Kondo KXR KXR-A5, Assembly Manual

Page 1: ...Assembly Manual Arm Type KXR A5 Service Dept KONDO KAGAKU Co Ltd support kondo robot com Support Information www kondo robot com Ver 2 0 2017 Kondo Kagaku Co Ltd ...

Page 2: ...ndling 11 Frame Parts 12 Servo ID and Position 14 Robot Assembly 15 Full Robot Assembly Procedures 15 Servo ID Setting 16 Body Assembly 19 Arm Assembly 25 Attaching All Parts 35 Robot Operations 41 Connecting with PC 41 Trim Adjustment 45 Running Sample Motions 52 Reduced Voltage Motion Settings 55 Options 56 Option Parts List 56 ...

Page 3: ...ult our service section Do not disassemble or modify the servo or board of the finished product Disassembly and repair other than those stated in this Instruction is prohibited Incorrect disassembly or assembly can cause malfunctions fire and or electric shock In case of any malfunction please contact our service section Do not allow the product to become wet or use under high humidity and conditi...

Page 4: ...f this product as an assembly kit the motion of the assembled product cannot be guaranteed Further due to the fact that the movements of the assembled product depend in large part on the method by which it was assembled we may not be able to provide precise answers to your questions regarding operations The assembly and operation of this product requires the use of a personal computer Windows Vist...

Page 5: ... 3300 26 Small Diameter Horn C Dummy Servo Upper Dummy Servo Bottom Small Diameter Horn B x 3 x 3 No 02157 No 02159 No 03146 No 03147 6 pcs KRS 3302 ICS No 03115 No 03116 6 pcs KRS 3301 ICS x4 x4 x4 E No 02303 No 02303 No 02306 x4 x1 x2 x2 x2 x1 x1 A B C No 02313 No 02313 No 02312 No 02312 No 02313 No 02313 No 02311 x2 x2 D No 02309 No 02309 F Body Panel Lock Ring BT Box Plate BT Side Plate BT Hat...

Page 6: ...Spacer Bush Flat Frame Arm supporter 3300B Supporter B Spacer 2 Bottom Spacer 3300 J L x 2 No 02318 No 02318 No 02318 No 02319 No 02316 No 02315 x 2 x 1 x 2 x 2 x 2 x 2 No 02315 x21 x19 x4 x4 x1 x1 No 02300 No 02301 No 02314 No 02305 No 02305 No 02305 G Joint Base Cable Guide X Joint Frame 3300A Joint Frame 3300B a Joint Frame 3300B b Joint Nut Prior to Assembly List of Parts Used 2 KXR A5 ...

Page 7: ...Harness No 02116 Dual USB Adapter HS Length 120mm Length 200mm Decal for KXR ID Seal for Servo Cable Kit Guidance Length 100mm Length 1 5m Length 160mm Board AC Adapter Accessories 0 1 Bind Head There may be more parts included in the set than the number used No xxxxx is the option part number Use this number for searches and inquiries No 02325 No 02326 No 02324 No 02086 No 02164 No 02176 No 02083...

Page 8: ...SIO serial ports for each of two systems of ICS3 0 3 5 3 6 compliant devices and can connect up to 36 ICS3 0 3 5 3 6 devices There are also five AD analog ports so gyro acceleration and other analog sensors can be used High speed high capacity EEPROM has been adopted to make it possible to run multiple varied motions Size 35 x 30 x 12 mm Weight 7 6 g Interface SIO port x6 AD port x5 COM port x1 ZH...

Page 9: ...at it cannot be damaged by impact due to falling etc before turning the switch on If the battery appears damaged due to impact or if it appears unusual in any way do not use or recharge it Repeated use may result in the wire insulation becoming damaged and split Pulling wires across the frame burring or allowing the battery to fall etc with the wires exposed may cause damage to the wires Check the...

Page 10: ...S 3304 ICS Blue This kit uses M2 screws Serration Middle Case Bottom Case ZH connector Whichever it is connected to there is no impact on operations Part Name of Servo Motor KRS 3300 Series Origin M3 Screw Hole 2 6 Tapping Screw Hole LED Align the protruding position and firmly insert all the way in Be careful not to push it in backward Frame parts are labeled Upper Side and Bottom Side to indicate...

