Kondo KRS Series User manual

●Donotmaintainthemaximumtorqueoutputforanextendedperiodoftime.
Themaximumindicatedtorqueoutputofthisproductisonlyintendedforshortperiodsoftime.Itisnotrecommendedtousethisproduct
inastateofmaximumtorqueoutputforextendedperiodsoftime.Pleaseconsiderthiswhendesigningyourrobots.
●Avoidfrequentrepetitivemovements.
Rotatingtheservobackandforthalotinashortperiodoftimewillcauseexcessheattobuildupandmayresultindamagetotheproduct.
●Ensureeachservoreceivesenoughpowerwhenconnectinginadaisychainpattern.
Theoretically,thisproductcanbedaisychainedupto32units.Daisychainingthisproductmayresultinaweakenedsignal,alackof
power,orwiringburningout.Whendaisy-chainingthisproduct,werecommendrunningaseparatesignalwireandpowerwirewithsufficient
capacitytopowertheservos.Thisistoreducethechanceofaweaksignalasaconsequenceofaloopconnection.
PrecautionsforUse
●Keepallbodypartsawayfromthisproductduringoperation.Alwayspayattentionwhileoperatingthisproduct.
●Thisproductisdesignedforuseinrobots.Itcannotbeusedinother
productssuchasradiocontrolledcars.
●Pleasecheckthattheservosmovefreelythroughtheirrangeofmotionwhen
installingintoyourrobot.Backlashorloosenessinbracketingmaycausean
unnecessarilyhighloadontheservos,increasingpowerconsumptionand
reducingthelifespanoftheproduct.
●Drycellbatteriesmaynotbesufficientlypowerfulenoughtooperatethis
product.
●Themaximumrangeofmotionthisproductiscapableofwilldependonthe
inputsignal.
●Takeextracarewhenattemptingtousehome-builtcontrol
boardstocontroltheseservos.Useunderextremeconditions
mayresultinunderperformanceandaheavilyreduced
life-spanofthisproduct.Ifyouhavequestionsrelatingtothe
useand/oroutputofthisproduct,pleasevisitourwebsiteat
http://www.kondo-robot.com.Ifyoucannotfindtheinformation
yourequire,contactourservicedepartmentwithyourinquiry.
Pleasenotethatwearecannotanswerquestionsoncontrol
programming.Thankyouforyourunderstanding.
●Checktheinputsignalandsourcevoltagebefore
operatingthisproduct.
●Payattentiontotheorientationoftheconnectors,and
ensuretheyarecorrectlypluggedin.
●Donotusethisproductinaplacewherethereitmayget
wet.
●Donotdismantleormodifythisproductinaway
thatisnotendorsedbythiscompany.
※Donotusesignalsorvoltagesoutsidethespecifiedrange.Doingsomayresultin
malfunctionordamagetotheproduct.
※Reversalofthepolarityofthepowersourcewilldamagetheproduct.
※Allowingwatertogetinsidethisproductmaycausedamageand/ormalfunction.
KRSServoSeries
InstructionManual
Informationrelatedtothisproductcanbefoundatthefollowingwebsite:
https://kondo-robot.com/
ThankyouforpurchasingtheKRSServoSeries.Pleasebesuretothoroughlyreadthroughthisinstructionmanual
beforeuse.Instructionmanuals,servocommandreferencematerial,informationrelatingtothisproduct,andthesoftware
requiredtochangesettingswhenconnectedtoaPCisavailablefordownloadfromourwebsite.
＊YouneedtheDualUSBAdapter(Partnumber02116)inordertoconnectthisproducttoaPC.
1
TableofContents
Precautions
HVServo
SpecificationsandAccessories
ConnectingtheServos
AnchoringServos
InstallationofServoHorns
LVServo
SpecificationsandAccessories
InstallationofServoHorns
1
2
3
4
5
6
7
8
10
11
13
14
CommunicationsStandardICS3.5/3.6
InitialParameters
OperationandConnectionofServos
OptionalExtrasandRelatedProducts
Troubleshooting
6100/6000/4000/2500Series
3300/3200Series
Warning!Improperuseofthisproductcouldresultinseriousinjuryordeath.
Caution!Improperuseofthisproductcouldresultininjuryordamagetoproperty.
ICS3.5Manager,CommandReference,DualUSBAdapter,HSManual,KODriveretc.
InformationfortheEnglish+→Support+→Manual/Software
Ve r.1. 4
※Thereisariskofbonefractureand/oramputationoffingersorotherbodypartsiftheygetcaughtupinthemovingpartsofthis
product.Furthermore,thisproductcanbecomeextremelyhotwhenoverloaded.Takecarenottoburnyourselfwhenhandling.

