commit d337c7340b836ed7bce2bf0cc10d256782c3e340
Author: xu <pxzleo@126.com>
Date:   Thu May 30 20:36:28 2024 +0800

    【类    型】：初始化
    【主    题】：
    【描    述】：
            [原因]：
            [过程]：
            [影响]：
    【结    束】
    
    # 类型 包含:
    # feat：新功能（feature）
    # fix：修补bug
    # docs：文档（documentation）
    # style： 格式（不影响代码运行的变动）
    # refactor：重构（即不是新增功能，也不是修改bug的代码变动）
    # test：增加测试
    # chore：构建过程或辅助工具的变动

diff --git a/winch_manual_ch.pdf b/winch_manual_ch.pdf
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index 0000000..133c765
--- /dev/null
+++ b/winch_manual_ch.pdf
@@ -0,0 +1,802 @@
+Machine Translated by Google
+
+                                        无人机绞车
+                                         操作手册
+
+                                                        1.02版
+
+                                                                    最后更新日期 2020/01/22
+Machine Translated by Google
+
+[修订记录]
+
+盘子      日期                                     描述
+
+1.00  2019 年 1 月 15 日         首要问题
+1.01   2019 年 3 月 7 日
+1.02                          2.1
+      2020 年 1 月 22 日
+                              2.5.1 增加警告音相关描述
+
+                              5. 增加了串口通信的说明。
+
+                              更正错误等
+
+                                                   2个
+Machine Translated by Google
+
+目录
+
+1个 介绍 ................................................. ..................................................... ..................................................... .... 5
+    1.1 内容................................................. ..................................................... ..................................................... .... 5
+
+1.2 各部分名称...................................................... ..................................................... ..................................... 5
+
+2 运行检查................................................................ ..................................................... ..................................................... 6个
+
+2.1 准备什么...................................................... ..................................................... ..................................... 6
+
+2.2 信号线的连接................................................................ ..................................................... ..................... 7
+
+2.3        收音机默认设置................................................................ ..................................................... ..................................... 8
+
+    2.3.1  如果您使用的是盖板 T6KA     ..................................................... ..................................................... ⋯⋯⋯⋯                                         8个
+
+    2.3.2 使用 DJI 产品时（DJI Assistant2）...................................... ..................................................... .. 9
+
+2.4        将绞盘连接到无人机等...................................................... ..................................................... ................... 9
+
+2.5        操作检查 ............................................................... ..................................................... ..................................... 9
+
+    2.5.1  警告音...................................................... ..................................................... ..................................... 9
+
+    2.5.2  离合器操作（手动送线功能）................................................ ................................... 10
+
+    2.5.3  归零操作...................................................... ..................................................... .................. 10
+
+    2.5.4  油门操作 ............................................................... ................................................... ................................... 10
+
+    2.5.5  遥测功能...................................................... ..................................................... .................. 10
+
+3 电台操作................................................................ ..................................................... ..................................... 12
+
+3.1        起重/上料...................................................... ..................................................... ..................................... 12
+
+    3.1.1  剩余距离减速器/停止................................................ ..................................... 12
+
+    3.1.2  出现头皮屑时停止/慢慢收起................................................ ..................................... 13
+
+    3.1.3  线头检测停止................................................................ ................................................... .................. 13
+
+    3.1.4  电流过大停止 ............................................................... ..................................................... ...................... 13
+
+    3.1.5  高温检测停止 ................................................... ..................................................... ......... 13
+
+    3.1.6  剩余距离限制/取消（逃生模式）...................................... ..................................... 14
+
+3.2 归零 ................................................... ..................................................... ..................................................... 14
+
+3.3        离合器功能...................................................... ..................................................... ..................................... 14
+
+3.4 刹车功能................................................ ..................................................... ..................................... 15
+
+4 绞盘数据查看器应用 ............................................... ..................................................... ..................................... 15
+    4.1 部件说明................................................ ..................................................... ...................... 16
+
+4.2        编辑固件参数...................................................... ..................................................... .................. 19
+
+    4.2.1  阀芯旋转检测相关...................................................... ..................................................... ......... 21
+
+    4.2.2  广告相关................................................................ ..................................................... ..................................... 21
+
+    4.2.3  电机控制相关...................................................... ..................................................... ..................... 22
+
+5 关于串口通信................................................................ ..................................................... ..................... 23
+
+6个 维护................................................. ..................................................... ..................................................... .. 23
+
+6.1        螺纹末端重量下部的距离................................................ ..................................... 23
+
+6.2 绕线器状况................................................................ ..................................................... ..................... 23
+
+                                                                                                                                                                                       3个
+Machine Translated by Google
+
+                 6.3 纱线磨损................................................................ ..................................................... ................................................... 25 在
+                 6.4 事件中纱线................................................ ..................................................... ................................... 25
+             7 性能与规格................................................................ ..................................................... ..................... 26
+                 7.1 机械规格 ............................................................... ..................................................... ................................... 26 电气规
