47
Copy the “Sample_Projects_KXR
（
Vxx.x
）
" in
the HeartToHeart4 folder in the KXR folder to a con-
venient location on your personal computer.
In the example, it is copied to the desktop.
＊The version number differs depending on
the Update time.
When the power is turned on, all the servos will light up and then some of the
servos will go out. The remaining servos will be lit up somewhat dimly. The robot
will not move until you load the project (motion data) and run it, but this is its
normal state.
*Servos with LEDs that turn on and off differ depending on the servo layout of the 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 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 the power and remove the battery.
[IMPORTANT]
● Always turn the power switch to OFF when temporarily away from the robot.
● When you are going to be away for a longer period of time, remove
the battery connector for safety.
● Confirm that the battery is adequately charged before starting the robot.
ON
*If the battery is not adequately charged when starting the robot,
it may hinder subsequent operations.
Adjust the trim position before operating the robot. Trim adjustment refers to correcting
slight deviations in servo origins that were not perceived during assembly.
The trim position is a pose in which only the trim is adjusted with the robot in its basic
position.
The KXR-L4N standard is the robot with its arms extended. In the Hello̲KXR-L4N
(Vx.xx) project, the Trim Adjustment tab (explained below) is preset so that KXR-L4N
assumes the trim position. The next process involves adjusting deviations in each servo
motor from the trim position.
In this process, put the robot in a completely upright position with 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 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 from
the Neutral Position. This becomes the robot's
basic posture. It is the upright standing posture
for
KXR-L2
, and is used when adjusting trim.
● Home Position:
The first and last position when motions
are run. When the motion is completed,
the robot returns to the home position,
so if it stops partway through, check for
motions that could not be performed,
malfunctions or other such trouble.
Example : KXR-L2
Trim Adjustment １
Summary of Contents for KXR-L4N
Page 42: ...42 Complete Assembly completed KXR L4N ...
Page 65: ......
