trademarks of MotoCrane, LLC. You may not use the
trademarks of MotoCrane, LLC without express written permission. All rights reserved.
7

Parts of the RADICAL INS 2
●1 pc RADICAL INS 2 Sensor + mount
●1 pc RADICAL INS 2 Cable
●2 pc M4 x 35mm SHCS
RADICAL INS 2 System Overview
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Setting up RADICAL INS 2 Advanced Stabilization
Follow these steps to set up and configure your RADICAL INS 2 Advanced Stabilization.
1. Installing the RADICAL INS 2 Sensor
1. The RADICAL INS 2 Sensor will be placed on the front boom section that is closest
to the middle boom. Loosely place the unit on the boom as shown, with about
140mm between the RADICAL INS 2 Sensor and the boom mounting features (this
dimension is not critical, but should be +/- 5 mm).
2. Fasten the unit to the boom using the provided M4 fasteners - make sure the top of
the housing is horizontal (this is not critical, but the more accurate it is, the better
the performance will be - visual alignment should be sucient)
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2. Electrical Connections
1. Connect the RADICAL INS 2 Cable between the RADICAL INS 2 Module and the
‘SERIAL’ connector on the RADICAL Base. Secure the RADICAL INS 2 Cable to the
fulcrum leg, handle and the boom tube using a velcro strap or elastic tie, so it does
not get caught or snagged. Make sure that the cable will not be pulled or strained
during full upwards and downwards Lift Axis movements.
3. Startup Sequence and Configuration
1. Make sure that the full RADICAL system is set up according to the instructions in the
RADICAL Operation Manual, and that the proper payload and counterweight are
installed and correctly balanced
RADICAL INS 2 setup/configuration should occur only after complete RADICAL setup, with all
booms, payload and counterweight attached. See RADICAL Operation Manual for more information.
Make sure the safety pin (Labeled “Remove Before Flight”) is removed from the RADICAL
Fulcrum before attempting to drive or move the system - this can be done at any later stage before
movement is attempted, but DO NOT FORGET!
2. Confirm that the Z-Axis Air Shock damping is adjusted to 100% “Slow” (fully
damped), and that the blue lockout is in the “-” (disengaged) position
3. Power up RADICAL (Turn ON the SYSTEM POWER switch on RADICAL PSU)
4. On the Command Console, navigate to the INS2 Control Panel and wait (up to 15
seconds) for the INS 2 sensor to come online (status indications will turn green, and
the graphs will be showing real-time data) - if data is not present, but the sensor is
connected, try to power cycle again
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5. If using RADICAL INS 2 for the first time, start at the DEFAULT values for tuning
(press the DEFAULT button)
6. Set the TUNING parameters for the recommended default values for your payload
(found later in this document)
7. Turn RADICAL INS 2 Stabilization ON (either with the toggle switch in the INS 2
Control Panel, or via the ‘MODE’ Control Panel)
8. Carefully release the E-STOP button to activate the system - BE READY TO
E-STOP/DISARM IN THE EVENT OF SUDDEN MOVEMENT OR OSCILLATION!
DO NOT TURN ON RADICAL INS 2 STABILIZATION BEFORE CONFIRMING THAT TUNING PARAMETERS HAVE
BEEN PROPERLY CONFIGURED FOR YOUR SETUP!
9. Check for performance and oscillation, and adjust tuning parameters as needed
10. Recommended: set Lift Axis Limits for INS 2 - Lift Axis Limits are not required for
INS 2 Stabilization, but are highly recommended
When RADICAL INS 2 Stabilization is turned ON, and the system is ARMED (E-STOP
released), the arm will actively compensate the Lift Axis angle against incoming
disturbances from terrain or vehicle chassis movements
Failure to follow these Instructions and those below can result in serious injury, death or
damage.
These Instructions will be demonstrated in our training videos and found online at
https://motocrane.com/knowledge-base. All terminology is referred to in the above
diagrams.
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RADICAL INS 2 Control Panel Layout
Within the RADICAL INS 2 Control Panel, there is a STATUS section, Performance Monitoring Gauges
and adjustable TUNING parameters
Status
This region shows the connection status of the RADICAL INS 2 Sensor and GYRO, and any active warnings or
errors.
Performance Monitoring Gauges
The three bar graphs demonstrate the stabilization performance. In an ideal situation, Stabilization Error
should remain in the center (zero), while the Stabilization Force and Gyro Rate graphs should move smoothly
together. These illustrate the corrective action that is taking place to maintain a constant boom angle during
disturbances.
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Tuning
The tuning section provides an interface to configure the performance characteristics of the stabilization.
Read the following sections to understand more about what these values do, and how to configure them for
optimal performance.
Basic RADICAL INS 2 Tuning
Recommended Initial Tuning Values
Use the following chart as a starting point when tuning RADICAL INS 2 for the first time
PAYLOAD
STRENGTH
STIFFNESS
FILTER
15lbs/18kg
2
3
0
25lbs/20kg
2
3
0
*35lbs/23kg
2
4
0
**45lbs/25kg
3
5
0
“HIGH” RADICAL INS 2 tuning values are those at or above the recommended values.
“MEDIUM” RADICAL INS 2 tuning values are those a few points below recommended values.
“LOW” RADICAL INS 2 tuning values are those at or half or less than recommended values.
*Default Setting
**Requires RADICAL Heavylift Upgrade Kit.
Description of Settings
The most important tuning parameters are STRENGTH and STIFFNESS. Together, these 2 values directly
control how quickly and to what degree RADICAL INS 2 corrects the Lift Axis angle.
STRENGTH
Controls the magnitude of the correction applied to the Lift Axis based on position error - maintains target
angle of the Boom. Typically adjusted along with STIFFNESS.
STIFFNESS
Controls the speed of the correction applied in order to minimize angular rate changes of the Boom -
improves the rate of response. Typically adjusted along with STRENGTH.
FILTER
Default set to “0”. Normally adjustment is not required for successful operation of the system. In certain rare
situations, it may be necessary to add more filtering to the data to prevent or reduce oscillations. Do not
adjust this unless you have specifically been advised to do so, as increasing filter values too much can lead to
a slower response time, and in some cases, system instability, depending on the STRENGTH and STIFFNESS
settings.
13