Page 11: ...t an angle Right Right Tighten while applying pressure If you strip the screw head remove the screw without applying too much force and then use a new screw Do not use damaged screws If the screw becomes hard to tighten unscrew it a few revolutions and then tighten again carefully With this kit use a 0 screwdriver for M2 screws and 1 screwdriver for M2 6 and larger screws M refers to millimeter sc...

Page 12: ...he M2 end Joint nut screw hole How to set Joint Nuts Double Joint Base When installing joint bases Make sure the installation direction is correct Front Side Horn Side Back Side Nuts Side Joint Base Joint parts for connecting the arms and frame etc with the servos Put on the plastic joint nut and screw to secure Plastic joint nuts can be replaced with M2 M2 6 metal nuts ...

Page 13: ...installation bearings and the length of the arms are correct Arm 20 Caution Cross upper arm 28 is exclusively with the cross upper frame 20mm Set Back 26mm 38mm Serration Free Free There are no screw holes for guiding cables Serration faces the top side Serration Free Serration Serration Example Cross Frame Free Upper Bottom Upper Bottom Upper Bottom Bottom Upper Arm 26 Arm 38 ...

Page 14: ... RCB 4mini using ZH ZH connection cable RCB 4mini s SIO ports servo connectors are divided into two systems SIO1 3 and SIO5 7 Within the same system changing the port does not impact operations but be aware that if the system is incorrect the robot won t function properly Servo ID stickers are classified with the symbols and Always connect ID 0 to the SIO5 7 system The explanations in this manual u...

Page 15: ...Body Assembly Procedure 0 Setting Servo IDs Procedure 3 Full Assembly Procedure 2 Arm Assembly Multiuse parts 1 BT Battery Box 2 Joining 1 Arm assembly 1 2 Arm assembly 2 3 Gripper assembly 4 Joining 1 Arm 2 Electronic Compnents Reference diagram KXR A5 ...

Page 16: ...ation Dual USB Adapter HS Serial Extension Cable Servo ZH Conversion Cable Be aware that the cable used for connection differs from the software manual Connect the servos to the Dual USB Adaptor HS and serial extension cable with ZH conversion cable Connection When the Dual USB Adapter HS driver installation is completed confirm the COM Port Number This number is important when using the software so...

Page 17: ...M Confirmation In the image COM 1 is selected but the COM number differs depending on the computer you use so always select the confirmed number 4 Set the speed for servo communica tions If you select Auto it will auto matically connect in line with the com munication speed When the communication speed is selected KRS 3302 ICS at factory s h i p m e n t i s 1 1 5 2 0 0 a n d t h e C o n n e c t b u t...

Page 18: ...the Dual USB Adaptor HS from the PC after closing the software This process is only for changing settings so communications use the PC s bus power but when confirming operations connect the battery Refer to the manual included with Servo Manager for information on the connection method and necessary cable types 6 Press the Write button on the ID menu and write the ID onto the servo If successful ID...

Page 19: ...ottom Dummy servo 2 M2 ー 6 Joint base A 10 Joint base B 1 Double joint base 2 Attach Joint nut to Joint base M2 M2 6 1 1 Cut 4 M2 parts 1 Cut all 2 2 2 Secure two joint bases with screws Joint nut screw holes Align the top sides facing each other The nut side faces out M2 ー 8 x4 1 Cut all M2 6 parts 2 Use the cut M2 6 parts to attach the backpack cover Store these together with the backpack Body A...

Page 20: ...ke sure the direction of the BT side plate is correct BT Box plate BT Side plate x2 Assemble part Assembly parts completed Parts used BT Hatch x2 If installation proves difficult try temporarily securing the BT box plate and inserting one BT hatch at a time Hinge positions BT Box plate Opening closing hatch Push and slide Both sides open the same way LOCK OPEN KXR A5 ...

Page 21: ...m supporter 3300B x1 Supporter B Spacer 2 x1 Joint base A x8 Assembled Bottom spacer x1 Assembled M2 ー 6 x2 M2 ー 8 x32 M2 ー 12 x8 M2 6 ー 10 x10 1 Detach the case screws 3 2 Bottom spacer Case screw x4 Arm supporter 3300B M2 ー 8 x4 Supporter B Spacer 2 Assemble the body parts The concave part faces up Assemble part Assembly parts completed Parts used KXR A5 ...