SpecificationsandAccessories
【1pc】
ZHConnectionCableA（300mm）×1
M3-8LowHeadHornScrew×1：2552
2.6-6FlatHeadScrew×1：2542

【6pcsset】
ZHConnectionCableA（300mm）×8
ZHConnectionCableB（200mm）×2
M3-8LowHeadHornScrew×10：2552
2.6-6FlatHeadScrew×10：2542
【1pc】
ConnectionCableG（400mm）×1
M3-8LowHeadHornScrew×1

【6pcsset】
ConnectionCableG（400mm）×6
M3-8LowHeadHornScrew×8
【1pc】
HVConnectionCable（400mm）×1
AluminumCrampHorn×1

【6pcsset】
HVConnectionCable（400mm）×6
AluminumCrampHorn×6
【18pcsset】
HVConnectionCable（400mm）×18
AluminumCrampHorn×18
※Changesorimprovementsmaybemadetothisproductwithoutpriornotice.
KRS-2572HV/2552RHV/2542HVICS
Size：L41㎜×W21㎜×H30.5㎜
Operatingvoltage：9 〜 12V
Weight：47.7g/41.5g/35.5g
Maximumoperatingangle：2 7 0 °( ± 1 3 5 °)
Maximumcurrent：1.3A(@11.1V)
Gearmaterial：Metal+(Nylon:2542）
Communicationstandards：ICS3.5(Serial/PWM)
ControlBoards：RCB-4HV、KCB-5、RCB-3HV
KRS-2572HV
Torque：25.0kg・cm
Speed：0.13sec/60°
Reductionratio：309.11：1
KRS-2552RHV
Torque：14.0kg・cm
Speed：0.14sec/60°
Reductionratio：312.40：1
KRS-2542HVICS
Torque：11.0kg・cm
Speed：0.12sec/60°
Reductionratio：193.18：1
Specs. Performance
Accessories
KRS-4034/4033/4032HV/4031HVICS
Size：L43 ㎜ ×W32 ㎜ ×H32.5 ㎜
Operatingvoltage：9 〜 12V
Weight：61.2g/61.4g/61.2g/55.2g
Maximumoperatingangle：2 7 0 °( ± 1 3 5 °)
Maximumcurrent：3.1A(@11.1V)
Gearmaterial：Aluminum+Steel/POM
Communicationstandards：ICS3.5(Serial/PWM)
ControlBoards：RCB-4HV、KCB-5、RCB-3HV
KRS-6003R2HVICS
Size：L51 ㎜ ×W32 ㎜ ×H39.5 ㎜
Operatingvoltage：9 〜 12V
Weight：103g
Maximumoperatingangle：2 7 0 °( ± 1 3 5 °)
Maximumcurrent：6.1A(@11.1V)
Gearmaterial：Aluminum+Stainless
Communicationstandards：ICS3.6(Serial/PWM）
ControlBoards：RCB-4HV、KCB-5、RCB-3HV
KRS-4034HV
Torque：41.7kg・cm
Speed：0.17s/60°
Reductionratio：381.2：1
KRS-4033HV
Torque：30.6kg・cm
Speed：0.12s/60°
Reductionratio：249.6：1
KRS-4032HV
Torque：19.8kg・cm
Speed：0.08/60°
Reductionratio：167.2：1
KRS-4031HVICS
Torque：13.0kg・cm
Speed：0.16sec/60°
Reductionratio：346.6：1
KRS-6003R2HVICS
Torque：67.0kg・cm
Speed：0.22s/60°
Reductionratio：362.88：1
※Torque/Speed@11.1V
※Torque/Speed@11.1V
※Torque/Speed@11.1V
【1pc】
HVConnectionCable（400mm）×1

【6pcsset】
HVConnectionCable（400mm）×6
【18pcsset】
HVConnectionCable（400mm）×18
KRS-6104FHVICS
Size：L54.2 ㎜ ×W37.4 ㎜ ×H39.5 ㎜
Operatingvoltage：9 〜 12V
Weight：113g
Maximumoperatingangle：2 7 0 °( ± 1 3 5 °)
Maximumcurrent：6.1A(@11.1V)
Gearmaterial：Aluminum+Stainless
Communicationstandards：ICS3.6(Serial/PWM）
ControlBoards：RCB-4HV、KCB-5、RCB-3HV
KRS-6104FHVICS
Torque：70.0kg・cm
Speed：0.23s/60°
Reductionratio：362.88：1
※Torque/Speed@11.1V
2
HVServo

Signal
Power(Vcc)
Power(GND)
Signal
Power(Vcc)
Power(GND)
Usingtheconnectionadapterdescribedbelow
togetherwiththeICSmanagersoftwareonyour
PCtochangealltheservoparametersettings
andassignservoIDs.Youmayalsocontrolyour
servosdirectlyviayourPCorcompactmother-
board.
・DualUSBAdapterHS(soldseparately)
・KODriver(freedownload)
・ICS3.5Manager(freedownload)
・ICS3.5CommandReference(freedownload)
(TheoldversionofICSisalsoavailablefor
downloadonthewebsite)
UsingtheKONDOcontrolboardinconjunction
withtheseservosallowsyoutouseeitherour
HearttoHeartrobotcontrolsoftware,orC
programminglanguage.Italsoallowsfortheuse
ofBluetoothandWi-Ficonnections,gyrosand
accelerometers,andwirelesscontrol.
Usingtheincluded(oroptional)cables,connectoneendtothesignalterminalofthecontrolboard,andthe
otherendtothesignalterminaloftheservo.Thetwosignalterminalsontheservosareinternallyconnectedin
parallel,soyoumayconnecttoeitherone.Pleaserefertopage6ofthismanualifyouwishtoconnectmultiple
servosusingthesameterminalinamulti-droparrangement.
6100Series
2500Series
4000Series
■ConnectingtoaPC ■ConnectiontotheKONDOControlBoard
●Plugtheconnectorsintotheterminalsvertically.(Theplasticpart
oftheconnectorwillsitflushwiththeservowhenconnected
correctly)
Tab（凸） Slit（凹） Tab（凸） Slit（凹）
（Servo）（Connector） （Servo）（Connector）
ServoConnector ZHConnector
LED
LED
6000Series
LED
※6003HV Red Version is serial communication only.
ConnectingtheServos
3
※Refertopages6through9ofthismanualfor
furtherdetailsaboutICSmanagementsoftware
andcommunicationsystems.
※Refertopage10ofthismanualforfurtherdetails
aboutoptionalparts.
※Refertoeachmanualforfurtherdetails.
LED

