Kondo KXR-L4D, Assembly Manual

Page 1: ...KXR L4D Assembly Manual Dinosaur Type Service Dept KONDO KAGAKU Co Ltd support kondo robot com Support Information www kondo robot com Ver 1 0 2017 Kondo Kagaku Co Ltd...

Page 2: ...and Position 15 Robot Assembly 16 Full Robot Assembly Procedures 16 Servo ID Setting 17 Body Assembly 20 Leg Assembly 30 Head Assembly 35 Attaching All Parts 41 Robot Operations 49 Battery Mounting 49...

Page 3: ...lt 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...

Page 4: ...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 whic...

Page 5: ...15 No 03116 6pcs KRS 3301 ICS No 03104 6pcs No 03103 No 03105 18pcs KRS 3304 ICS Servo Joint Base Cable Guide X Joint Frame 3300A Joint Frame 3300B a Joint Frame 3300B b Arm supporter 3300A Upper Arm...

Page 6: ...er Arm 28 No 02307 Cross Bottom Arm 28 No 02307 No 02313 No 02313 No 02312 No 02312 No 02313 No 02310 No 02313 Cross Upper Frame No 02307 No 02157 Cross Botoom Frame No 02307 No 02308 Angle Blacket b...

Page 7: ...Supporter B Spacer No 02315 No 02315 Supporter B Spacer 2 No 02315 No 02320 No 02320 No 02317 Sensor Base A for Option Frame Parts There may be more parts included in the set than the number used No...

Page 8: ...Switch Harness No 02116 Dual USB Adapter HS Length 120mm Length 60mm Length 200mm Battery Ni MH or Li Fe USB Charger for Ni MH or Li Fe Decal for KXR CD ROM Kit Guidance Length 100mm Length 1 5m Lengt...

Page 9: ...ini control board used in this kit has a total of six ports three 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...

Page 10: ...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...

Page 11: ...304 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 Scr...

Page 12: ...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 beco...

Page 13: ...e 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 Jo...

Page 14: ...nstallation 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 h...

Page 15: ...lways connect ID 0 to the SIO5 7 system The explanations in this manual use the following wiring layout Putting on Connection Cable Decals Remove the decal Put the number sticker on the blank decal st...

Page 16: ...bly Procedure 3 Head Assembly Procedure 4 Full Assembly Procedure 2 Leg Assembly Multiuse parts 1 BT Battery Box 2 Joining 1 Leg assembly 1 Gripper assembly 2 Neck assembly 1 Legs Head 2 Electronic co...

Page 17: ...Dual USB Adapter HS Serial Extension Cable Servo ZH Conversion Cable Be aware that the cable used for connection di ers from the software manual Connect the servos to the Dual USB Adaptor HS and seria...

Page 18: ...COM Con rmation In the image COM 1 is selected but the COM number di ers depending on the computer you use so always select the con rmed number 4 Set the speed for servo communica tions If you select...

Page 19: ...he 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 con rming operations connect the battery Refe...

Page 20: ...2 sets M2 6 x2 M2 8 x4 Joint base A 19 Joint base B 1 Double joint base 1 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 h...

Page 21: ...me 3300A Joint frame 3300A M2 6 10 2 Attach the otherside 1 Attach the Joint Frame 3300A 2 Attach the Joint Frame 3300B b 1 Attach the Joint Frame 3300B a M2 6 10 Joint Frame 3300B a Joint base A Join...

Page 22: ...rame 3300B a Arm supporter 3300B M2 6 21 Long nut Angle bracket 4 The base of the leg 4 M2 8 x4 Assemble all the multiuse parts Parts used Servo ID1 ID5 x2 Angle Bracket a x4 Angle Bracket b x4 Arm Su...

Page 23: ...embled M2 6 x4 M2 8 x4 Attach the bottom spacer to the dummy servo The concave part faces up Attach the arm supporter Bottom spacer Arm supporter 3300B Supporter B spacer 2 Dummy servo Dummy servo Bot...