Page 22: ...Joint base A 1 2 Assenble two sets 1 Rotate until it clicks into place Leg plate Lock ring Back pack BT Box side Body part top side Lock Align the notch and protrusion and attach Rotate until it clicks into place About the lock portion for the BT box and body parts KXR A5 ...

Page 23: ...23 Body Assembly 3 Joining M2 ー 12 x4 Assemble two sets Attach to all four places 1 2 M2 ー 8 x4 M2 6 ー 10 x8 Joint base A Joint base Arm supporter 3300A KXR A5 ...

Page 24: ...24 Body Assembly 3 Joining Body 1 2 M2 6 Nut M2 6 ー 10 x2 Backpack cover Use the M2 6 part of joint nuts The screw side facing out is the side with bevelling around the holes KXR A5 ...

Page 25: ...ー 6 x2 Detach case screws With the flat frame the leg length can be adjusted by changing the attachment position In this project example the middle type is used Short Middle Long Case screw x4 Assemble arm 1 Assemble part Assembly parts completed Parts used Confirm the servo origin and attach it straight Arm Assembly 1 Arm 1 KXR A5 ...

Page 26: ...ー 6 x4 M2 6 ー 10 x7 M3 ー 6 x2 2 6 ー 4 x2 Upper arm 3300 26 x2 Attach to the upper side Attach to the upper side 2 1 Joint Frame 3300A Double joint base Joint Frame 3300A M2 6 ー 10 M2 6 ー 10 M3 ー 6 x2 Confirm the servo origin and attach it straight Assemble arm 2 Assemble part Assembly parts completed Parts used Arm Assembly 2 Arm 2 KXR A5 ...

Page 27: ...27 Botom arm 3300 26 Attach to the under side Under side Upper side Under side Bottom arm 3300 26 M2 6 ー 10 x2 M2 6 ー 10 M2 6 ー 10 2 6 ー 4 Arm ２ M2 6 ー 10 M2 ー 6 x4 2 6 ー 4 Arm Assembly 2 Arm 2 KXR A5 ...

Page 28: ...oint frame 3300A x2 Joint frame 3300B a x1 Joint frame 3300B b x1 Gripper A a x2 Gripper A b x2 Bush x2 Spacer x2 Joint base x1 Joint nut x1 Arm supporter 3300B x1 Supporter B Spacer 2 x1 Joint base A x2 Assembled Joint base B x1 Assembled Dummy servo x1 Assembled Bottom spacer x1 Assembled Small diameter horn B x1 Small diameter Free horn C x3 M2 ー 4 x20 M2 ー 6 x3 M2 ー 8 x12 M2 6 ー 10 x8 M3 ー 6 x...

Page 29: ... Explanatory diagram for the gripper portion only M2 ー 8 x4 Supporter B Spacer 2 Arm supporter 3300B M3 ー 8 M2 ー 6 x2 The concave part faces up Align with the servo origin mark Points on Attaching to Upper Shaft A When the origin deviates with the diagram position lightly insert the arm and rotate to adjust the position Attach it straight toward the A line KXR A5 ...

Page 30: ...iagram 2 Attach the free horn C 3 Attach the gripper A b 1 Attach the free horn C and joint base A to the gripper A b M2 ー 4 x4 M2 ー 4 x4 M2 ー 4 x4 Gripper A a Gripper A b Gripper A b Joint base A Bush Spacer Free horn C Free horn C Parallel Explanatory diagram for the gripper portion only Arm Assembly 3 Gripper KXR A5 ...

Page 31: ...ach the Case screw 5 Attach the Gripper A a to the Joint base A 6 Attach the Gripper A a Attach the Joint base B 4 Attach the Free horn C Joint base B M2 ー 4 x4 M2 6 ー 10 M2 6 ー 10 M2 ー 8 x4 Explanatory diagram for the gripper portion only Gripper A a Joint base A Bush Spacer Free horn C Case screw KXR A5 ...

Page 32: ...32 Arm Assembly 3 Gripper M2 6 ー 10 M2 6 ー 10 Gripper Joint frame 3300A Joint frame 3300A KXR A5 ...