●M2×24
(Framet=1mm)
●2-5LowHeadTappingScrew
 No.02084（100pcs）
x4
x4
＊Reuse
＊Soldseparately
x8
●M2-15(Framet=2mm)
 No.01127（50pcs）
＊Soldseparately
4000Series
6100Series
2500Series
Pleaseremove2screws,
ifyoumountframesbothsides.
Pleasekeepscrewsforreuse.
M2×15
Countersunkheadscrew
M2×10
Countersunkheadscrew
＊Soldseparately
x4
●M2.6-15(Framet=2mm)
＊Soldseparately
x4
●M2.6-25~30(Flamet=2mm)
＊Soldseparately
x4
●M3-10(Framet=2mm)
＊Soldseparately
x4
●M3-27(Flamet=2mm)
6000Series
Pleaseremove2screws,
ifyoumountframesbothsides.
Pleasekeepscrewsforreuse.
Pleaseremove1screw,
ifyoumountframesbothsides.
Pleasekeepscrewforreuse.
M2.6×13
Countersunkheadscrew
M2.6×25
Countersunkheadscrew
Servoscanbeanchoredtohome-madeframesorbracketsusingupto8screws.Refertothetableinthediagram
belowforrecommendedscrewsizes.
○6000/4000series:(Whenframethicknessis2mm)
1)Removetwoscrewsshownindiagrambelow.2)Secureupperandlowerbracketingusingdesignatedscrews.
○2000/3000series:(Whenframethicknessis1mm)
1)Removescrewsfromservocase.2)Secureservotoframeusingscrewsremovedfromcaseanddesignatedscrews.
※Removingthescrewsfromtheservocasingmayresultinthecasingcomingapart.Takecarenottolettheinternalpartsfalloutorcome
 apart. ※*Screwsforanchoringtheservosaresoldseparately.Eitherpurchaseouroptionalscrewsorusecommerciallyavailablescrews.
※Fordetailsonscrewlocations,refertotheexternaldiagramsincludedafterpage12inthismanual.Youcanalsodownloadexternaldiagrams
fromourwebsite.
AnchoringServos
4
M3-25
(Casescrew)
(Casescrew)
(Casescrew)
(Casescrew)

2500Series
4000/2500Series
①
②
③
④
④
SmallFreeHornC
（PCDΦ12-M2-offset0)
No.02159（2pcs）
No.02160(12pcs）
SmallDiameterHornB
（PCDΦ12-M2-offset0)
No.02157（2pcs）
No.02158(12pcs）
＊Flamet=1mm
＊Forplasticgearmodel
①
M2-4LowHeadScrew
No.02086（100pcs）
2.6-6FlatHeadScrew
No.01094（50pcs）
3-6FlatHeadScrew
No.02090（100pcs）
①
①
②
②
③
④
4000Series
6100Series 6000Series
No.02031
No.02032(6pcs）
Option
（PCDΦ17-M2.6-offset+2)
（Associated)
（Associated)
No.02083(50pcs）Option
ServoHorn
ServoHorn
②FreeHorn
③FreeHornScrew
④HornScrew
FreeHorn
FreeHornScrew
HornScrew
④HornScrew ＊M2.6/M2
＊3-10
＊M2.6/M2
HornScrew
No.01140（1pc）
No.01141(6pcs）
AluminumFreeHornwithBearing
forKRS-4000series
AluminumCrampHorn
①
No.02137
No.02138(6pcs）
＊M3-8（6000series）
M3-6（B3Mseries）
No.02189
No.02190(6pcs）
（forKRS-6104FHVSeries)
（PCDΦ17-M2.6-offset0)
ServoHorn
②FreeHorn
FreeHorn
AluminumFreeHornwithBearing
forB3M/KRS-6000series
No.02191
No.02192(6pcs）
＊M3-8Bindheadscrew
＊M3-8Countersunkheadscrew
AluminumFreeHornwithBearing
forKRS-6100series
AluminumServoHorn(I-cut)
（PCDΦ14-M2-offset0)
No.01158（1pc）
No.01159(6pcs）
FreeHornforKRS-4024/4031
（PCDΦ14-M2-offset0)
No.02075(1pc）
No.02076(6pcs）
（PCDΦ17-M2.6-offset+2)
AluminumCrampHorn
No.01042(1pc）
No.01043(6pcs）
（PCDΦ14-M2-offset0)
AluminumLowheightServoHorn
No.02093(1pc）
No.02094(6pcs）
（PCDΦ12-M2-offset0)
AluminumSmallDiameterHorn
No.02079(1pc）
No.02080(6pcs）
（PCDΦ14-M2-offset0)
AluminumFreeHorn2500A
No.02049(2pcs）
No.02050(12pcs）
（PCDΦ12-M2-offset+2)
FreeHorn2500B
No.02047(2pcs）
No.02048(6pcs）
（PCDΦ12-M2-offset0)
SmallDiameterHorn
No.01029(2pcs）
No.01030(12pcs）
（PCDΦ14-M2)
LowheightServoHorn
M3-8LowHeadHornScrew
No.01183(4pcs）
⑤ServoArm
ServoArm4000ABlack
No.01211(4pcs）
ServoArm4000BBlack
No.02046(4pcs）
⑤ServoArm
ServoArm2500A
M3-8LowHeadHornScrew
2.6-6FlatHeadScrew（2542）
※Seeourwebsiteformoreinformation.
AllservosononesideandFreehornscanbeusedtoachieveddualsupport.Allourservosincludethescrews
requiredtosecuretheservohorntotheservo.(Aluminumclamphornsareincludedwiththe6000series)Only
installoptionalpartsthatcomplywithourservohorns.
InstallationofServoHorns
5
①ServoHorn
②