Page 24: ...nder the hook 2 Pull the cable to the length indicated below Wire six ZH connection cables of 160 mm to the BT box plate BT Box plate x2 BT Side plate x2 BT Hatch x2 M2 6 x8 ZH connection cable 160mm...

Page 25: ...BT Hatch x2 If installation proves di cult try temporarily securing the BT box plate and inserting one BT hatch at a time Hinge positions BT Box plate Wire two 160 mm ZH ZH connection cables to the o...

Page 26: ...26 Body Assembly 2 BT battery Box BT Box Opening closing hatch Push and slide Both sides open the same way LOCK OPEN Apply the decal to the cable Wired cable Left Rear Leg Right Rear Leg KXR L4D...

Page 27: ...l BT Box Front Rear Neck base x1 Assembled Leg base x4 Assembled Body panel Joint base A Assenble 4 sets Assemble part Assembly parts completed Parts used 2 Rotate until it clicks into place 1 Assembl...

Page 28: ...panel Backpack cover Lock ring cap Lock ring Body panel M2 6 Nut Base of neck M2 6 x2 M2 6 10 x2 3 4 5 Use the M2 6 part of joint nuts cut when making the neck Rotate until it clicks into place The sc...

Page 29: ...agram below it becomes easy to route the cable Right Front Connect the unused ZH connection cable 2 160 mm prepared in this process There is no cable from the battery box Body Attach the leg base 2 At...

Page 30: ...Frame A x4 Assembled Upper arm 3300 26 x4 M2 6 x8 M3 6 x4 Detach case screw Upper arm 3300 26 Joint base Joint frame A Case screw x8 M2 6 x2 Assemble 4 sets M3 6 Assemble part Assembly parts completed...

Page 31: ...tom arm 3300 38 x4 Cable guide X x4 M2 6 x12 M2 6 10 x8 M3 6 x4 2 6 4 x4 ZH ZH Connection cable 120mm x4 Assemble 4 sets Upper shaft Upper arm 3300 38 1 Detach case screw 2 Attach the angle bracket to...

Page 32: ...32 Leg Assembly M2 6 M2 6 10 2 6 4 Leg B 120mm Assemble 4 sets Bottom arm 3300 38 Cable guide X KXR L4D...

Page 33: ...4 Assembled Leg B x4 Assembled Upper arm 3300 26 x4 Bottom arm 3300 26 x4 Cabele guide X x4 M2 6 x4 M2 6 10 x8 M3 6 x4 2 6 4 x4 ZH ZH Connection cable 120mm x4 Cable guide X Left Front Leg Right Rear...

Page 34: ...Leg Assembly M3 6 M2 6 10 M2 6 M2 6 10 2 6 4 Upper arm 3300 26 Bottom arm 3300 26 Leg B Leg A Leg 120mm Cable guide X Right Front Leg Left Rear Leg Right Front Leg Left Rear Leg Assemble 2 sets KXR L...

Page 35: ...base Frame B x1 Assembled Small diameter horn B x1 Small diameter Free horn C x3 M2 4 x16 M2 6 x3 M2 8 x4 M2 6 10 x6 M3 6 x1 2 6 4 x1 Case screw x2 M2 6 x2 Assemble the Gripper Assemble part Assembly...

Page 36: ...rn C 3 Attach the gripper A b 1 Attach the free horn C and joint base A to the gripper A b Gripper A a Gripper A b Gripper A b Joint base A Bush Spacer Free horn C Free horn C M2 4 x4 M2 4 x4 M2 4 x4...

Page 37: ...to the Bottom shaft 3 Detach 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 Gripper A a Joint base A Joint base...

Page 38: ...38 Head Assembly 1 Gripper M2 6 10 Joint frame 3300A Joint frame 3300A Gripper M2 6 10 KXR L4D...

Page 39: ...Upper arm 3300 38 x2 Bottom arm 3300 38 x2 double joint x1 Assembled Dummy servo x1 Assembled Gripper x1 Assembled Cable guide X x4 M2 6 x8 M2 6 10 x4 M3 6 x2 2 6 4 x2 ZH ZH Connection cable 200mm x1...