Understanding INS Advanced Stabilization
High-frequency vs. High-amplitude
The standard RADICAL Passive Isolator is built to buffer against high-frequency
disturbances. For example, continuously rough terrain like gravel, or sharp thuds/hits on
terrain like cracks, potholes, etc. There are inherent limitations to the disturbance
amplitude that the Passive Isolator can correct against.
Conversely, RADICAL INS 2 Advanced Stabilization actively corrects against
high-amplitude disturbances and vehicle movements. For example, driving up and down a
ramp or over rolling hills at moderate speeds. There are inherent limitations to the
frequency at which the Lift-Axis can be moved in order to correct against disturbances.
Referring to the image on the
right, you can see how the
Passive Isolator damping and
RADICAL INS 2 Tuning can be
optimized for various terrain
scenarios.
High frequency terrains are best
suited by an Isolator with
damping set to 80-100% FAST.
This, however, prevents RADICAL
INS 2 Tuning from reaching HIGH
Levels.
High amplitude terrains are best
suited by an Isolator with
damping set to SLOW.
This allows RADICAL INS 2
Tuning to reach HIGH Levels with
oscillations.
Mixed terrains are best suited by
an intermediate combination of
Passive Isolator Damping and
RADICAL INS 2 Tuning. This
allows both systems to reach
moderate levels of performance.
14

Optimizing RADICAL INS 2 Tuning
Passive Isolator Tuning
In order for RADICAL INS 2 tuning to be optimized, the Passive Isolator Damping must be
dialed as “SLOW” as possible. This is to eliminate the tendency of the Lift-Axis to
self-excite (oscillate) at higher tuning values. Keep in mind that based on the terrain you
are operating in, it may be more useful to speed up Passive Isolator Damping while
adjusting RADICAL INS 2 tuning values to MEDIUM or LOW levels.
Strength to Stiffness Ratio
In attempting to maximize the performance of RADICAL INS 2 Stabilization, it is important
to maintain a relatively consistent ratio between STRENGTH and STIFFNESS. In general,
the STIFFNESS value should be roughly 2X that of the STRENGTH value. Do not
significantly increase or decrease one value while leaving the other unchanged, unless
E-STOP is applied, as this could cause unwanted and potentially dangerous oscillations.
Increasing or decreasing these values together is recommended.
Oscillation vs. Performance
Oscillation refers to the tendency of the boom to rapidly fluctuate around a certain
position, causing unwanted and sometimes dangerous results. Oscillation generally
happens when the STRENGTH and STIFFNESS values are too high for the specific
combination of payload, Passive Isolator tuning and/or structural rigidity of the system to
which RADICAL is mounted. Some stabilized heads, such as the Ronin 2, have a structural
design that is not very stiff in the vertical (Z-axis) direction. Because of this, and the
bandwidth achievable by RADICAL and INS 2, the arm can “lock-on” to the resonant
frequency of the stabilized head, and induce self-excitation. Normally, this condition can
easily be detected during INS 2 operation by simply moving the Lift Axis upwards and
downwards a few times using the Command Console joystick. If the Lift Axis is vibrating or
oscillatory during these movements, and generally feels unstable, this is a sign that the
STRENGTH and STIFFNESS should probably be reduced (keeping in mind the
STRENGTH/STIFFNESS ratio mentioned above). Once a tuning is achieved that feels
satisfactory, in terms of user control, this is a good starting point.
In general, if the system is oscillating too much, first make sure that the Passive Isolator
Damping is set to the slowest setting possible, given the terrain conditions you are
operating in (refer to the figure in the High-frequency vs. High-amplitude section). Then,
make sure that all rigging and connections between RADICAL modules are tight and
secure. Finally, if this does not solve the problem, begin by reducing both STRENGTH and
STIFFNESS (keeping in mind the 2X ratio mentioned above).
There is always a tradeoff between stability (no oscillations) and performance. Just like
with stabilized heads, lower tuning values will be less prone to self-excitation/oscillation,
15