Signal
Power
Power
※Cableisfixed.
※LEDisnotincluded.
●2×20LowHeadTappingScrew
●M1.7×20LowHeadScrew
＊Reuse
※Donotuse2mmscrew.
Caseswillbedamaged.
x4
＊Reuse
x4
(Framet=1mm)
●2-5LowHeadTappingScrew
 No.02084（100pcs）
(Framet=1mm)
●1.7-5LowHeadTappingScrew
 No.02162（100pcs）
x4
＊Soldseparately
x4
※Soldseparately
3300Series 3200Series
LED
SpecificationsandAccessories
Size：L32.5 ㎜ ×W26.0 ㎜ ×H26.0 ㎜
Operatingvoltage：6.0 〜 7.4V
Weight：33.7g(3304R2)/26.4g(3302/3301)
Maximumoperatingangle：2 7 0 °( ± 1 3 5 °)
Maximumcurrent：2.2A/1.07A(3302)/
0.95A(3301)(@7.4V)
Gearmaterial：Metal/POM
Communicationstandards：ICS3.6
ControlBoards：RCB-4HV、RCB-4mini、
KCB-5、RCB-3HV
KRS-3304R2ICS
Torque：13.9kg・cm（7.4V）
11.2kg・cm（6.0V）
Speed：0.11sec/60°（7.4V）
0.13sec/60°（6.0V）
Reductionratio：289.22：1
KRS-3302ICS
Torque：6.7kg・cm（7.4V）
5.5kg・cm（6.0V）
Speed：0.16sec/60°（7.4V）
0.20sec/60°（6.0V）
Reductionratio：262.92：1
KRS-3301ICS
Torque：6.0kg・cm（7.4V）
4.9kg・cm（6.0V）
Speed：0.14sec/60°（7.4V）
0.16sec/60°（6.0V）
Reductionratio：262.92：1
【1pc】
ZHConnectionCableA（300mm）×1
ZHConnectionCableB（300mm） ×1
M3-6LowHeadHornScrew×1
【6pcsset】
ZHConnectionCableA（300mm）×6
ZHConnectionCableB（300mm）×6
M3-6LowHeadHornScrew×6

【18pcsset】
ZHConnectionCableA（300mm）×18
ZHConnectionCableB（300mm）×18
M3-6LowHeadHornScrew×18
【1pc】
M3-8LowHeadHornScrew×1 本
【6pcsset】
M3-8LowHeadHornScrew×6 本

【18pcsset】
M3-8LowHeadHornScrew×18 本
■KRS-3204and3304servosarenotsuitableforhighvoltageapplications.Operateatlessthan7.4volts.
■Ourhighvoltageservoproductsoperateatadifferentvoltagetothisproduct.Usinghighandlowvoltageservosin
thesamerobotrequiresseparatecircuitry.
※Casescrew:1.7mm
KRS-3304R2/3302/3301ICS
KRS-3204ICS
ImportantPoints
Size：L33.0 ㎜ ×W15.0 ㎜ ×H26.0 ㎜
Operatingvoltage：6.0 〜 7.4V
Weight：27. 2g
Maximumoperatingangle：2 7 0 °( ± 1 3 5 °)
Maximumcurrent：2.2A(@7.4V)
Gearmaterial：Metal
Communicationstandards：ICS3.5
ControlBoards：RCB-4HV、KCB-5、RCB-3HV
※Cablelength：350mm（Fixed）
KRS-3204ICS
Torque：9.3kg・cm（7.4V）
7.5kg・cm（6.0V）
Speed：0.13sec/60°（7.4V）
0.18sec/60°（6.0V）
Reductionratio：290.17：1
※Changesorimprovementsmaybemadetothisproductwithoutpriornotice.
Specs. Performance
Accessories
ConnectingtheServos&InstallationofServoHorns
6
LVServo
(Casescrew) (Casescrew)