Page 40: ...40 Head Assembly 2 Join M2 6 10 M2 6 x4 Botom arm 3300 38 Cable guide X 2 6 4 Head 200mm KXR L4D...

Page 41: ...4 places in the same way Attach 4 places in the same way Attach in the direction indicated below Front Front facing Rear facing Rear facing Front facing Rear M3 8 B C D A Atach the legs and head to t...

Page 42: ...all face up 1 Detach case screw 2 Joint base Frame B Outward facing Inward facing Front Rear Front Rear Inward facing Outward facing Case screw x8 M2 6 x2 Attach 4 places in the same way Attach 4 plac...

Page 43: ...Head KXR L4D M2 6 10 M2 4 x4 M2 6 1 2 3 Cable guide X Joint nut Joint base Joint frame B a Joint frame B b Horn B origin Forward Forward Forward 160mm M2 6 10 Attach 4 places in the same way Attach i...

Page 44: ...44 Parts Combination 1 Legs and Head KXR L4D M2 6 x2 200mm Joint base Frame B 1 2 3 4 Apply the decal to the cable M3 8 Case screw x2 Case screw x2...

Page 45: ...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 ro...

Page 46: ...ure 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 cabl...

Page 47: ...PIN ZH type 3PIN ZH Conversion cable Be careful of the protruding direction and do not force it in Be sure to con rm the lock guide direction and that it is not connected backward Connect wire When op...

Page 48: ...48 Complete Assembly completed The following will explain how to mount the battery and run motions KXR L4D...

Page 49: ...o read about Motion when voltage reduced voltage check function on HTH4 after the instructions for running motions 1 Push down lightly on the hatch clasp and slide it Put in the battery in the directi...

Page 50: ...l in the USB folder in the included CD ROM Point Operation Tips Caution for Breakage Confirmation Required Dual USB Adapter HS COM Con rmation KO Driver is driver software that enables Windows OS to r...

Page 51: ...p exe in the HeartToHeart4 folder in the CD ROM included with the kit to automatically run the setup program Continue the installation process as instructed by the setup program 1 Software Installatio...

Page 52: ...e project 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...

Page 53: ...h bilateral 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 o...

Page 54: ...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 typicall...

Page 55: ...om the factory there is no data loaded into them thus the RAM button needs to be clicked multiple times for initiali sation Once initialised pressing RAM once will be enough to get robot moving 8 Keep...

Page 56: ...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 co...

Page 57: ...nt the overall motion will also be o so adjust the trim properly so that the robot stands perfectly upright 9 Click the Trim Adjustment tab at the top of the Project Setting window to change screens 1...

Page 58: ...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 l...

Page 59: ...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 restartin...

Page 60: ...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...

Page 61: ...otion assigned to the button data is sent to the robot by pressing the button shown in the window For detailed instruc tions please refer to HeartToHeart4 User s Manual For usage details refer to the...

Page 62: ...he KRC Command er window The KRC Commander screen opens Motions can be assigned to each button and operated Refer to the sample motion assignment list at the end of this section 2 Click the Send ON OF...

Page 63: ...ormed by con tinuing to click the button 4 Click LockKey when executing a combination of buttons With LockKey clicked when you press a button it will stay down When you press it again it will release...

Page 64: ...charge or replace the battery When running a motion with a large load like when operating all the servos simultaneously depending on the battery s remaining charge reduced voltage motion may be run To...

Page 65: ...n 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 Red...

Page 66: ...ject Battery over discharge prevention setting Always enable 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...

Page 67: ...ree 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 compone...

Page 68: ...304 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 typ...

Page 69: ...le motion uses the port in the diagram If a servo is connected remove it and connect it to the KRR 5FH port It does not matter which of KRR 5FH s SIO ports is used it has no impact on operations Also...

Page 70: ...sor 2 USRX 1 Sensor base Bottom arm Can use 20 26 or 38 The joint base can be attached to the necessary area whether body or neck etc Can also use M2 6 10 M2 Nut x2 Can also be attached by reversing t...

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