+                 7.2 格 ............................................... ..................................................... ..................................................... .. 27
+
+                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   4个
+Machine Translated by Google                                       线轴
+                                                                                                     遥测天线（拧入）
+                1 简介
+                1.1 内容
+
+                               一台绞盘（带螺纹末端配重）
+                               一个用于遥测的天线
+
+                  1.2 各部分名称
+
+                                          安装螺丝
+
+                                                                        纱线模糊传感器
+
+                                                水平风                螺纹末端检测
+                                                                   转变
+
+                                                     图 1‑1 部件名称 1
+
+  力量
+连接器
+
+  XT‑60
+
+                                                     接收器连接                 螺纹端
+                                                                 电缆           重量
+
+                                                         图 1‑2 各部分名称 2
+
+                                                                                                               5个
+Machine Translated by Google
+
+            2 运行检查
+
+              第一次使用绞盘时，请按以下步骤检查操作。
+
+             2.1 准备什么
+
+                                                 应由用户自备
+
+绞车本体                     图 2‑1。系统配置图21
+收音机和接收器
+         这个产品。
+直流电源     连接到市售的接收器。接收器必须由 5V 供电。
+         （客户自备）
+         请准备7.2到22. 2V的直接电源。 （2 至 5 节锂聚合物电池等）。
+         推荐范围为 11.1 至 14 8V。绞盘侧端子采用 XT‑60 公头配置。
+
+         14、8V以下供电电压越高，绞盘收线速度越高。
+         但是，提供了上限以保护设备。如果电源电压为 14. 8V 或更高，则施加到电机的电压会受到限制。
+
+单棒       需要从 TWE‑Lite 接收无线电数据（遥测信息）
+
+         PC 上的绞盘主机。 （客户自备）
+
+         在许多情况下，驱动程序会自动安装，但如果无法识别，请参阅
+
+         下面的制造商网站并安装驱动程序。如果已安装，则会添加一个 COM 端口。
+
+         https://mono‑wireless.com/jp/products/MoNoStick/index.html
+
+个人电脑     用于显示遥测信息的 PC。 （客户自备）
+
+         安装要通过电子邮件发送的专用查看器（仅适用于 Windows）。
+
+※ 本绞车的接收器连接线不给接收器供电。准备单独的电源
+
+对于接收器，例如来自无人机机身。
+
+※ 双叶电子工业株式会社（以下简称“双叶”）已通过
+收音机 (T6KA) 和接收器 (R3006SB)。不保证所有设备的操作。
+
+                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6个
+Machine Translated by Google
+
+               ※ 22. 电源电压高于2V时，停止运行以保护绞盘控制电路。使用
+               市售的 DC‑DC 转换器等，将绞车控制电路的供电电压设置为 22。
+               2V以下。
+              对于 6 芯锂聚合物电池，超过此电压取决于充电状态和环境温度。
+               因此，需要采取上述措施。
+
+             2.2 信号线的连接
+
+              绞车体侧
+
+           信号
+                         力量
+
+           线                                          地线
+
+                                                   线
+
+           图 2‑2 接收器连接线22线
+
+    将每根连接电缆（红色、黄色、绿色）连接到接收器上的相应通道。要执行 UART 通信，请将 UART 电缆（蓝色）连接到您要发送到的设备。 （详见关于
+5UART通信）5关于UART通信
+
+    每根线中的白管是信号线，红管是电源，没有管的线是
+地线。连接接收器时，注意不要接反。此外，不使用该功能时，即使未连接主机，也可以通过归零（绿色）、离合器（黄色）和UART（蓝色）进行操作。连接或断
+开电缆时，请关闭电源以防止发生故障。下面介绍如何连接发射器（T6KA）和接收器（R3006SB）。
+
+      SWB     SWD
+
+     离合器   归零
+
+风门                                                                  绞盘
+ 绞盘                                                                  归零
+                                                                    离合器
+
+                                                          ↑↑ ↑           7
+
+                                                          在 红色的黑色的
+
+                                                          打
+
+                                                          这是
+Machine Translated by Google
+
+                                            图 2‑3 连接示例23
+
+2.3 电台默认设置2.3.1 如
+果你用的是有盖T6KA
+
+‧ 更改模型类型
+
+如果收音机开机时油门没有完全放下，在初始状态下会听到警告声
+
+收音机购买后立即。为避免这种情况，请更改模型类型。
+
+                                                                             风门
+
+                                            图 2‑4 节流无线电24
+
+‧ 按住“+”进入菜单。
+‧选择“M型”。
+‧ 光标在“TYPE”处按“+”或“‑”按钮选择“MULTI COPT”，然后按住
+
+     箭头垫。
+‧ 听到“确定？”时按下箭头键。
+‧ 按“结束”按钮退出菜单。
+
+‧ 故障安全功能
+    在操作过程中，当与发射器的链接断开时，确定接收器的操作
+
+支柱。
+
+‧ 按住“+”进入菜单。
+‧ 选择“F/S”。
+
+‧ 如图 25 所示设置目标通道（2：ELE，5：AU5，6：MOD） 。 2‑5 设置示例（设置如图
+    红)25
+
+                              模式.POSI BF/S                 模式.POSI BF/S
+
+          1：艾尔或 ‑‑‑ ‑‑‑                                    5:AU5 或非 ‑‑‑ ‑‑‑
+
+          2：ELE F/S + 0% ACT                               6: 反对或 ‑‑‑ ‑‑‑        8个
+
+          3：THR F/S + 20% ACT                              7:AU7 或非 ‑‑‑ ‑‑‑
+
+          4: 没有 ‑‑‑ ‑‑‑                                    8:AU8 或非 ‑‑‑ ‑‑‑
+Machine Translated by Google
+
+                                              图2‑5 设置示例（红色设置）25
+
+※“MODE”中的“NOR”表示与发射器的链接断开时“保留之前的操作”，并且
+     绞车作业可继续进行，不得停止起升或下降。
+     通过为每个通道设置所需的设置 F/S 以减少紧急问题。
+
+设置接收端
+   设置此绞盘所需的通道（将 SW‑B 分配给通道 6）。
+  ‧ 按住“+”进入菜单。
+  ‧ 选择“AUX CH”。
+  ‧ 光标位于“CH5”至“SwD”时按“+”或“‑”按钮。
+  ‧ 光标位于“CH6”至“SwB”时按“+”或“‑”按钮。
+  ‧ 按“结束”按钮退出菜单。
+
+    2.3.2 使用大疆产品时（DJI Assistant2）
+使用 DJI Assistant2 设置接收机。
+
+    在DJI Assistant2的“工具”→“功能通道”中，设置绞车所在通道的“喷洒”，
+归零和离合器连接在各个输出（F1 至 8）之间，如下所示。
+
+喷涂                            1000μs ～ 2000μs
+频率直接输出
+频道切换                          任意设定
+倒频设置任意设置                      任意设定
+
+   2.4 将绞盘连接到无人机等
+
+使用四颗螺丝 (M3)。螺丝位置见附图。
+
+     2.5 运行检查2.5.1 警告音
+
+当绞车接通电源并启动成功后，会听到如下启动声音。
+                            始终启动：“Pipid limiter”
+
+如果发出如下所示的警告音，请采取适当的措施。
+                                ～ 未接收到绞盘脉冲时：“哔‑哔‑哔（重复直到接收到脉冲）”
+                                   → 检查接收器电源、无线电电源和接收器之间的连接。
+
+                                                                                                                                                          9
+Machine Translated by Google
+
+                                              ～当存储的数据不正确时：“Peep（反复直到电源关闭）”
+
+                                       → 联系您的经销商。
+                                    ～电流过大：“皮皮 ”
+
+                                                 → 负载过高。使用前请减轻负荷。
+
+                   2.5.2 离合器操作（手动送线功能）
+              当在中央或向下位置用 SwB 拉动线时，执行送出驱动。当线的张力消失时，进给停止。进给速度可以根据 SwB 的位置分两步设置。
+
+              详见3.3离合功能。 3.3
+
+              ※ 油门不在中立位置时，既不进行离合器操作也不进行归零操作。
+              进行离合操作或归零操作时，将油门返回中立位置。
+
+                   2.5.3 归零操作
+              检查螺纹末端重量是否以足够的摩擦力停止。
+              在这种情况下，如果 SwD 在输出方向被向下推，将执行收线驱动。当纱头重量碰到纱头检测传感器或稍后按下 SwD 时，归零操作停止，该位置被记忆
+              为纱线长度 0m。详见3.2 归零。 3.2
+
+                   2.5.4 油门操作
+              悬挂约500g的假重物（PET瓶装饮料等），固定绞车本体，操作油门杆，可升降假重物。
+
+              在这种情况下，最大速度被设置为输出。在上述离合器操作或归零操作中，操作速度受到限制。
+
+              ※ 因线长感应器动作，提前自动减速自动停止
+              线程长度变为 0m。
+              ※ 当线没有施加足够的张力时，纱线熔断传感器会阻止或限制绕线和
+
+           拉出操作。有关详细信息，请参阅第 3 节无线电操作。 3
+
+                   2.5.5 遥测功能 按照以下步骤，
+              通过与Windows PC 的无线通信，检查绞车数据并进行各种设置。有关更多信息，请参阅 4‑Winch Data Viewer 应用程序。 4
+
+                    1. 启动专用应用程序“Winch Data Viewer”。专用应用程序将从经销商处发送。可以用
+                      处于解压状态。
+
+               2. 将 MONOSTICK 插入 PC 的 USB 端口。如果需要，请安装 MONOSTICK 驱动程序。
+
+                      有关驱动程序的安装，请参阅以下制造商的网站。
+
+                                                                                                                                                                          10
+Machine Translated by Google
+
+                           https://mono‑wireless.com/jp/products/MoNoStick/index.html
+                 3. 在应用程序窗口中，将分配给 MONOSTICK 的 COM 端口指定为“端口”。
+                 4. 使用“Initialize Option →MONOSTICK”过程初始化 MONOSTICK。如果初始化失败，
+
+                    检查 COM 端口设置并再次安装 MONOSTICK。
+
+                                                                                                                                                                                                   11
+Machine Translated by Google
+
+               5. 在应用程序屏幕的“目标绞车 ID”中输入绞车 ID。绞车 ID 是序列号的最后四位数字
+
+                      绞车背面印有编号，如图 2‑6 所示。在此示例中，使用“1003”。