3300/3200Series
3300Series 3200Series
①
②
③
④
④
SmallDiameterHornC
（PCDΦ12-M2-offset0)
No.02159（2pcs）
No.02160(12pcs）
SmallDiameterHornB
（PCDΦ12-M2-offset0)
No.02157（2pcs）
No.02158(12pcs）
M2-4LowHeadScrew
No.02086（100pcs）
＊Flamet=1mm
2.6-4FlatHeadTappingScrew
No.02164（100pcs）
①
②
③
④
①
②
③
④
④
ServoHorn
FreeHorn
FreeHornScrew FreeHornScrew
HornScrew HornScrew
HornScrew
ServoHorn
FreeHorn
HornScrew
M3-8LowHeadHornScrew M3-8LowHeadHornScrew
InstallationofServoHorns
7

8
CommunicationsStandardICS3.5/3.6
ICSisouruniquecommunicationsstandardforcommunicationbetweenICScompatibledevices,ourservosand
yourPC.
●PreviousservosystemshaveusedthePWMsignaltocontroltheservoangle.Anewstandardinsignalwas
introducedtoallowforgreaterfidelityofcontrol.ICS3.5alsoallowsfortheuseofaPWMsignal.
●TheICS3.5SerialManagerconnectionsoftwareandeitheranICS-USBAdapterHS(partnumber02043)or
aDualUSBAdapterHS(partnumber02116)areneededtore-writeservoparameters.Thesoftwareand
instructionmanualsareavailableforfreedownloadfromourwebsite.
●ParametersthatcanbechangedarelistedbelowundertheDescriptionofICSMenusheading.
WhatisICS(InteractiveCommunicationSystem)?
DescriptionofICSMenus
※UseoftheoldtypeICS-USBAdapter(partnumber01106)willlimityoutoamaximumsignalspeedof115200bps.
※ConnectiontoanRCB-4HVwillallowyoutochangetheIDandtheBaudRate.PleaserefertotheRCB-4HVmanualfor
furtherinformation.
※RefertotheICS3.5Manager/controlboardmanualforfurtherinformation.
■ID：NominatetheservoIDsusingnumbers0through31.
（Range:0˜31.）
■Response：Sethowfasttheservosrespondtoinput.Thesmallerthenumber,theslowertheresponse.
Thehigherthenumber,thefastertheresponse.
(Range:1istheslowest.5isthefastest.)
■Deadband：Youareabletosetthedeadbandwidthoftheservo.Thesizeoftheneutralpositionis
determinedbythisdeadbandwidth.Thehigherthenumber,thelargertheneutralposition.
Thesmallerthenumber,thenarrowertheneutralpositionbecomes.Settingthedeadbandwidth
toosmallcanresultinslightvibrations(jitter).
(Range:0isthenarrowest.10isthewidest.)
■Punch：Youcansettheinitialresponseleveloftheservomotors.Thehigherthenumber,thestrongerthe
initialresponsetoinput.
(Range:0isthelowest.10isthehighest.)
■Rotationmode：Rotationmodeenablestheservostorotatecontinuously.
(Range:On/Off)
■Slave：SlavemodeenablesmultipleservosusingthesameIDtomoveinunisonwhentetheredtoasingle
serialsignal.
(Range:On/Off)
■Serialsignal：ThismodedisablestheuseofPWMsignalbasedmovement,andenablestheexclusiveuse
ofserialsignalmode.
(Range:On/Off)
■Reverse：
Enablingreversemodewillreversetheservosdirectionofmovementinrelationtotheinputsignal.
(Range:On/Off)
■Speed：Settheservosmaximumoutput(dutyrate).Thehigherthenumber,thehighertheoutputand
consequentlythehigherthespeedatwhichitwillmove.
(Valuerange:1istheslowest.127isthefastest.)
■Stretchsettings1,2and3：ChangebetweenthreepresetstretchsettingswhenworkingwithaPWM
signal.Thesetvalueaboveisalwayscalledimmediatelyafterturningtheservopoweron.
Changingthestretchpresetsduringoperationwillresultinachangeinthecharacteristicsofthe
movementoftheservos.
■Stretch:：
Youareabletosettheretentionpropertyfortheservos.Thehigherthenumber,themoreretention.
(Range:1isthesoftestand127isthehardest.)
■MOVE：Rangeofmovement:Servosrotateoutputshaftinresponsetoinputofserialsignal.
（Range:3500(-135°)to7500(0°)to11500(+135°)）
■Baudrate：Choosetransmissionspeeds.
(Range:115200,625000and1250000.)