Page 33: ...x3 M2 ー 6 x5 M2 6 ー 10 x1 2 6 ー 4 x1 ZH Connection Cable ２ 120mm x1 160mm x1 200mm x1 Detach the case screws Arm １ Arm 2 Arm 2 Gripper 2 6 ー 4 M2 ー 6 x2 G Assemble the arm part and attach the gripper Assemble part Assembly parts completed Parts used Case screw x2 KXR A5 ...

Page 34: ...e guide X Cable guide X M2 ー 6 1 Wire to ID5 and ID7 2 Wire to ID3 and ID5 3 Attach the cable guide X 3 Wire to ID2 and ID3 Coil around the dummy servo Coil one time and store between the frames 160mm 200mm 200mm 120mm M2 ー 6 x2 KXR A5 ...

Page 35: ...160mm x1 2 6 ー 4 M2 6 ー 10 M2 ー 4 x4 Joint nut Bottom arm 3300 26 Joint base Horn B Make sure the arm is installed so that the origin faces the front Front Front Front M2 6 ー 10 M3 ー 8 It would be helpful to mark the origin side with a marker etc The origin side can be cut to mark it Atach the arm Assemble part Assembly parts completed Parts used Parts Combination 1 Joining KXR A5 ...

Page 36: ...36 Complete 120mm 160mm Attach the cables Try rotating the arm and be sure that excessive force is not placed on the 120 mm cable M2 ー 6 Parts Combination 1 Joining KXR A5 ...

Page 37: ... moving the robot ZH type 3PIN ZH type 3PIN x12 VH type 2PIN To RCB 4mini VH type 2PIN VH type 2PIN To power switch To Battery The white circle side is power ON The power is normally OFF unless the robot is being operated Servo connecter To Serial Extension Cable PC To COM port To Servo etc Conversion cable for connecting serial extension cable connected with the PC and the RCB 4mini s COM port Co...

Page 38: ...re the direction is correct To Battery box To RCB 4mini To COM port at RCB 4mini Attach so that the white wire comes up 1 Attach RCB 4mini Attach the electronic components 2 Attach ZH Conversion cable 3 Attach LV Power Source Switch Harness 2 6 ー 4 x2 2 6 ー 4 x2 M2 ー 6 x4 KXR A5 ...

Page 39: ...VH type 2PIN ZH type 3PIN ZH Conversion cable Be careful of the protruding direction and do not force it in Be sure to confirm the lock guide direction and that it is not connected backward Connect wire When operating the robot lock the cover with 2 6 4 screws so that it does not unexpectedly open and shut 2 6 ー 4 x2 LV Power Source Switch Harness LV Power Source Switch Harness 160mm Arm It can be ...

Page 40: ...revent the robot from falling over when in operation it is recommended that you get a base plate etc and stabilize the body Assembly completed The following will explain how to mount the battery and run motions KXR A5 ...

Page 41: ...ack to the AC adapter and connect that to the LV power switch harness When removing the jack always first turn the power switch off and remove the AC adaptor from the outlet Align the tabs AC Adapter LV Conversion DC Jack RCB 4mini 6V 2A LV Power Source Switch Harness ...

Page 42: ...rvos and robot to communicate with the PC via a USB connection In the following adjustments are made to the robot using a computer When all the processes are completed the robot will begin to walk Conduct the processes by following the procedures below Process procedures Connecting with PC Set the Dual USB adapter HS switch to Serial mode Connect the Dual USB adaptor HS to the PC Install the HTH4 ...

Page 43: ... the setup exe in the HeartToHeart4 folder in the KXR folder to automatically run the setup program Continue the installation process as instructed by the setup pro gram 1 Software Installation After completing the software installation click the HeartToHeart4 icon in the Windows Start Menu or on the Desktop to run the software When running HeartToHeart4 for the first time a HeartToHeart4 folder i...

Page 44: ...roject example 4 Copy Sample Data Turn the KXR power switch ON 5 Activate KXR IMPORTANT Check the RCB 4 wiring and each servo motor once again be foreturning the power ON Turning the power ON with connectors out of alignment or the polarities reversed may cause damage to the robot If you notice anything abnormal when the power is on such as a strange odor or a hot servo motor immediately turn off t...