but may be limited in the speed and bandwidth of response. Conversely, high tuning values
may achieve high stabilization performance, but are likely to self-excite and oscillate and
generally feel less comfortable in terms of user control. Experimentation with your
particular setup is key to fine-tuning and optimizing RADICAL INS 2 Stabilization, in
addition to understanding the performance and operation of the system.
Recommended- Flowcine Tranquilizer
In our testing, we have found that the Flowcine Tranquilizer assists in reaching the highest
levels of RADICAL INS 2 Tuning. The damping properties of the Tranquilizer help by
absorbing energy in the mid to high frequency bands, which reduces oscillation tendencies
and minimizes wear and heat generation in the Lift motor. With the addition of the
Tranquilizer, you should generally be able to increase tuning values for STRENGTH by 1 or 2
points, and tuning values for STIFFNESS by 1 to 4 points, before unwanted oscillations start
to occur during normal operation and movement.
Range of Motion Limits in RADICAL INS 2 Stabilization Mode
When Lift limits are enabled, RADICAL INS 2 Stabilization uses limits that are absolute to
the outside world, where 0 degrees is horizontal and perpendicular to the direction of
gravity. This is in contrast to relative limits that are used during standard operation
without RADICAL INS 2 Stabilization. Relative limits operate on the relative angle
measured from the encoder between the RADICAL Fulcrum and Base. For this reason, the
operator must be aware of the implications and how this influences the behavior of the
Boom during various terrain changes. The image here visually describes the operation of
absolute limits, and one potential type of terrain risk. This screen is displayed upon turning
ON the RADICAL INS 2 Stabilization feature to remind the operator. Knowledge of the
system and consistent practice with the RADICAL INS 2 Stabilization feature are critical to
minimize risk in operation. For more general Limits information, refer to the RADICAL
Operation Manual.
16

RADICAL INS 2 Restrictions
Every control system has a physical limit. If the vehicle enters terrain at high speeds that
causes high frequency and high amplitude disturbances, RADICAL INS 2 may not be able to
accurately stabilize the system, and in some cases could actually worsen the situation.
If the upper limit of stabilization performance is being reached, RADICAL INS 2 Advanced
Stabilization provides notifications to the operator via the Command Console. The upper
limit of stabilization performance is directly dependent on the degree to which the tuning
values (Strength and Stiffness) have been optimized.
For most shooting conditions, RADICAL INS 2 Advanced Stabilization provides a
substantial difference in minimizing vertical translations seen by the camera (Passive
Isolator tuning is a key component of this equation).
In the figure above, the orange line represents the Lift Axis (boom) angle, the blue line represents the gyro
rate, and the yellow line represents the warning that the vehicle is driving in conditions where stabilization is
not as effective. Notice at the :58 second mark, the RADICAL INS 2 warning is triggered, alerting the operator
that incoming disturbance has surpassed what the RADICAL INS 2 tuning is capable of.
From around 10 to 40 seconds the boom angle differs by less than 1 degree, even in the face of high
disturbances. In this particular run, the vehicle entered off road terrain at high speed at around 55 seconds.
You can see that there are large spikes in gyro rate, and the stabilization controller can no longer adequately
compensate, causing the boom angle position to vary much more.
17

Useful Tips
●Balance - Proper balancing of the payload and counterweight should be done before
using RADICAL INS 2. Ideally, the operator should be running a familiar setup that is
known to be well-balanced. For new setups, always refer to the balancing chart in
the RADICAL Operation Manual, and use the BALANCE TEST mode to fine-tune. If
the balance is not set up properly, stabilization effectiveness will suffer and the Lift
Axis motor will work harder than necessary in order to maintain a proper Boom
angle. This could cause excess heat and accelerated wear on components.
●Limits - After Installing RADICAL INS 2 for the first time, Lift limits should be set up
again, while the RADICAL INS 2 Sensor is connected and properly functioning. It is
recommended to set up limits BEFORE using RADICAL INS 2 for the first time. It is
recommended to set up limits with the vehicle on a flat, horizontal surface.
●Mounting and Rigging - Loose or sloppy rigging, and the mounting of the RADICAL
Base, Booms, and Fulcrum, directly contribute to the performance of RADICAL INS
2 Stabilization, and directly limit the upper end of tuning possible. Make sure that all
mounting points are tight and checked regularly. Sloppy rigging and loose
connections between the Base, Booms, or Fulcrum may cause oscillations and poor
performance.
●System Stability - The RADICAL INS 2 Stabilization system is built to accommodate
a wide range of vehicles, payloads, and terrain conditions. It may be possible to tune
the system to levels that are not stable and exhibit frequent oscillations during
vehicle maneuvers as well as operator movements of the Lift Axis. If this type of
behavior is present, it is recommended to tune down both STRENGTH and
STIFFNESS to a more stable level, so that it feels smooth to make typical Lift Axis
movements in RADICAL INS 2 Stabilization mode.
18