9
■Damping：Changingthedampingaltersthelevelofbrakingappliedtotheservo.Asmallsettingincreasesthe
levelofbrakingappliedtoarotatingservo,slowingitdownjustbeforeitreachesthepositionitwas
movingto.Alargersettingreducesthisbrakingeffect,butincreasesthechanceoftheservo
overshootingandrotatingfurtherthanitmeantto.
(Range:1istheweakest.255isthestrongest.)
■Protection：Whentheservosdetectalockedoutcondition,theywillgointoprotectionmodeandshutdownto
savethemotorsfromburningout.Thissettingsetstheamountoftimebeforetheservosgointo
protectionmode.Thebiggerthenumber,thelongertheywillwaitbeforegoingintoprotectionmode.
(Valuerange:10istheshortest.255isthelongest.)
■Limiter(normalrotation)：Youcansetthemaximumrangeofmovementfornormalrotation.
(Valuerange:Minimum8000Maximum11500.)
■Limiter(reverserotation)：Youcansetthemaximumrangeofmovementforreverserotation.
(Valuerange:Minimum3500Maximum7000.)
■Temperaturerestriction：Thismodeenablesalimittobeplacedontheelectricalcurrent.Settingahighervalue
raisesthemaximumelectricalcurrentthreshold.Ifanelectricalcurrentgreaterthanthesetthreshold
isdetected,thelimiterwillcomeintoeffectandrestrictthecurrenttothemaximumsetbytheuser.
(Range:Thehighestthresholdis1.Thelowestthresholdis127.)
■Currentrestriction：Thismodeenablesalimittobeplacedontheelectricalcurrent.Settingahighervalueraises
themaximumelectricalcurrentthreshold.Ifanelectricalcurrentgreaterthanthesetthresholdis
detected,thelimiterwillcomeintoeffectandrestrictthecurrenttothemaximumsetbytheuser.
(Range:Thelowestcurrentis1.Thehighestcurrentis63.)
■Useroffset：Thisenablestheusertotrimthestartingpositionoftheservos.
(Range:From-127ofreverserotationto127ofnormalrotation.)
■Firmwareversion：Displaysinformationabouttheservofirmware.Firmwarecannotbeupdatedbytheuser.

10
※PleaseUse3204withbelowparameters.
Stretch/Speed：Lessthan100 Response：Lessthan1
ID
RATE
Stretch
Stretch1/2/3
Speed
Reverse
Sirialsignal
Slave
Rotationmode
Punch
Deadband
Response
Damping
Protection
Limiter(normalrotation)
Limiter(reverserotation)
Temperaturerestriction
Currentrestriction
Useroffset
Firmeareversion
ICS
ID
RATE
Stretch
Stretch1/2/3
Speed
Reverse
Sirialsignal
Slave
Rotationmode
Punch
Deadband
Response
Damping
Protection
Limiter(normalrotation)
Limiter(reverserotation)
Temperaturerestriction
Currentrestriction
Useroffset
Firmeareversion
ICS
（Firmwarecannotbeupdatedbytheuser.）
（Firmwarecannotbeupdatedbytheuser.）
InitialParameters
LVServo
0
115 2 0 0
100
60-30-90
100
OFF
OFF
OFF
OFF
0
2
1
25
250
115 0 0
3500
40
40
0
11
3.5
3204
※
※
※
0
115 2 0 0
127
60-30-127
127
OFF
OFF
OFF
OFF
0
1
1
40
250
115 0 0
3500
75
40
0
20
3.5
3304
0
115 2 0 0
127
60-30-127
127
OFF
OFF
OFF
OFF
0
1
2
80
250
115 0 0
3500
75
40
0
24
3.6
3304R2
0
115 2 0 0
90
30-60-127
127
OFF
OFF
OFF
OFF
0
2
1
30
250
115 0 0
3500
10
30
0
18
3.6
3302/3301
HVServo
0
115 2 0 0
60
60-30-90
127
OFF
ON
OFF
OFF
0
2
3
128
250
115 0 0
3500
30
63
0
22
3.6
6104/6003R2
0
115 2 0 0
60
60-30-90
127
OFF
ON
OFF
OFF
0
4
3
40
20
115 0 0
3500
75
40
0
3
3.5
4034/3/2
0
115 2 0 0
90
60-30-90
127
OFF
ON
OFF
OFF
4
4
3
35
20
115 0 0
3500
70
40
0
3
3.5
4031
0
115 2 0 0
30
30-15-60
127
OFF
ON
OFF
OFF
0
2
3
25
250
115 0 0
3500
10
13
0
254
3.5
2542
0
115 2 0 0
60
60-30-90
127
OFF
ON
OFF
OFF
0
6
3
32
20
115 0 0
3500
80
20
0
254
3.5
2552R
0
115 2 0 0
60
60-30-90
127
OFF
ON
OFF
OFF
0
2
3
12
250
115 0 0
3500
10
63
0
7
3.5
2572

11
OperationandConnectionofServos
ThisproductcanbecontrolledusingeitheraPWMorserialsignal.UsetheSerialSignalmenufunctionin
theICSmanagersoftwaretochangebetweenaPWMsignalandaserialsignal.UnchecktheSerialSignal
boxtooperateservosusingaPWMsignal.
Multipleservoscanbeconnectedtotheoutputofa
singlecontrolboardusingtheserialsignal.Youcan
assignanIDtoeachservoinarangefrom0to31fora
totalof32servos.Thesignalisthentransmittedto
theseservosbasedontheirID.Thediagramtotheright
isarepresentationofthisarrangement.Connectingmul-
tipleservostoasinglelineisknownasamulti-dropor
daisy-chainarrangement.Youcantechnicallyassign
IDstoupto32servos,butdaisy-chainingalarge
numberofservosmayintroducepowersupplyproblems.
Thisalsodependsonthecompatibilityofyourcontrol
board.
UsingaSerialSignal
RCB-4HV：2xserialoutputs.Suitedfordaisy-chainingupto32servos.
R C B - 3 H V ：Notcompatiblewithdaisy-chainarrangements.24xserialoutputportsdesignedtoeachconnect
tooneservoforatotalof24servos.
KCB-5：4xserialoutputs.Upto10servoscanbecontrolledperoutput.
※UseClanguageforourKCBseriesservostoallowforgreaterflexibilityofcontrol.
DualUSBAdapterHS：Thisaccessoryallowsyoutosendcommandsandcontrolyourservosdirectlyfrom
yourcomputer.
SerialSignalCompatibleControlBoard
MovementofServosUsingaSerialSignal
Diagramofaserialsignalarrangement
（Connectedinadaisy-chainarrangement）
Controlboard
Servos
IDｘ x +ｎ
Serialoutput1
Serialoutput2
x+1 x+2
IDy y +ｎ
y+1 y+2
※TheKRS3000seriesservosaredesignedtobeusedatavoltageof6to7.4volts.Pleaseensureyourvoltageinputtothecontrolboardis
withinthisrange.
http://kondo-robot.com/
Customercenter→InformationSupport
→ICSandKRSServoDevelopmentMaterials
■PleaserefertotheCommandReferenceforfurtherinformation.
Thecommandreferenceisavailableasafreedownloadfromthewebsitebelow.