+
+                                                                                   图 2‑6 背面序列号
+                      6、检查遥测天线是否安装在绞盘机体上，绞盘是否开启，是否未执行归零等各种指令。
+                      7. 当您按下应用程序屏幕上的“开始”按钮时，与绞车的通信开始，应用程序上显示各种信息。
+
+             3 无线电操作 3.1 起
+              吊/上料
+
+              可以使用与接收器连接电缆（红色）相对应的无线电控制来缠绕或送线。在 2.3.1 的连接示例中，向上推杆时，纱线以与击倒量对应的输出卷绕，当杆
+              被向下推时，纱线以与击倒量对应的输出量送出。击倒的数量。螺纹的速度可能会因电源电压和负载而异。
+
+              为避免纱线缠绕等故障，在以下条件下限制操作
+              保护设备。
+
+                   3.1.1 剩余距离减速器/停止
+              该绞盘持续监控线长，并在检测到线长低于指定长度时限制卷绕速度。进一步上弦时，旋转会在指定位置停止。可以使用查看器应用程序调整减速/停
+              止位置和速度。有关详细信息，请参阅 4。
+              2F/W 参数编辑。4.2 编辑F/W 参数 待停止的位置从上述参数设置
+              位置执行超程。超程量根据起升速度、起重量等条件来回移动。根据操作条件调整用量，使线头不会相互碰撞。
+
+                                                                                                                                                                           12
+Machine Translated by Google
+
+                  3.1.2 出现头皮屑时停止/慢慢收卷。
+             当施加到线上的张力下降并低于指定张力（70 至 350g）时，例如当悬吊负载接地时，禁止进
+             给。此功能在看不见负载的地方卸纱时自动停止卸纱，防止纱线缠绕。在这种情况下，速度限制
+             和距离限制适用于绕组，以便
+
+             防止线变得模糊。
+             如果电机可以低速卷绕到指定距离（初始状态约90cm），并且在此期间恢复指定张力，则解
+             除卷绕速度限制。
+             卷绕指定距离后，如果指定张力仍未恢复，则卷绕停止。在这种情况下，一旦在进给方向下推油
+             门，就可以再次进行规定距离的差速绕线。注意不要在没有张力的情况下继续缠绕，否则可能
+             会导致线缠绕或咬线。
+
+                  3.1.3 线头检测停止
+             当线头检测开关被止动器等撞到时，卷线/送线停止。
+             目的是保护设备，例如当 3.1.1 中的剩余距离检测不起作用时，例如，当纱线缠绕时。
+             如果在提升操作期间检测到纱线端头，则停止沿提升方向的操作。执行进给方向操作时，取消。
+             如果在进给操作期间检测到线头，则停止进给方向的操作。当操作上弦方向时，它被释放。
+
+                  3.1.4 电流过大停机
+             当超过规定的负载施加到电机上时，例如提升过大的负载，电机驱动停止以保护设备。
+             另外，在低温环境下，由于电阻降低，容易流过大电流，因此过电流停止功能在大负载、高加速度下也容易发挥作用。当电机温度升至高于室温
+             （25 摄氏度）时，它会正常运行。
+             如果检测到电流过大，当检测到电流过大时，绞车会发出蜂鸣声。在这种情况下，请使用减轻负载的产品。请注意，在生成警告声音时，遥测数
+             据传输会暂停。
+
+                  3.1.5 高温检测停止
+             当电机或驱动电路达到危险温度（95°C）时，驱动停止以保护设备。当温度下降到安全温度（85°C）时，驱动限制被释放。
+
+                                                                                                                                                                                  13
+Machine Translated by Google
+
+     3.1.6 剩余距离限制/取消（逃生模式）
+为防止线轴上卷起的所有线都被释放，当线长变短时送线停止。此外，可以通过设置离合器（强）来释放
+此限制。
+
+限制开始的位置可以使用绞车查看器应用程序进行调整。                                     离合器
+如需更多信息，请参阅第 4 节“编辑 2F 和 W 参数”。 4.2 编辑 F/W 参数 该绞盘出厂时带有细纱（废纱），  实力+
+纱线和线轴之间的强                                                     线
+度较弱，很容易通过施加力打破                                                弹射
+
+释放所有纱线后的细纱部分。缠线时使用此功能。如果所有细螺纹部分都暴露在外，它们会在 1.4kgf              → 逃脱！
+或
+较少的。使用上述限制函数，使线程至少保留
+
+始终保持 5 米，以便除紧急情况外不会对这一点施加力。如果剩余线长小于或等于3m，细线部分的装订部分将被加载，存在无意的风险
+
+破损。产品出厂时PE线缠绕80m，75m设置为停止位置。如果线程是
+缩短，调整停止位置。
+
+     3.2 归零
+接收器连接电缆（绿色）对应的无线电操作执行归零。在 2.3.1 的配置示例中，当 SwD 向前移动时执行归零。归零检测线头或低速卷线，
+直到开关向后倾斜，然后将线拉出约几厘米停止。 2.3.1 检测到线头或开关时的位置向后倾斜设置为螺纹长度“0m”。使用此功能可以重新设置线
+长测量的零位，例如剪线时。
+
+直到归零开关被推回后，才能进行其他操作。此外，即使在没有张力的情况下，也可以通过归零进行卷绕。请注意，在归零过程中，由于剩余距离或在提升操
+作中检测到螺纹模糊，电机停止功能不起作用。在不需要此功能的情况下，即使相应的接收器连接线（绿色）断开，其他功能也会运行。
+
+连接或断开电缆时，务必在关闭电源后连接或断开电缆
+到绞车，因为有发生故障的风险。
+
+     3.3 离合器功能
+通过接收器连接电缆（黄色）对应的无线电操作打开离合器时，在线上施加张力时执行送出驱动。当您在悬挂负载时需要一点线时，请使用此功能。
+
+离合器是一个三级开关。
+        设置时：离合器操作关闭
+        设置为中间时：离合器操作（弱）
+
+                                                                                                                                                                14
+Machine Translated by Google
+
+                    放下时：离合器操作（强）
+             请注意，由于悬挂负载的重量与负载之间的平衡，可能会出现爆震现象
+             离合器操作期间的速度设置。如果离合器动作引起负载的进给速度超过负载的自然下降速度，则纱线的张力暂时消除，喂纱停止。然
+             后，负载再次张紧，激活离合器动作，重复线轴进给和停止。这种现象并非故障，但可以通过在离合器操作期间降低设定速度来避免。
+
+             此外，当设置离合器操作（强）时，解除基于 3.1.6 中剩余距离的行驶限制（逃生模式）。当您想要松开缠线等时使用此功能。 3.1.6 在不
+             需要此功能的情况下，例如在飞行过程中，即使相应的接收器连接线（黄色）断开，其他功能也会运行。连接或断
+             开电缆时，请关闭绞盘电源一次，以防止发生故障。
+
+                 3.4 刹车功能
+             本绞盘配备机械制动功能，可防止无线电操作停止和电机停止运转时负载掉落。电机上紧时制动功能自动解除。
+             电机停止时，刹车功能即使在没有电的情况下也会刹车。制动力为12～30kgf，纱线受到比其更大的张力时会滑出。
+             如果断电时线头滑出，则与绞车内部存储的线头长度信息不匹配，剩余距离减速器/停止功能将无法正常工作。在这种情况下，通过归零操
+             作重新设置螺纹末端位置。 （参考3.2，“归零”）3.2归零
+
+            4 绞车数据查看器应用程序
+
+             通过使用 Viewer 应用程序，您可以通过 TWE‑Lite 无线接收绞盘中的数据，例如螺纹长度和电池电压，并通过遥测进行检查。您还可以更
+             改设置，例如绕线停止的位置
+             执行。
+
+                                                                                                                                                                               15
+Machine Translated by Google
+
+                 4.1 零件说明
+
+                清除日志                                            日志显示区
+                 将日志另存为
+自动保存日志
+         停止自动保存日志
+
+港口                              图 4‑1 Viewer 应用程序 GUI‑screen41
+
+研究绞盘 ID                       ：指定分配给 MONOSTICK 的 COM 端口。
+ “开始按钮                        : 以十进制指定要接收的绞车ID。
+                              ：开始接收绞盘数据。
+ “停止”按钮                       ：停止接收绞盘数据。
+                              ：退出此应用程序。
+ 退出按钮
+
+※ 绞车操作期间无法启动绞车数据接收。按下启动前停止绞盘操作
+按钮。
+
+螺纹长度                          显示从线筒送入的线的长度。显示每更新两次
+
+      二是良好的沟通条件。因上弦状态可能会出现3%左右的显示误差
+
+      线程等
+
+电压 显示提供给绞车的电源电压。
+
+当前的        显示流经绞盘电机的电流。
+
+油门量 这是通过无线电操作指定的电机输出值 (%)。
+
+紧张         显示线模糊传感器获取的线张力。可检测范围约为 70 至 350 克。当重量为 80g 或以下时，显示 0g。有一个测量
+
+                                                                        16
+Machine Translated by Google
+
+误差约为±50 g。
+
+   日志显示区                      ：执行每个操作时显示信息。信息如
+                                  因为错误也显示在这里。
+    清除日志按钮
+                              ：清除当前显示的日志信息。
+   将日志另存为按钮                   ：将当前显示的日志另存为名称。
+                              ：指定目标文件后，新接收的数据被保存在任何
+    自动保存日志按钮
+时间。                           ：停止上面的“自动保存日志”。
+
+    停止自动保存日志按钮
+
+“出口”                            图 4‑2 Viewer App 菜单42
+“MONOSTICK 初始化”
+“遥测功能停止”                      ：退出此应用程序。
+                              ：初始化“端口”指定的 MONOSTICK。只能初始化
+“固件参数重写”
+                                  购买 MONOSTICK 后一次。
+                              ：关闭TWE‑Lite的无线电功能并停止接收遥测数据。到
+
+                                  再次开启无线功能，将绞盘电源调至
+                                  OFFOOBON。
+                              ：用于设置绞车主机的运行参数。更多
+                                  信息，请参考第 4 节“编辑 2F 和 W 参数”。 4.2 编辑 F/W 参数
+
+※ 绞车数据接收期间不能执行 MONOSTICK 初始化和遥测停用。
+   停止后执行。
+
+                                                                                                                                                           17
+Machine Translated by Google
+
+           各种警告显示
+              指示警告时，如下图所示显示为红色。警告详情如下。
+
+                                                                                                                                                    ～
+                                                     ～
+
+                                                                                                                                                    ～
+                                                     ～
+
+                                                   ～
+
+                                                               图 43 警告指示 4‑3
+
+         ～
+
+            图 4‑4 警告显示（通讯异常时）44
+
+① 电压下降：连接到绞车本体的电池电压低（警告低于 5. 5V）。 ② 张力不足：
+
+④ 线头检测：                       在施加恒定张力（重量）的情况下操作绞盘，以防止
+
+         纱线以湍流的方式缠绕。 ③ 温度警告：
+
+                             电路或电机的发热很高（85.0°C 或更高时警告）。
+
+              线端检测时显示时，将线送入 a
+
+         小的。
+
+                          如果此消息出现在归零时，请将变送器重置为零。
+
+⑤ 补充 : 当功能被限制在～到～以上时显示补充。
+
+                                                                                                                                                       18
+Machine Translated by Google
+
+⑥ 通讯错误：                           无法接收到绞盘数据时显示（3 秒或更长时间后警告）。请注意，如果通信，绞车本身的操作不会
+         受到影响
+         无线电和接收器之间建立。
+
+4.2 编辑F/W 参数以下参数可以通过编辑
+可选的OOBF/W 参数来设置。
+※ 灰色显示的值无法更改。
+
+                                       图 5‑4 F/W 参数编辑窗口 1