Page 45: ...al symmetry If you run a motion with the trim out of alignment the robot will not function properly or topple over easily so make sure to perform the process carefully Trim Adjustment Types of Positions Neutral Position The state in which all servos are positioned to their Neutral origin position This is used for confirmation after assembly Trim Position The pose where only the trim is adjusted fr...

Page 46: ...j ect name in the New Project window be comes the same as the name of the folder that was imported If no change is made press OK 5 Assign the Communication Port COM number to be used This will typically be the COM number used for the KO Driver In the initial state there is a pull down switch next to the COM button When the button layout or window size is changed the pull down design will also chan...

Page 47: ...nication rate and ICS communication rate to 115200 Read the cautions on the next page before pressing the RAM button 6 Press the Project Setting Window but ton The Project Setting window opens when selected Trim Adjustment 3 ...

Page 48: ...osture If the robot does not match this pose then the origin setting is wrong Retrace the origin setting steps to determine and correct the part that is off track Proceeding to set the Home Position without confirming this posture can cause damage to the servo motors Make sure that the robot assumes this posture before continuing any further When given power a servo may vibrate slightly hunting th...

Page 49: ...s 10 Press the Sync button in the toolbar of the Main Window If the color of the button changes after pressing it is turned ON In the Sync state the corresponding servo motor operates on a real time basis by moving the HeartToHeart4 slide bar The screen layout is an example for reference purposes This applies when you run the robot for the first time When the servos are shipped from the factory the...

Page 50: ... Adjust one side completely and then use that as the standard when adjusting the opposite side Align the leg servos so that when looked at from the side their output shafts are lined up in a straight line Trim Adjustment Points ...

Page 51: ...window 14 When the data writing is completed a confir mation dialog asking Do you want to restart your computer to reflect the changes made will appear press OK PC HTH4 will not restart When restarting all of the robot servos will relax To prevent the robot from fall ing make sure to support the head or backpack while restarting 17 When the saving is completed the following dialog appears so press...

Page 52: ...lay button is pressed so please be careful 4 Save Project before quitting the soft ware Press the Save Project button in the toolbar of the Main Window To play other motions repeat steps 2 to 3 If you wish to stop the robot during a motion press the Stop button In reduced voltage motion servos are depowered To return them to normal turn the robot off and back on In the sample project settings are e...

Page 53: ... type Servo KRS 3301 3302 x5 Category No Motion Name Key number Command value Symbol KRC Commander Sample motions can be run from the motion list Be aware that depending on the motion the robot may move over a wide range 0 0 0 0 0 Sample １ Sample 2 Sample 3 Move Motion XA5 101 XA5 102 XA5 103 XA5 291 XA5 292 Running Sample Motions 2 ...

Page 54: ...en to expand a project Reading Project This completes the instructions for assembly and running motions For software operation instructions refer to the HeartToHeart4 User s Manual Always check the Reduced voltage motion setting as shown on the next page With an LiFe battery set On the slippy surface can adjust grip with option sponge For Arm For Sole Grip sheet Normal 2 sheets No 02336 Sole grip ...

Page 55: ...le this setting before use 1 Set the project and open the project window The voltage per cell cannot drop below 3 0V so 3 0V x 2 cells is 6 0V Set the motion to run when power voltage drops below the voltage that you indicate 2 Set the voltage for running the reduced voltage motion to 6 0V Select low voltage indicator motion If you run an active motion at low voltage it will consume more of the ba...

Page 56: ... 90 degree angle Dummy servo for servo replacement Sole grips sold separately can be attached to the underside Set of panels for securing servos and making the body Backpack for installing electronic components etc Box for storing the battery and making the body Part for wiring cable along the arm Supporter for securing the side of a servo etc via a cantilever Spacer for securing the bottom side o...

Page 57: ...o Same size as 3301 For KRS 3304 For KRS 3304 For KRS 3300 series Standard control board for KXR Connect to Robot from PC Connect to RCB 4mini from Dual USB Adapter HS For LV Battery use For USB connection to PC For Sole Soft type For Sole Hard type Multiuse free cut Hard type 2 4Ghz wireless controller and reciever set Add on reciever Bluetooth connect to PC Android device Gyro sensor for stabili...

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