12
■ControllingServoswithaControlBoard
OnlyoneservoperoutputportmaybeconnectedwhenusingaPWM
signal.UnchecktheSerialSignalcheckbox.
■ControlUsingProgramming
PleaserefertoWhenusingaPWMsignalintheICS3.5Command
ReferencetocontroltheservosinPWMmode.
Exampleofhowservosare
connectedinPWMcontrol
mode.
ControlBoard
Servos
123 ‥ n
１ ２ ３ n
・
(Ch)
※Voltagedropsand/ornoiseinthesignalmaycauseunintentionalmovementduringoperation.Usethis
productwithcaution.
※Usingthepositioncapture(teaching)functioninconjunctionwithahome-madecontrolboardrequires
pull-upresistorinthesignalwirefromthecontrolboardCPU.Furthermore,theCPUservocontrolboard
needstobeabletochangebetweensignalinputandoutput.Kondocontrolboardsarecompatiblewiththe
positioncapturefunction.
PointsofCautionWhenUsingaPWMSignal
UsingaPWMSignal
100〜200μsec 50μsec 700〜2300μsec
■Diagramshowingthetimingofthesignalandservomovement■
■PositionCommand(MOVE)
Theoutputshaftoftheservorotatesinaccor-
dancewiththePWMinputsignal.
700μs(-135 ° )to1500μs(0 ° )to2300μs
( + 1 3 5 °)
■PowerLimitation
Inputtingapulsewidthof50μswillreducethe
poweroutputoftheservos.Thisstateoflimited
poweroutputwillbemaintaineduntiltheservos
receivethenextpositioncommandwithapulse
widthbetween700μsand2300μs.
■CharacteristicChange(Stretchpresetchange)
Inputtingapulsewidthof100μs,150μsor200μ
swillinstructtheservostochangebetweenthree
presetcharacteristics(SET1˜SET3stretchset-
tings)savedwithintheservo.
Theservoswillmaintainthestatetheoutputshaft
wasindirectlybeforetheywereinstructedto
changeposition.
Presetparameters(SET1,SET2andSET3)canbe
changedusingtheICSmenu.Setting1(SET1)will
automaticallybeselectedwhenturningtheservo
poweron.。
Stretch1(SET1) 100μs +/-10μs
Stretch2(SET2) 150μs +/-10μs
Stretch3(SET3) 200μs +/-10μs
■PositionCapture(Teaching)
Inputtingapulsewidthofbetween50μsand200
μswillinstructtheservostooutputapulsewidth
thatindicatesthecurrentpositionoftheservo
outputshaft.Thispulseoutputfromtheservosis
thenreadbythecontrolboardandthecurrentposi-
tionoftheservoscanbeascertained.
MovementofServosUsingaPWMSignal
RCB-3HV
RCB-3J
PWMCompatibleControlBoards
WhenoperatingthisproductusingaPWMsignal,positioncommands
canbemadeusinggeneralradiocontrolsignals.
Functionalitycanalsobeexpandedbyusingotherspecificsignals.
PWMcyclecompatibility：3ms 〜 30ms
Pulsewidth:Normaloperation700μsto2300μs.
Expandedfunction50μsto200μs.
※TheKRS3000seriesisdesignedtobeoperatedbetween6.0and7.4volts.Ensuretheinputcurrentiswithinthatrange.
KCB-5 ：6xPWMoutputs.Teachingandcharacteristicchangearepossibledependingontheprogramming.
(Cannotbeusedinconjunctionwithserialterminal,soseparatewiringisrequired.)
：RCB-3HV/RCB-3J:24xPWMoutputs.Upto24servoscanbeconnected.Suitableforteaching
andchangingcharacteristics.
Normalmovement Normalmovement Servomovement
inputsignal
Hold
InputInput Input
Servosignalline Output Output
Inputsignalpresent
Noinputsignalpresent
Powerlimitation