+
+                                            归零位置 (0m)
+
+                              图 5‑5 阀芯旋转检测相关设置
+
+                                                                                                                                                19
+Machine Translated by Google
+
+                                                                                                                                                                     20
+Machine Translated by Google
+
+4.2.1 阀芯旋转检测相关
+
+ROT_LOW_LEVEL                 这是绕线机绕线过程中开始减速的位置。
+
+ROT_STOP_LEVEL                该位置停止线的缠绕。
+
+ROT_LOW_LENGHT_CNT 这是送料时开始减速的位置。
+
+ROT_STOP_LENGTH_CNT这个是停止螺纹进给的位置。
+
+上面的函数是开始限制油门值到超限后实际停止的距离。超限量根据速度和负载而变化。根据使用条件进行调整。
+
+     4.2.2 AD相关               这是线支架传感器的张力下限，适用于哪种线
+                              这是哪个梭芯的梭芯绕线器传感器的张力下限
+RELEASE_LEVEL_FWD 弹出已启
+用。
+
+RELEASE_LEVEL_REV
+
+绕线器已启用。
+
+由于该绞车的线模糊传感器的检测能力在大约 70 至 350gf 的范围内，因此可以设置此期间的值。当张力低于设定值时，这会限制绞盘操作。如果输入的值
+介于 0 和 71gf 之间，则该值将设置为 71gf。通过调整该参数，可以调整在负载接地不易看到的区域自动停线功能。
+
+使用特殊吊钩“Karakuri‑karavina”时，通过使 RELEASE_LEVEL_FWD 大于吊钩自身的重量，可以在负载接地且吊钩不接地的情况下卸载负载。
+
+通过使 RELEASE_LEVEL_REV 小于挂钩自身的重量，即使只有挂钩重量，您也可以启用收紧。专用钩“KARAKI KARABINA”的重量加上纱头重量约为
+150 克。使用此组合时，建议将 RELEASE_LEVEL_FWD 设置为大约 200g，将 RELEASE_LEVEL_REV 设置为大约 100g。
+
+此外，如果设置为负值，则停止通过线模糊传感器对绞盘操作的限制。在这种情况下，请小心，因为线缠绕的风险会增加。
+请注意，线模糊传感器的检测精度可能因个体差异、环境引起的变化、重复使用引起的疲劳等原因而有所不同。因此，请根据实际情况确认检测精度
+使用时的设备。
+
+                                                                   21
+Machine Translated by Google
+
+                   4.2.3 电机控制相关
+
+SLOW_REV_SPEED                     图 5‑6 F/W 参数编辑窗口 2
+
+ZERORESET_SPEED                  设置最大值缠绕过程中螺纹长度变得小于或等于 ROT_LOW_LEVEL 以及螺纹长度变得更大时的缠绕
+                                 速度
+离合器_慢速_速度                        送料期间大于或等于 ROT_STOP_LENGTH_CNT。
+离合器速度                            设置归零的卷绕速度。
+张力_零_速度                          设置离合器（弱）的进给速度。
+                                 设置离合器的进给速度（强）。
+前进速度                             设定张力小于或等于指定的收卷速度
+倒车速度                             价值。
+                                 设置脱线的最大速度（油门值）。
+                                 设置绕线器绕线的最大速度（油门值）。
+
+“读取文件”                           ：读取保存在文件中的固件参数值并显示在屏幕上。
+“保存存档”                           ：将屏幕上显示的 F/W 参数值保存到文件中。
+“默认值”                            ：恢复默认设置。
+“从固件读取”                          ：从 F/W 中检索参数值并将其显示在屏幕上。
+“写入 F/W”                         ：将屏幕显示的参数值写入F/W。
+
+                                                          22
+Machine Translated by Google
+
+                5 关于串口通信
+              可以通过接收器连接电缆（蓝色）与与绞车信息进行 UART 通信的设备进行有线通信。可通信的信息有线轴转数、张力、纱边检测、操作、油门量、电
+              池电压、电流、电路温度、电机温度等，以文本格式传输十六进制数。
+
+              要与 PC 通信，需要市售的 USB 串行转换器（例如 FTDI）。
+
+           有关数据格式和连接方法的详细信息，请联系您的绞车经销商。
+
+                6 保养
+                 6.1 螺纹末端重量下部的距离
+              该绞车配备了 3.1.1 剩余距离减速⻮轮和停止功能，以避免纱线夹带。
+              但是，如果发生纱线缠绕等情况，纱头可能会被钩住。为此，它还具有 3.1.3 线程结束检测停止功能。当线头锤碰到线头检测止动器时，请确保从连接
+              线头锤底部的管子到线头（登山扣等）至少 10cm 的距离，以免断线。如果此距离不足，如图 5‑2 所示，可能会因超程而对线施加过大的张力，当线端
+              重量碰到线端检测限位器时，线可能会断裂。3.1.1 剩余距离减速器/停止 3 .1.3螺纹末端检测停止
+
+                                                       10 厘米或以上
+
+                         图 5‑2 线程端重碰撞
+                         彼此
+                 6.2 绕线器状态
+              长距离的纱线被轻负荷（例如只有钩子的重量）挂住后，如果再施加重负荷，例如悬挂重物，则纱线可能会咬入纱线卷绕部分。如果线咬得很紧，即使
+              进行送线操作也可能不会送线，并且线可能会根据咬线位置反向卷绕到线筒上。
+
+              为避免这种情况，一旦线被轻载缠住，松开线并重新绕线。缠绕时，应用
+
+                                                                                                                                                                       23
+Machine Translated by Google
+
+             约1kgf的张力。在这种情况下，使用市售的钓鱼卷轴回收商可以更容易地进行操作。
+
+                                                                                                                                                                     24
+Machine Translated by Google
+
+             6.3 纱线磨损
+
+             纱线的寿命有限。由于该绞车使用的纱线是将多根聚乙烯纱线编织而成的纱线，劣化时会发生起毛。如果绒毛很严重，请切断该点。
+             如果断开，使用 4. 2F/W 参数编辑中描述的功能将停止距离缩短切割长度。 4.2 编辑 F/W 参数 如果缠绕在线轴上的纱线低于 3m，则存
+             在增加的风险纱线会断。
+             另外，如果纱线整体劣化，则需要更换纱线。缠绕时施加约1kgf的张力。在这种情况下，使用市售的钓鱼卷轴回收商可以更容易地进行操作。
+
+                                                                                 图5‑3 起毛纱
+
+             6.4 遇到纱线
+
+             在低负载下进行绞车穿线时，纱线缠绕的风险会增加。当线在没有对线施加张力的情况下被拉出长距离时，会发生称为反冲的现象，在
+             松散的线缠在绞车内。
+             发生背隙时，纱线的一部分可能会沿反向旋转方向卷绕在线轴上。
+             如果出现这种现象，请在观察线筒线方向的同时，正确使用正反操作将缠绕部分拉出绞盘。
+             可以在拉出所有缠绕的部分后再次绕线来使用它，但要仔细检查线玻璃和划痕。
+             如果反冲情况严重，可能需要拆卸和修理。联系您的经销商。
+
+                                                                                                                                                                     25
+Machine Translated by Google
+
+7 性能与规格 7.1 机械规格
+
+标准自重：约。 630g（含线）
+
+尺寸：宽 110 毫米 x 高 82 毫米 x 深 72 毫米（不包括天线部分）
+
+加载      ： 最大限度。 8kgf
+
+起升速度：约0. 7m/s (at 14. 8V loading 5kgf)
+
+最大输出：约。 55W (14. 8V)
+
+螺纹长度：PE 线 80m（DAIWA UVF Mega‑Sensor 12 Blade EX+Si 12）
+
+电源电压：DC7 2 至 22. 2V 推荐电压 11.1 至 14. 8V
+
+负载速度图：
+
+                                                                图 6‑1 负载‑速度图
+※ 以上图表为典型测量值，并非保证值。它因梭芯而异
+绕线机的绕线半径和温度。
+
+                                                                                                                                                         26
+Machine Translated by Google
+
+7.2 电气规格                                  规格
+                                          7.2～22. 2V（推荐11.1～14. 8V）
+                   表 6‑1 电气规格1            最大限度。 15V（取决于电池电压）
+
+                   物品                     最大限度。 15A
+                   适用电池电压
+                   电机输出电压                 5.0V (4.5 ～ 5.5V)
+                   电机输出电流
+                   接收器电源电压                PWM方式 3通道（S.BUS目前没有
+                   接收器输入信号                支持的）
+
+    无线的                       （用      遥测  脉冲宽度 1ms 至 2ms（中心 1.5ms）
+                                          2.4GHz（带 TWE‑Lite 无线电模块）
+
+    于发送/接收）
+
+表 6‑2 每个通道的操作规范2
+
+物品                                规格
+
+绞车（红色）                            油门量根据杠杆的变化量在 0 到 100% 之间变化。杠杆位置的 0 到 27%
+
+手拿包（黄色）                                                 ：离合器操作 OFF 杠杆位置
+
+归零（绿色）                            的 27 至 73% ：离合器操作（弱）
+
+                                  73 至 100% 的杠杆位置：离合器操作（强）
+
+                                  0 到 50% 的杠杆位置 50 到    ：归零关闭
+
+                                  100% 的杠杆位置：归零开启
+
+          0%                                            0%                       0%
+
+            提升（油                                          离合器操作关闭                  归零关闭
+            门值从0到100%
+             变化）                                             27%                         50%
+
+                  50%                                   离合器动作（弱）                   归零开启
+
+            发送出去                                             73%                 100%
+            （节流值从0到
+             100%不等）                                      离合动作（强）
+
+          100%                                          100%
+
+    ‧ 绞车                                  ‧离合器                              ‧归零
+
+                                  图 6‑2 通道操作规范
+                                                                                                                                        27
+
diff --git a/winch_manual_en.pdf b/winch_manual_en.pdf
new file mode 100644
index 0000000..60396ba
--- /dev/null
+++ b/winch_manual_en.pdf
@@ -0,0 +1,778 @@
+Winches for drones
+Operation Manual
+
+        Ver.1.02
+
+                Date of last update 2020/01/22
+[Revision History]
+
+Plate  Date                                                    Description
+
+1.00 January 15, 2019  First issue
+                       2.1
+1.01   March 7, 2019   2.5.1 Addition of descriptions related to warning sounds
+                       5. Added a description about UART communication.