Known Hazards
The following list represents known hazards that exist when operating the RADICAL INS 2.
This is not exhaustive, but represents some common hazards to watch out for.
●Lift Motor Temperature at rest. If the DISARM button is released while
stationary for long periods of time, the Lift Motor and Brake may accumulate
heat faster than it can be dissipated, and Lift Motor Temperature warnings
may be triggered. This is more likely to occur in higher ambient
temperatures. Avoided by pressing the DISARM button whenever stationary,
or whenever the arm is not in use.
●Extreme Lift angles. If the Lift Axis is positioned at extremely high or low
angles, the Fulcrum may “bottom out” and make contact with the internal
limit switches, causing an exit from INS 2 Stabilization mode and triggering a
warning. This means that the system is close to its range of motion limits
and further movement cannot be made, in order to protect the system from
colliding with itself.
●Motor stall on terrain, rigging, etc. If the arm makes contact with the terrain,
vehicle rigging, or other objects, the RADICAL INS 2 Lift Motor may stall and
momentarily draw extremely high amounts of power. RADICAL has extensive
self-protection measures in place to detect stall and immediately reduce
power, but under extremely rapid stalls, it is still a possibility that the power
electronics and motor drivers sustain damage.
●Proper RADICAL INS 2 Tuning. Proper RADICAL INS 2 tuning is key to
achieving good stabilization performance, but also for preventing potentially
damaging shock loads to the system. The stabilization capabilities are
directly related to the strength and stiffness of the tuning, and therefore this
can limit the type of terrain the system can safely handle if not tuned well.
Extreme or sudden vehicle movements that greatly exceed the stabilization
capabilities of the system can potentially inflict mechanical damage that can
limit the usable life of the system.
●RADICAL INS 2 mounting. The RADICAL INS 2 Sensor should be mounted
rigidly with the appropriate threadlocker and torque specs, as per MotoCrane
Instructions. This can be disregarded if the RADICAL INS 2 Sensor
installation was done by MotoCrane.
●Extreme/Off-Road Terrain. As mentioned earlier, the RADICAL INS 2
stabilization is not as effective for extreme terrain and high amplitude, high
frequency conditions. The system will inform the operator if these
19

conditions are being approached. Learn the differences where RADICAL INS
2 stabilization should and should not be used.
●RADICAL INS 2 Cable. Ensure the RADICAL INS 2 Cable is properly installed
and locked on to the sockets on both ends.
●Operator awareness. The operator should be aware of the different RADICAL
INS 2 parameters, warnings and errors displayed on the MotoCrane
Controller.
Transporting the RADICAL INS 2
●Disconnect and store the RADICAL INS 2 cable if transporting the module in the
flight case. The INS 2 Sensor can remain attached to the Boom during transport.
Troubleshooting RADICAL INS 2 Advanced
Stabilization
Diagnosing with LEDs
The RADICAL INS 2 Sensor module contains a green LED to indicate it is receiving power.
This LED is the first indication of whether or not the connection is good. If RADICAL INS 2
functionality is absent or causing warnings or errors, and the green LED is ON, please refer
to the next section for more detailed troubleshooting information.
Diagnosing with GUI Warning and Error Messages
RADICAL has multiple internal sensors and an error reporting system built into the GUI. The
RADICAL INS 2 shares this error and warning reporting infrastructure and allows the
operator to monitor these events via the MotoCrane Command Console. If an active error
or warning is present, the respective red or yellow icon will be displayed. A yellow icon
indicates a warning, and the MotoCrane Command Console will beep once to alert the
operator. A red icon indicates an error, and the MotoCrane Command Console will beep
repeatedly until the icon is touched or the DISARM physical switch is pressed by the
operator. Touching the error or warning icon will bring you to the STATUS Control Panel,
where you can see a list of active errors and warnings. If you are experiencing an
intermittent issue, and the warning or error is not currently active, you can review events
by navigating to the LOG. The LOG will also provide a list of errors and warnings that have
occurred, along with the time since the event occurred. Note that the LOG will only hold the
most recent 10 events. From either the STATUS or LOG Control Panel, you can access the
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