Kondo KXR-L6, Assembly Manual

Page 1: ...KXR L6 Assembly Manual Six Legs 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: ...ervo ID and Position 15 Robot Assembly 16 Full Robot Assembly Procedures 16 Servo ID Setting 17 Body Assembly 20 Leg Assembly 26 Attaching All Parts 29 Robot Operations 34 Battery Mounting 34 Connecti...

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: ...03115 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 A...

Page 6: ...lacket a Cross Upper 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 0230...

Page 7: ...00B Supporter B Spacer No 02315 No 02315 Supporter B Spacer 2 No 02315 No 02320 No 02320 No 02320 No 02317 Sensor Base A for Option Frame Parts There may be more parts included in the set than the num...

Page 8: ...Source 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 5...

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: ...t the robot won t function properly Servo ID stickers are classi ed with the symbols and Always connect ID 0 to the SIO5 7 system The explanations in this manual use the following wiring layout Puttin...

Page 16: ...res KXR L6 Procedure 1 Body Assembly Procedure 0 Setting Servo IDs Procedure 3 Full Assembly Procedure 2 Leg Assembly Multiuse parts 1 BT Battery Box 2 Joining 1 Leg assembly 1 Legs 2 Electronic compn...

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: ...ptor HS 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...

Page 19: ...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 Refer to the manual incl...

Page 20: ...e Parts A Joint base x18 Joint nut x18 First assemble 18 sets Joint base A 12 Joint base B 6 Attach Joint nut to Joint base Assemble all the multiuse parts Parts used M2 M2 6 1 2 Joint nut screw holes...

Page 21: ...under 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 22: ...5 Secure with tape etc so it doesn t come out easily The diagram is only of the BT box plate so that it is easy to view Attach the plate on the opposite side so that it sandwiches the two BT hatch pla...

Page 23: ...ID 7 x2 Body panel x4 Lock ring x1 Lock ring cap x1 Backpack cover x1 Backpack base x1 Joint nut x1 Joint base B x6 Assembled M2 6 x2 M2 8 x12 M2 12 x12 M2 6 10 x2 Attach the part with the cut M2 so...

Page 24: ...he cable does not overlap or get pinched 1 Rotate until it clicks into place 3 Connect the cable Front Front Front Rear Rear Rear 2 Assemble by wiring through the BT Leg pate Leg plate Lock ring Back...

Page 25: ...e screw x12 M2 6 10 x2 Backpack cover M2 6 Nut 4 5 Use the M2 6 part of joint nuts cut when making the neck The screw side facing out is the side with bevelling around the holes Rotate until it clicks...

Page 26: ...can be adjusted by changing the attachment position In this project example the middle type is used Short Middle Long Case screw x24 M2 6 x4 Assemble legs Leg Servo ID2 ID3 ID5 ID6 ID8 ID9 x2 Bottom a...

Page 27: ...3 6 9 ID 3 6 9 ID 3 6 9 Bottom arm 3300 26 Bottom arm 3300 20 No connecter side M3 6 M2 6 10 M2 6 10 M2 6 10 M2 6 10 upper arm 3300 26 Joint base A Upper arm 3300 38 Joint base A 2 6 4 Con rm the ser...

Page 28: ...3 6 9 Bottom arm 3300 38 Upper Bottom arm 3300 38 Leg No connecter side Assemble the six leg sets M2 6 10 M2 6 10 2 6 4 Either upper or bottom can be used Whichever connector is used it has no e ect...

Page 29: ...10 x6 M3 6 x6 2 6 4 x6 ZH Connection cable 120mm x6 Attach the legs Cable guide X For the cable whichever connector is used it has no e ect on operations but make sure the cable does not overlap Atta...

Page 30: ...d 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 r...

Page 31: ...sure 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 cab...

Page 32: ...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 operating the robo...

Page 33: ...33 Complete Assembly completed The following will explain how to mount the battery and run motions KXR L6...

Page 34: ...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 35: ...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 36: ...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 37: ...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 38: ...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...

Page 39: ...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 40: ...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 41: ...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 42: ...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 43: ...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 44: ...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 45: ...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 46: ...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 47: ...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 48: ...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 49: ...tion walking and are button combinations With controllers like KRC 5FH they can be run with diagonal buttons For example S1 refers to pressing the button on the diagonal upper right on the right side...

Page 50: ...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 51: ...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 52: ...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 53: ...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 54: ...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 55: ...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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