+1.02 January 22, 2020  Correction of errors, etc.
+
+                                                                                 2
+Table of Contents
+
+1 Introduction ......................................................................................................................................................... 5
+   1.1 Content......................................................................................................................................................... 5
+   1.2 Names of parts ............................................................................................................................................. 5
+
+2 Operation check ................................................................................................................................................... 6
+   2.1 What to prepare............................................................................................................................................ 6
+   2.2 Connection of signal cables ......................................................................................................................... 7
+   2.3 Radio default settings .................................................................................................................................. 8
+      2.3.1 If you are using a cover T6KA ............................................................................................................ 8
+      2.3.2 When using DJI-products (DJI Assistant2).......................................................................................... 9
+   2.4 Attaching the winch to a drone, etc. ............................................................................................................ 9
+   2.5 Operation check ........................................................................................................................................... 9
+      2.5.1 Warning tone........................................................................................................................................ 9
+      2.5.2 Clutch operation (manual thread feeding function) ........................................................................... 10
+      2.5.3 Zero reset operation ........................................................................................................................... 10
+      2.5.4 Throttle operation .............................................................................................................................. 10
+      2.5.5 Telemetry function ............................................................................................................................. 10
+
+3 Radio operation.................................................................................................................................................. 12
+   3.1 Hoisting/feeding ........................................................................................................................................ 12
+      3.1.1 Remaining distance reduction gear/stop ............................................................................................ 12
+      3.1.2 Stop/slowly wind up when dandruff occurs....................................................................................... 13
+      3.1.3 Thread end detection stop .................................................................................................................. 13
+      3.1.4 Excessive current stop ....................................................................................................................... 13
+      3.1.5 High temperature detection stop ........................................................................................................ 13
+      3.1.6 Remaining distance limit/cancel (escape mode) ................................................................................ 14
+   3.2 Zero reset ................................................................................................................................................... 14
+   3.3 Clutch function .......................................................................................................................................... 14
+   3.4 Brake function ........................................................................................................................................... 15
+
+4 Winch Data Viewer App .................................................................................................................................... 15
+   4.1 DESCRIPTION OF PARTS ...................................................................................................................... 16
+   4.2 Editing F/W parameters ............................................................................................................................. 19
+      4.2.1 Spool rotation detection related ......................................................................................................... 21
+      4.2.2 AD-related ......................................................................................................................................... 21
+      4.2.3 Motor control related ......................................................................................................................... 22
+
+5 About UART communication ............................................................................................................................ 23
+6 Maintenance....................................................................................................................................................... 23
+
+   6.1 Distance of the lower part of the thread end weight .................................................................................. 23
+   6.2 Bobbin winder condition ........................................................................................................................... 23
+
+                                                                                                                                          3
+   6.3 Yarn fraying ............................................................................................................................................... 25
+   6.4 In the event of yarn .................................................................................................................................... 25
+7 Performance and specifications ......................................................................................................................... 26
+   7.1 Mechanical specification ........................................................................................................................... 26
+   7.2 Electrical Specifications ............................................................................................................................ 27
+
+                                                                                                                                          4
+1 Introduction                               Spool
+1.1 Content
+
+         One winch (with thread end weight)
+         One antenna for telemetry
+
+1.2 Names of parts
+
+                Mounting screw
+
+                                                    Antenna for telemetry
+                                                          (Screw in.)
+
+                                                    Yarn blur sensor
+
+           Level winds                       Thread end detection
+                                             switch
+
+           Figure 1-1 Part Names 1
+
+  Power
+connector
+
+  XT-60
+
+           Receiver connection                      Thread end
+                    cable                             weight
+
+               Fig. 1-2 Part Names 2
+
+                                                                           5
+  2 Operation check
+
+When using the winch for the first time, check the operation according to the following procedure.
+
+   2.1 What to prepare
+
+                                                                                                Should be prepared by user
+
+Winch body                          Figure 2-1. System Configuration Diagram21
+Radio and receiver  This product.
+Dc power supply     Connect to a commercially available receiver. The receiver must be powered by a 5V.
+                    (Prepare by customer)
+MONOSTICK           Please prepare a direct power supply of 7.2 to 22. 2V. (2 to 5 cell Li-Po batteries, etc.).
+                    Recommended range is 11.1 to 14 8V. The winch-side terminals have a XT-60 male
+PC                  configuration.
+                    14. The higher the supply voltage is below 8V, the higher the winch take-up speed is.
+                    However, an upper limit is provided to protect the equipment. If the supply voltage is 14. 8V
+                    or higher, the voltage applied to the motor is limited.
+                    It is required to receive the radio data (telemetry information) transmitted by TWE-Lite from
+                    the main unit of the winch on the PC. (Prepare by customer)
+                    In many cases, the driver is installed automatically, but if it is not recognized, refer to the
+                    manufacturer's site below and install the driver. If installed, a COM port is added.
+                    https://mono-wireless.com/jp/products/MoNoStick/index.html
+                    PC for displaying telemetry information. (Prepare by customer)
+                    Install the dedicated viewer (for Windows only) that you want to send via e-mail.
+
+※ The receiver connection cable of this winch does not supply power to the receiver. Prepare a separate power supply
+for the receiver, e.g. from the drone body.
+※ Futaba Electronic Industry Co., Ltd. (hereinafter referred to as "Futaba") has been checked for operation with the
+radio (T6KA) and receiver (R3006SB). Operation with all equipments is not guaranteed.
+
+                                                                                                                                          6
+※ 22. At power supply voltages higher than 2V, the operation is stopped to protect the winch control circuitry. Use
+a commercially available DC-DC converter or the like to set the supplied voltage to the winch control circuit to 22.
+2V or less.
+With a 6-cell Li-Po battery, this voltage is exceeded depending on the charge status and ambient temperature.
+Therefore, the above measures are required.
+
+   2.2 Connection of signal cables
+
+Winch body side
+
+                  Signal  Power
+
+                  line           GND
+
+                          line
+
+                  Figure 2-2 Receiver Conlinneection Cable22
+
+   Connect each connection cable (red, yellow, green) to the corresponding channel on the receiver. To perform UART
+communication, connect UART cable (blue) to the device to which you are sending. (For more information, see
+About 5UART Communication)5About UART communication
+
+   The white tube in each cable is the signal wire, the red tube is the power supply, and the cable without the tube is
+GND. When connecting to the receiver, be careful not to reverse the connection. In addition, when the function is not
+used, the main unit can operate with zero reset (green) and clutch (yellow) and UART (blue) even when it is not
+connected. When connecting or disconnecting a cable, turn off the power to prevent malfunction. The following
+shows how to connect the transmitter (T6KA) and receiver (R3006SB).
+
+           SwB       SwD
+          Clutch  Zero reset
+
+Throttle                                                                  Winch
+Winch                                                                     Zero reset
+                                                                          Clutch
+
+                                                              ↑↑ ↑        7
+
+                                                              W RedBlack
+
+                                                              hit
+
+                                                              e
+                                                      Fig. 2-3 Connection example23
+
+   2.3 Radio default settings
+
+    2.3.1 If you are using a cover T6KA
+   ● Changing the Model Type
+   If the throttle is not fully lowered when the radio is turned on, a warning sound will be heard in the initial state
+immediately after the radio is purchased. To avoid this, change the model type.
+
+                                                      Throttle
+
+                   Figure 2-4 Throttling the radio24
+
+・ Press and hold "+" to enter the menu.
+・ Select "M type".
+・ Press the "+" or "-" button with the cursor at "TYPE" to select "MULTI COPT", and then press and hold down
+
+     the arrow pad.
+・ Press the arrow pad when you hear "sure?".
+・ Press the "END" button to exit the menu.
+
+● Fail-safe function
+   Determine the operation of the receiver when the link with the transmitter is disconnected during operation in the
+
+prop.