13
OptionalExtrasandRelatedProducts
Cases
Changethebottomcasingonthe6000seriesservostomakeiteasyto
adaptthisservotoyourprojectneeds.
＊Seeourwebsiteforfurtherinformation.
SpacersandArmSupporters
＊Amorestablemovementcanbecreatedthroughtheuseofaspaceroranarmsupporterinbetweenthehornandtheframe.
Electronics
＊Awiderangeofmachinescanbedevelopedtomeetvariousobjectivesbyusingacombinationofourcontrolboards,
sensorsandcommunicationdevices.
＊AlsoHelptopreventwiresdamageinbetweenFramesandthehorn.
No.02023
No.02024(6pcs）
FlatBottomCase
forKRS-6000HVseries
for4000series
No.01224(4pcs）
SpacerHornA
withHeartToHeart4
No.03076(1pc）
RCB-4HVonlyBoard
ControlBoard
withHeartToHeart3
No.03027(1pc）
RCB-3HVonlyBoard
ProgramableC
No.03081(1pc）
KCB-5
withWiFi
No.03078(1pc）
KCB-4WL
Gsensor
No.03045(1pc）
RAS-2C
Gyrosensor
(Accelerometer)
No.03003(1pc）
KRG-4
forPCLinkwithUSB
No.02116(1pc）
DualUSBAdapterHS
2.4GHzFHSSTx/Rxset
No.03099(1pc）
KRC-5FH
Bluetoothmodule
No.03062(1pc）
KBT-1
for4000series
No.01223(4pcs）
ServoSpacer4000A
for4000series
No.01197(4pcs）
FrictionSpacer4000A
for4000series
No.01204(2pcs）
ExtensionAdapterA
for4000series
No.01195(2pcs）
ArmSupporter4000A
for2500series
No.02052(2pcs）
ArmSupporter2500A
No.02025
No.02026(6pcs）
BottomCase
withFlangeandAxis
forKRS-6000HVseries
No.02027
No.02028(6pcs）
No.02029
No.02030(6pcs）
FlangeFlatBottomCase
forKRS-6000HVseries
BottomCasefordoubleServo
forKRS-6000HVseries
Youcaneasilyjointwoservosinabacktobackarrangementby
usingourflatflangebottomcase.Theseareavailableinaset
knownasthedoubleservobottomcase.Twoflatflange
bottomcasesandtherequiredscrewsareavailableasaset.
M2.6×35
M2.6×35
M2.6×35
M2.6×25
M2.6×35
※Three M2.6 x 35 screws and one single M2.6
x 25 screw are used to secure the casing.
When reinstalling the screws, please be sure
to screw them in to the correct locations as
they are different lengths.
Sensor Communication
＊Seeourwebsiteforavailabilityofcasesand/orgearsforrepair/spares.

14
Troubleshooting
■Servosdonotrespondtoaserialsignal.
□TheIDortheBaudRatemaybeincorrect.
AlwayssettheIDas0andtheRATEas115200whenconnectinganRCB-3HVcontrolboard.
■ServosdonotrespondtoaPWMsignal.
□ThePWMsignalmaybeincompatible.
Thisproductisdesignedforuseinroboticsequipment,andmaynotbecompatiblewithsomeradio
controlledreceivers.
□SerialSignalischecked.
■Servoslosepowerduringoperation.
□Thetemperaturelimitermayhavetriggeredtopreventoverheating.
Switchthepoweroffandwaitfortheservostocooldown.Thenre-startandcheckforfullpower.
YoucanchangethethresholdatwhichservosgointotemperaturelimitationmodethroughtheICS
menu.However,loweringthisvalue(andconsequentlyraisingthetemperaturethreshold)increases
thepossibilityofaservofailure.
□
Servomovementmodemayhavebeenchangedduringserialoperation.
SharpdropsinvoltagecancausetheservostochangebetweenserialandPWMmodes.
Switchingthepoweroffandthenonagainwillreturntheservostothecorrectmode.
Whenoperatingservosinserialmode,pleaseensureyouhaveselectedSerialSignalasonintheICSmenu.
ThisisntreallyaproblemwhenoperatingusingPWMmovement.
■Servosmoveerratically.
□Theserialmovementbaudratemaybeunsupported.
Servosmaymoveerraticallywhentheyreceiveasignalbaudratethatisnotsupported.
□
ServosthatwereassignedthesameIDmaybeconnectedinadaisy-chain.
Daisy-chainingservosassignedthesameIDonthesameoutputlinewillresultinproblemswiththesignaland
erraticservomovement.TocontrolservosofthesameIDonasinglesignal,setoneasamasterservoandthe
restasslaveservosthroughtheICSmenu.
□Thereceivedsignalmaybeincompatiblewiththemovementmode.
InputtingincompatiblesignalswhenusingserialorPWMmovementmodescanresultinerratic
movementofservos.
□Theremaybeafaultyconnectionorbrokenwire.
Partofthewiringtotheservosmaybefrayedorseveredandcominginandoutofcontact.
■Diminishedservopower.
□ Servosmayhavedetectedalockedoutconditionandhavegoneintoprotectionmode.
Iftheservosareindeedlockedout,extricatethemfromthatpositionandremovetheloadfromtheservos.
YoucansetthetimethresholdtheservoswillwaitbeforegoingintoprotectionmodeviatheICSmenu.
■Achemical-likesmellisbeingemittedfromtheservosduringoperation.
□Themotorcoilsmaybestartingtoburnout.
Immediatelyturnoffthepowerandallowtheservostocoolbeforeoperatingagain.