+
+・ Press and hold "+" to enter the menu.
+・ Select "F/S".
+・ Set the target channels (2:ELE, 5:AU5, 6:MOD) as shown in Fig. 25.Fig. 2-5 Setting example (set as shown in
+
+     red)25
+
+MODE.POSI B-F/S      MODE.POSI B-F/S
+
+1:AIL NOR --- ---    5:AU5 NOR --- ---
+
+2:ELE F/S + 0% ACT   6:MOD NOR --- ---                          8
+
+3:THR F/S + 20% ACT  7:AU7 NOR --- ---
+
+4:RUD NOR --- ---    8:AU8 NOR --- ---
+                                            Fig. 2-5 Setting example (set as shown in red)25
+※ "NOR" in "MODE" means "retain the previous operation" when the link with the transmitter is broken, and the
+
+    winch operation may be continued and the hoisting or lowering may not be stopped.
+    Set F/S to reduce emergency problems by setting desired for each channel.
+Setting the Receiver Side
+   Set the channels required by this winch (assign SW-B to channel 6).
+・ Press and hold "+" to enter the menu.
+・ Select "AUX CH".
+・ Press the "+" or "-" button with the cursor at "CH5" to "SwD".
+・ Press the "+" or "-" button with the cursor at "CH6" to "SwB".
+・ Press the "END" button to exit the menu.
+
+    2.3.2 When using DJI-products (DJI Assistant2)
+Use DJI Assistant2 to set up the receiver.
+
+   In the "Tool" → "Function Channel" of DJI Assistant2, set the "Spraying" of the channels to which the winch,
+zero-reset, and clutch are connected among the respective outputs (F1 to 8) as follows.
+
+Spraying                           1000μs ～ 2000μs
+Frequency Direct Output            Arbitrary setting
+Channel Switch                     Arbitrary setting
+Frequency Reverse Settings  Arbitrary setting
+
+   2.4 Attaching the winch to a drone, etc.
+
+Use four screws (M3). Refer to the attached drawing for the screw position.
+
+   2.5 Operation check
+
+    2.5.1 Warning tone
+When the power is connected to the winch and successfully started, the following start-up sound is heard.
+
+                        Always started: "Pipid limiter"
+
+If the warning tone sounds as shown below, take the appropriate measures.
+                        ～ When winch pulse is not received: "beep-beep-beep (repeat until pulse is received)"
+                           → Check the link between the receiver power supply, radio power supply and receiver.
+
+                                                                                                                                          9
+                        ～ When the stored data is incorrect: "Peep (repeatedly until the power is turned OFF)"
+                           → Contact your dealer.
+
+                        ～ Excessive current: "Pippy--"
+                           → The load is too high. Reduce the load before use.
+
+    2.5.2 Clutch operation (manual thread feeding function)
+When the thread is pulled with SwB at the central or downward position, the feed-out drive is performed. When the
+tension of the thread is lost, feeding stops. The feedrate can be set in two steps according to the position of SwB.
+Refer to 3.3 Clutch Function for details.3.3
+
+※ When the throttle is not in the neutral position, neither clutch operation nor zero reset operation is performed.
+When performing clutch operation or zero reset operation, return the throttle to the neutral position.
+
+    2.5.3 Zero reset operation
+Check that the thread end weight stops with sufficient frictional force.
+In this condition, if SwD is pushed down in the output direction, the take-up drive will be performed. When the yarn
+end weight hits the yarn end detecting sensor or when SwD is pushed down later, the zero-reset operation is stopped
+and the position is memorized as the yarn length 0m. Refer to 3.2 Zero reset for details.3.2
+
+    2.5.4 Throttle operation
+The dummy weight can be raised and lowered by fixing the winch body and operating the throttle lever with the
+dummy weight (PET bottled beverage, etc.) of about 500g hung.
+In this condition, the maximum speed is set to be output. In the above clutch operation or zero reset operation, the
+operation speed is limited.
+
+※ Due to the action of the thread length sensor, it automatically decelerates and automatically stops prior to the
+thread length becoming 0m.
+※ When sufficient tension is not applied to the thread, the yarn fuse sensor prevents or restricts the winding and
+pulling-out operations. Refer to section 3 Radio operation for details.3
+
+    2.5.5 Telemetry function
+Follow the procedures below to check the winch data and make various settings via wireless communication with
+Windows PC. Refer to the 4-Winch Data Viewer app for more information.4
+
+    1. Launch the dedicated app "Winch Data Viewer". Dedicated apps will be sent from the distributor. It can be used
+      in a decompressed state.
+
+    2. Insert MONOSTICK into the PC's USB port. If required, install MONOSTICK drivers.
+      For driver installation, refer to the following manufacturer's website.
+
+                                                                                                                                        10
+       https://mono-wireless.com/jp/products/MoNoStick/index.html
+3. In the app window, specify the COM port to which MONOSTICK is assigned to "Port".
+4. Initialize MONOSTICK using the "Initialize Option →MONOSTICK" procedure. If the initialisation fails,
+
+  check the COM-port settings and install MONOSTICK again.
+
+                                                                                                                                    11
+    5. Enter the winch ID in "Target winch ID" in the app screen. The winch ID is the last four digits of the serial
+      number stamped on the back of the winch as shown in Figure 2-6. In this example, "1003" is used.
+
+                                                    FIGURE 2-6 Rear Serial Number
+
+      6. Check that the telemetry antenna is attached to the winch body, that the winch is turned on, and that various
+      instructions such as zero reset are not being executed.
+      7. When you press the "Start" button on the application screen, communication with the winch starts and
+      various information is displayed on the application.
+
+  3 Radio operation
+   3.1 Hoisting/feeding
+
+The thread can be wound or fed by using the radio control corresponding to the receiver connection cable (red). In
+the connection example of 2.3.1, when the stick is pushed up, the yarn is wound up with the output corresponding to
+the amount of knocking down, and when the stick is pushed down, the yarn is fed with the output corresponding to
+the amount of knocking down. The speed of the thread may vary depending on the power supply voltage and load.
+Operation is restricted under the following conditions in order to avoid troubles such as yarn entanglement and to
+protect the device.
+
+    3.1.1 Remaining distance reduction gear/stop
+This winch constantly monitors the thread length and limits the winding speed when it detects that the thread has
+fallen below the specified length. Rotation stops at the specified position when it is further wound up. The
+deceleration/stop position and speed can be adjusted using the viewer application. For more information, refer to 4.
+2F/W Parameter Editing.4.2Editing F/W parameters
+The position to be stopped performs an overrun from the above parameter setting position. The overrun amount
+moves back and forth depending on the conditions such as the hoisting speed and the lifting weight. Adjust the amount
+according to the operating conditions so that the thread ends do not collide with each other.
+
+                                                                                                                                        12
+    3.1.2 Stop/slowly wind up when dandruff occurs.
+When the tension applied to the thread comes off and falls below the specified
+tension (70 to 350g), such as when the suspended load is grounded, feeding is
+prohibited. This function automatically stops unloading and prevents yarn
+entanglement when unloading in a place where the load cannot be seen. In this
+case, the speed limit and distance limit are applied to the winding in order to
+prevent the thread from becoming blurred.
+If the motor can be wound up to the specified distance (initial condition approx.
+90cm) at a low speed and the specified tension is recovered during that time,
+the speed limit of winding is released.
+If the specified tension is not recovered even after the specified distance is
+taken up, winding stops. In this case, once the throttle is pushed down in the
+feeding direction, the differential winding of the specified distance can be performed again. Be careful not to continue
+winding without tension, as it may cause thread entanglement or thread biting.
+
+    3.1.3 Thread end detection stop
+When the thread end detection switch is hit by the stopper, etc., winding up/feeding stops.
+The purpose is to protect the device such as when the detection by the remaining distance in 3.1.1 does not work, for
+example, when the yarn is entangled.
+If the yarn end is detected during the hoisting operation, the operation in the hoisting direction is stopped. When the
+feeding direction operation is performed, it is canceled.
+If the thread end is detected during the feeding operation, the operation in the feeding direction is stopped. When the
+wind-up direction is operated, it is released.
+
+    3.1.4 Excessive current stop
+The motor drive stops to protect the equipment when a load more than the specified is applied to the motor, such as
+lifting an excessive load.
+In addition, in low-temperature environments, a large current tends to flow due to a decrease in electrical resistance,
+so that the excess current stop function becomes easy to work at large load and high acceleration. When the motor
+temperature rises above room temperature (25 degrees Celsius), it operates normally.
+If an excessive current is detected, the winch will emit a beeping sound when an excessive current is detected. In this
+case, use the product with a reduced load. Note that telemetry data transmission is suspended while a warning sound
+is being generated.
+
+    3.1.5 High temperature detection stop
+When the motor or drive circuit reaches a danger temperature (95°C), the drive stops to protect the equipment. When
+the temperature drops to the safe temperature (85°C), the drive limit is released.
+
+                                                                                                                                        13
+3.1.6 Remaining distance limit/cancel (escape mode)
+
+To prevent all threads taken up by the spool from being released, feeding stops
+
+when the thread length becomes low. Also, this limit can be released by setting the
+
+clutch (strong).
+
+The position where the limits are started can be adjusted using the winch Viewer app.
+
+For more information, refer to section 4 "Editing 2F and W Parameters."4.2Editing
+
+F/W parameters                                                                          Clutch
+This winch is shipped with a thin yarn (discarded yarn) which is weak in strength       strength +
+between the yarn and the spool, and can be easily broken by applying force to the       thread
+thin yarn part after releasing all the yarn. Use this function when the thread is       ejection
+entangled. If all fine thread parts are exposed, they break with a force of 1.4kgf or   → Escape!
+less. Use the above-mentioned restriction function so that the thread remains at least
+
+5m at all times so that force is not applied to this point except in emergencies. If the remaining thread length is less
+
+than or equal to 3m, the binding part with the fine thread part will be loaded, and there is a risk of unintentional
+
+breakage. The product is shipped with a PE line of 80m wound, and 75m is set to the stop position. If the thread is
+
+shortened, adjust the stop position.
+
+   3.2 Zero reset
+
+The radio operation corresponding to the receiver connection cable (green) performs a zero reset. In the
+configuration example of 2.3.1, zero reset is executed when SwD is moved forward. Zero reset detects the end of
+the thread or winds up at a low speed until the switch is tilted backward, and then pulls out the thread for about a
+few centimeters to stop.2.3.1
+The position when the thread end is detected or the switch is tilted backward is set as the thread length "0m". Use
+this function to set the zero position for thread length measurement again, such as when the thread is cut.
+No other operation can be performed until the zero reset switch is pushed back. In addition, winding by zero reset
+operates even when there is no tension. Note that the motor stop function does not work due to the remaining distance
+or detection of the thread blur in the hoisting operation during zero reset. In situations where this function is not
+required, the other functions will operate even if the corresponding receiver connection cable (green) is disconnected.
+When connecting or disconnecting the cable, be sure to connect or disconnect the cable after turning off the power
+to the winch, as there is a risk of malfunction.
+
+   3.3 Clutch function
+
+When the clutch is turned on by radio operation corresponding to the receiver connection cable (yellow), feed-out
+driving is performed when tension is applied to the thread. Use this function when you want a little thread when
+hanging the load.
+The clutch is a three-stage switch.
+
+      When set up: Clutch operation OFF
+      When set to middle: Clutch operation (weak)
+
+                                                                                                                                        14
+      When set down: Clutch operation (strong)
+Note that a knocking phenomenon may occur due to the balance between the weight of the suspended load and the
+speed setting during clutch operation. If the feedrate of the load caused by the clutch action exceeds the natural
+falling speed of the load, the tension of the yarn is temporarily eliminated, and the yarn feeding stops. Then, the
+load tensions again, activating the clutch action repeats spool feeding and stopping. This phenomenon is not a
+malfunction, but it can be avoided by reducing the set speed during clutch operation.
+In addition, when the clutch operation (strong) is set, the drive limit based on the remaining distance in 3.1.6 is
+released (escape mode). Use this function when you want to release entangled thread, etc.3.1.6
+In situations where this function is not required, such as during flight, other functions will operate even if the
+corresponding receiver connection cable (yellow) is disconnected. When connecting or disconnecting the cable, turn
+off the power to the winch once to prevent malfunction.
+
+   3.4 Brake function
+
+This winch is equipped with a mechanical braking function to prevent the load from falling when the radio operation
+is stopped and the motor stops operating. The brake function is automatically released when the motor is wound up.
+When the motor is stopped, the brake function brakes even when there is no electric power. The braking force is 12
+to 30kgf, and the yarn slips out when it is subjected to greater tension than that.
+If the thread slips out when the power is turned off, it will not match the thread length information stored inside the
+winch, so the remaining distance reduction gear/stop function will not work properly. In this case, reset the thread
+end position again by the zero reset operation. (Refer to 3.2, "Zero Reset.")3.2Zero reset
+
+  4 Winch Data Viewer App
+
+By using Viewer app, you can receive data in the winch, such as the thread length and battery voltage, wirelessly via
+TWE-Lite and check it by telemetry. You can also change settings such as the position at which the winding stop is
+performed.
+
+                                                                                                                                        15
+4.1 DESCRIPTION OF PARTS
+
+               Clearing Logs                                                                      Log display area
+                Save Logs As
+Saving Logs Automatically
+        Stop Autosave Logs
+
+                              Fig. 4-1 Viewer app GUI-screen41
+
+Port                          : Specify the COM-port assigned to MONOSTICK.
+Study winch ID                : Specify the winch ID to be received in decimal.
+"Start" button                : Starts receiving winch data.
+"stop" button                 : Stops receiving winch data.
+Exit button                   : Exit this app.
+
+※ Winch data reception cannot be started during winch operation. Stop the winch operation before pressing the start
+button.
+
+Thread length                 Displays the length of the thread fed from the spool. The display is updated twice per
+
+         second in good communication condition. A display error of about 3% may occur due to the winding state of
+
+         the thread, etc.
+
+Voltage Displays the power supply voltage supplied to the winch.
+
+Current        Displays the current flowing through the winch motor.
+
+Throttle amount This is the output value (%) of the motor specified by operation with the radio.
+
+Tension        Displays the tension of the thread taken by the thread blur sensor. The detectable range is
+
+               approximately 70 to 350g. When the weight is 80g or less, 0g is displayed. There is a measurement
+
+                                                                                                  16
+error of about ±50 g.
+
+   Log display area               : Displays information when each operation is performed. Information such
+                                     as errors is also displayed here.
+   Clear Log button
+   Save Log As button             : Clears the currently displayed log information.
+   Save Log Automatically button  : Saves the currently displayed log as a name.
+time.                             : After specifying the destination file, the newly received data is saved at any
+   Stop Autosave Log button
+                                  : Stop "Save log automatically" above.
+
+                                  Diagram 4-2 Viewer App Menus42
+
+"Exit"                            : Exit this app.
+"Initialisation MONOSTICK"        : Initializes MONOSTICK specified by "Port". Initialization is possible only
+"Telemetry function stop"
+                                     once after purchasing MONOSTICK.
+"F/W parameter rewrite"           : Turns off TWE-Lite's radio function and stops receiving telemetry data. To
+
+                                     enable the wireless function again, turn the power of the winch to
+                                     OFFOOBON.
+                                  : Used to set the operation parameters of the winch main unit. For more
+                                     information, refer to section 4 "Editing 2F and W Parameters."4.2Editing
+                                     F/W parameters
+
+※ MONOSTICK Initialisation and Telemetry Deactivation cannot be performed during winch data reception.
+   Perform after stopping.
+
+                                                                  17
+Various warning displays
+   When indicating a warning, it is displayed in red as shown in the figure below. The warning details are as follows.
+                                                                     ～
+                 ～
+                                                                     ～
+                 ～
+
+                ～
+
+                                                   Fig. 43 Warning indications4-3
+
+～
+
+   Fig. 4-4 Warning displays (when communication is abnormal)44
+
+① Voltage drop : Voltage of the battery connected to the winch body is low (warning below 5. 5V).
+
+② Insufficient tension :  Operate the winch with a constant tension (weight) applied to prevent the
+
+yarn from being wrapped in a turbulent manner.
+
+③ Temperature warning :   Heat generation of the circuit or motor is high (warning at 85.0°C or higher).
+
+④ Thread end detection :  When it is displayed at the time of thread edge detection, feed the thread a
+
+little.
+
+If this message appears at zero reset, reset the transmitter to zero.
+
+⑤ Supplement : Shows supplements when the function is restricted in ～ to ～ above.
+
+                                                                                                   18
+⑥ Communication error :     Displayed when winch data cannot be received (warning in 3 seconds or
+
+more). Note that the operation of the winch itself will not be affected if communication
+
+between the radio and receiver is established.
+
+4.2 Editing F/W parameters
+
+The following parameters can be set by editing the optional OOBF/W parameter.
+
+※ Values that are grayed out cannot be changed.
+
+                                Figure 5-4 F/W Parameter Edit Window 1
+
+                                     Zero-reset position (0m)
+
+                         Figure 5-5 Spool Rotation Detection-Related Settings
+                                                                                                                            19
+20
+4.2.1 Spool rotation detection related
+
+ROT_LOW_LEVEL         This is the position where deceleration starts during bobbin winder winding.
+
+ROT_STOP_LEVEL        This position stops winding of the thread.
+
+ROT_LOW_LENGHT_CNT This is the position where deceleration starts at the time of feeding.
+
+ROT_STOP_LENGTH_CNT This is the position to stop the thread feeding.
+
+The above function is the distance to start limiting the throttle value and actually stops after overrunning. The amount
+of overrun varies depending on the speed and load. Adjust it according to the operating conditions.
+
+    4.2.2 AD-related  This is the lower tension limit of the thread bracket sensor for which thread
+RELEASE_LEVEL_FWD     This is the lower tension limit of the bobbin winder sensor for which bobbin
+ejection is enabled.
+RELEASE_LEVEL_REV
+winder is enabled.
+
+Since the detection capability of this winch's thread blur sensor is in the range of approximately 70 to 350gf, the
+value during this period can be set. This limits the winch operation when the tension falls below the set value. If a
+value between 0 and 71gf is entered, the value is set to 71gf. By adjusting this parameter, you can adjust the automatic
+stop function for thread ejection in areas where the load grounding is difficult to see.
+When the special hook "Karakuri-karavina" is used, the load can be stopped unloaded with the load grounded and
+the hook not grounded by making RELEASE_LEVEL_FWD larger than the hook's own weight.
+By making RELEASE_LEVEL_REV smaller than the hook's own weight, you can also enable take-up even with the
+hook-only weight. The weight of the special hook "KARAKI KARABINA" combined with the yarn end weight is
+approximately 150g. When using this combination, it is recommended to set RELEASE_LEVEL_FWD to
+approximately 200g and RELEASE_LEVEL_REV to approximately 100g.
+
+In addition, if it is set to a negative value, the restriction of winch operation by the thread blur sensor is stopped. In
+this case, be careful as there is an increased risk of thread entanglement.
+Note that the detection accuracy of the thread blur sensor may differ due to individual differences, variations caused
+by the environment, fatigue caused by repeated use, etc. Therefore, confirm the detection accuracy with the actual
+device when using it.
+
+                                                                                           21
+4.2.3 Motor control related
+
+                             Figure 5-6 F/W Parameter Edit Window 2
+
+SLOW_REV_SPEED               Set the max. winding speed when the thread length becomes less than or equal to
+                             ROT_LOW_LEVEL during winding and when the thread length becomes more
+ZERORESET_SPEED              than or equal to ROT_STOP_LENGTH_CNT during feeding.
+CLUTCH_SLOW_SPEED            Sets the winding speed for zero reset.
+CLUTCH_SPEED                 Set the feeding speed for clutch (weak).
+TENSION_ZERO_SPEED           Set the feeding speed for clutch (strong).
+                             Sets the winding speed when the tension is less than or equal to the specified
+FORWARD_SPEED                value.
+REVERSE_SPEED                Set the maximum speed (throttle value) for thread ejection.
+                             Set the maximum speed (throttle value) for bobbin winder winding.
+
+"Read file"      : Reads the value of the F/W parameter saved in the file and displays it on the screen.
+"Save file"      : Saves the value of the F/W parameter displayed on the screen to a file.
+"Default value"  : Recalls the default settings.
+"Read from F/W"  : Retrieves the parameter value from F/W and displays it on the screen.
+"Write to F/W"   : Write the value of the parameter displayed on the screen to F/W.
+
+                                                                                                          22
+  5 About UART communication
+
+Wired communication can be performed through the receiver connecting cable (blue) to the device that performs
+UART communication with the winch information. The information that can be communicated is the number of spool
+rotations, tension, yarn edge detection, operation, throttle amount, battery voltage, current, circuit temperature, and
+motor temperature, and it transmits hexadecimal numbers in text format.
+To communicate with a PC, a commercially available USB-serial converter (such as FTDI) is required.
+For details on the data format and connection method, contact your winch dealer.
+
+  6 Maintenance
+   6.1 Distance of the lower part of the thread end weight
+
+This winch is equipped with a 3.1.1 Remaining Distance Reduction gear and Stop function to avoid yarn entrainment.
+However, if yarn entanglement occurs, etc., the yarn end may be caught. For this reason, it also has a 3.1.3 thread
+end detection stop function. When the thread end weight hits the thread end detection stopper, secure a distance of at
+least 10cm from the tube attached to the bottom of the thread end weight to the thread end (carabiner, etc.) to avoid
+thread breakage. If this distance is insufficient, excessive tension may be applied to the thread due to overrun as
+shown in Fig. 5-2 and the thread may break when the thread end weight hits the thread end detection
+stopper.3.1.1Remaining distance reduction gear/stop3.1.3Thread end detection stop
+
+                              10 cm or more
+
+        Fig. 5-2 Thread end weight colliding
+        with each other
+
+   6.2 Bobbin winder condition
+
+If a heavy load such as hanging a heavy load is applied after a long-distance yarn is caught by a light load (for
+example, the weight of only the hook), the yarn may bite into the yarn winding part. If the thread bites hard, the
+thread may not be fed even when the feeding operation is performed, and the thread may be wound in the reverse
+direction to the spool based on the biting position.
+To avoid this, once the thread is caught with a light load, unwind the thread and rewind it. When winding, apply
+
+                                                                                                                                        23
+tension of about 1kgf. In this case, using a commercially available recycler for phishing reels makes it easier to carry
+out the operation.
+
+                                                                                                                                        24
+   6.3 Yarn fraying
+
+The yarn has a limited life. Since the yarn used in this winch is a yarn made by knitting multiple polyethylene yarns,
+fuzzing occurs when it deteriorates. If the fuzz is severe, cut the point.
+If disconnected, use the function described in 4. 2F/W Parameter Editing to shorten the stopping distance by the
+length of the cut.4.2Editing F/W parameters
+If the yarn wound on the spool falls below 3m, there is an increased risk that the yarn will break.
+In addition, if the yarn deteriorates as a whole, it is necessary to replace the yarn. When winding, apply tension of
+about 1kgf. In this case, using a commercially available recycler for phishing reels makes it easier to carry out the
+operation.
+
+                                                        Fig. 5-3 A fluffed yarn
+
+   6.4 In the event of yarn
+
+The risk of yarn entanglement increases when winch threading is performed under low load. When the thread is
+pulled out for a long distance without tension being applied to the thread, a phenomenon called backlash occurs, in
+which the loose thread is entangled inside the winch.
+When backlash occurs, the yarn may be partially wound on the spool in the reverse rotation direction.
+If such a phenomenon occurs, pull out the entangled part to the outside of the winch by using the forward and reverse
+operations properly while observing the direction of the spool thread with the thread overhanging in the direction.
+It is possible to use it by reeling the thread again after pulling out all entangled parts, but carefully check for thread
+glasses and scratches.
+If the backlash condition is severe, dismantling and repair may be required. Contact your dealer.
+
+                                                                                                                                        25
+7 Performance and specifications
+
+7.1 Mechanical specification
+
+Standard dead weight : Approx. 630g (including thread)
+
+Dimensions : Width 110 mm x height 82 mm x depth 72mm (excluding antenna section)
+
+Load  : Maximum. 8kgf
+
+Hoisting speed: Approx. 0. 7m/s (at 14. 8V loading 5kgf)
+
+Maximum output       : Approx. 55W (14. 8V)
+
+Thread length : PE-line 80m (DAIWA UVF Mega-Sensor 12 Blade EX+Si 12)
+
+Power supply voltage : DC7 2 to 22. 2V Recommended Voltage 11.1 to 14. 8V
+
+Load-Speed Diagram:
+
+                                                     Figure 6-1 Load-Speed Diagram
+※ The graphs above are typical measurements and are not guaranteed values. It varies depending on the bobbin
+winder winding radius and temperature.
+
+                                                                                                                                        26
+7.2 Electrical Specifications
+
+      Table 6-1 Electrical Specifications1
+
+      Item                               Specifications
+
+      Applicable Battery Voltage         7.2 ~ 22. 2V (recommended 11.1 to 14. 8V)
+
+      Motor output voltage               Max. 15V (depending on battery voltage)
+
+      Motor output current               Max. 15A
+
+      Receiver Power Supply Voltage 5.0V (4.5 ～ 5.5V)
+
+      Receiver input signal              PWM method 3 channels (S.BUS is not currently
+
+                                         supported)
+
+                                         Pulse Width 1ms to 2ms (Center 1.5ms)
+
+      Wireless (for telemetry 2.4GHz (with TWE-Lite radio module)
+
+      transmission/reception)
+
+Table 6-2 Operation specifications for each channel2
+
+Item                     Specifications
+
+Winch (Red)              The throttle amount varies from 0 to 100% according to the amount of
+
+                         change in the lever.
+
+Clutch (Yellow)          0 to 27% of lever position : Clutch operation OFF
+                         27 to 73% of lever position : Clutch operation (weak)
+                         73 to 100% of lever position : Clutch operation (strong)
+
+Zero reset (green)       0 to 50% of lever position : Zero reset OFF
+
+                         50 to 100% of lever position : Zero reset ON
+
+             0%                                       0%                                              0%
+                                                        クラッチ動作OFF                                       ゼロリセットOFF
+               巻き上げ                                       27%                                               50%
+               (スロットル値は                                                                                 ゼロリセットON
+                0～100%で変化)
+                                                                                                      100%
+                    50%                                  クラッチ動作(弱)                 ●ゼロリセット
+
+               送り出し                                       73%
+               (スロットル値は                                 クラッチ動作(強)
+                0～100%で変化)                            100%
+
+             100%
+
+●ウィンチ                                    ●クラッチ
+
+                         Fig. 6-2 Operation Specifications by Channel
+                                                                                                                     27
+