Kondo KXR KXR-A5 User manual

Assembly
Manual
ArmType
KXR-A5
ServiceDept.
KONDOKAGAKUCo.,Ltd.
[email protected]
SupportInformation
www.kondo-robot.com
Ver.2.0© 2017 Kondo Kagaku Co., Ltd.

2
Table of Contents
Work with sufficient space in a physically and emotionally alert and observant state.
There is danger of death or serious injury by unexpected accidents.
Keep all parts away from small children. Small parts can cause injury.
Disconnect the battery connector immediately if any thing abnormal occurs.
*Damage in the robots body. *Foreign objects in the robots body. *Smoke. *Odd smell. *Abnormal heat or warmth. Continued use under such conditions
can result in fire or electric shock. *Should any abnormalities be observed, immediately stop using the product and contact our service section.
Disconnect the power plug from electrical outlets when the charger is not being used.
When plugged to an outlet, a small amount of electricity flows into.
During operation, always exercise caution and be prepared for unforeseen accidents.
Please always remember that due to the nature of this product as an assembly kit, safety is not guaranteed for the movements
resulting from the operation of the product. Please take extra precautions since an injury of the fingertips and fracture of bones
may result when movements of the product greatly differ from what you expect.
Recognize the possibility that components can short circuit.
Short circuit can easily occur since control board terminals are bare. Short circuits can cause thebattery,
components, and wiring materials to ignite. Incorrect wiring can also result in similardanger.
Do not break the charger and cable.
Do not damage, modify, bring in close contact with thermal appliances, or use under forced pressure. Continuous use under such conditions can result in fire or
electric shock. *For repair of cords and cables, please contact our service section. *If the product becomes wet, please consult 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 conditions where dew condensation occurs.
Such conditions may result in malfunction since this product is composed of electronic parts. Such conditions can
also result in electric shock and fire by electrical shorting.
For overseas use, local approval or license may be needed. Please check.
In certain areas or countries, legal procedures may be necessary prior to using the product. *Our support does not
apply to the use of this product outside of Japan.
When detaching the charger and battery, firmly hold the connectors.
Detachment by holding the cord may cause breaking of wires and a possible short circuit, which can result in electric shock or fire.
Do not operate on an unstable work surface.
The product can lose balance and collapse or fall off causing injury.
The battery included with this product is a nickel-metal hydride
battery. To protect valuable environmental resources, used batter-
ies should be recycled, not disposed of as trash.
This sign indicates that "there is imminent danger of death or severe injury."
This sign indicates that "there is a possibility of death or severe injury."
This sign indicates that "there is a possibility of injury or material damage".
Prohibited
Prohibited
Prohibited
Mandatory
Mandatory
■ Safety Precautions 3
■ Preface 4
■ Prior to Assembly 5
●List of Parts Used 5
●Accessories 8
●Servo Motors 10
●Screw Handling 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

3
Safety Precautions
Work with sufficient space in a physically and emotionally alert and observant state.
There is danger of death or serious injury by unexpected accidents.
Keep all parts away from small children. Small parts can cause injury.
Disconnect the battery connector immediately if any thing abnormal occurs.
*Damage in the robots body. *Foreign objects in the robots body. *Smoke. *Odd smell. *Abnormal heat or warmth. Continued use under such conditions
can result in fire or electric shock. *Should any abnormalities be observed, immediately stop using the product and contact our service section.
Disconnect the power plug from electrical outlets when the charger is not being used.
When plugged to an outlet, a small amount of electricity flows into.
During operation, always exercise caution and be prepared for unforeseen accidents.
Please always remember that due to the nature of this product as an assembly kit, safety is not guaranteed for the movements
resulting from the operation of the product. Please take extra precautions since an injury of the fingertips and fracture of bones
may result when movements of the product greatly differ from what you expect.
Recognize the possibility that components can short circuit.
Short circuit can easily occur since control board terminals are bare. Short circuits can cause thebattery,
components, and wiring materials to ignite. Incorrect wiring can also result in similardanger.
Do not break the charger and cable.
Do not damage, modify, bring in close contact with thermal appliances, or use under forced pressure. Continuous use under such conditions can result in fire or
electric shock. *For repair of cords and cables, please contact our service section. *If the product becomes wet, please consult 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 conditions where dew condensation occurs.
Such conditions may result in malfunction since this product is composed of electronic parts. Such conditions can
also result in electric shock and fire by electrical shorting.
For overseas use, local approval or license may be needed. Please check.
In certain areas or countries, legal procedures may be necessary prior to using the product. *Our support does not
apply to the use of this product outside of Japan.
When detaching the charger and battery, firmly hold the connectors.
Detachment by holding the cord may cause breaking of wires and a possible short circuit, which can result in electric shock or fire.
Do not operate on an unstable work surface.
The product can lose balance and collapse or fall off causing injury.
The battery included with this product is a nickel-metal hydride
battery. To protect valuable environmental resources, used batter-
ies should be recycled, not disposed of as trash.
This sign indicates that "there is imminent danger of death or severe injury."
This sign indicates that "there is a possibility of death or severe injury."
This sign indicates that "there is a possibility of injury or material damage".
Prohibited
Prohibited
Prohibited
Mandatory
Mandatory
Due to the nature of this product as an assembly kit, consequences, damage, or injury
resulting from the use of this product are the user's responsibility. Please use this
product with that in mind. In order to prevent danger to the user and others, as well as
property damages, the safety precautions listed below must be followed.

4
Preface
Thank you for purchasing the KXR robot assembly kit.
The KXR system enables you to create various robots by combining frame parts
with servo motors as a part of the structure. The basic format is provided as a set,
and sample motions are also included, so you can conrm the robot's operations
as soon as it is assembled. Servos and main frame part components are sold as
options, so it is easy to add robots in various formats and also expand the original
robot. If parts wear out or break you can replance only those you need, so repairs
can also be performed inexpensively.
Before beginning to assemble the robot, please closely read through this manual
and the accessory manuals. You may want to print out the manuals to make them
easier to read and reference.
This product is constructed for people of all ages to enjoy a bipedal robot. However, this product is not a toy, and
contains parts and tasks that would be dicult for young children to understand or perform. For those parts and
tasks, parents or teachers should provide assistance.
Please keep in mind that due to the nature of 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 Vista or 7,8,8.1,10)
with a USB port. It is assumed that the user has basic computer skills. Please note that we cannot provide
answers to general questions or inquiries regarding computers or Windows.
1
2
3
Caution
The following items are required for the assembly and operation of this product:
●Personal computer
●Tools
Preparation
●#0 and #1 screwdriver
#0 #1
●Small blade
●Nippers
for cutting parts and board cover
●Tape
●Screw locking adhesive
(moderate strength)
convenient for preventing screws and nuts
from loosening.
●All company names, trade names, and logo marks that appear in this Instruction are trade marks or registered trade
marks of each respective company.
●The contents of this Instruction and product are subject to change without notice for improvement or other reasons.
OS: Windows Vista, 7, 8, 8.1, 10
CD-ROM drive（for installation） 1 or more USB 2.0 port(s)
※ Microsoft. NET Frame work 2.0 is required

5
銘板シール
x5
ExampleofIDsticker
application
First,SettingServoIDs.
■FrameParts
*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.
■Servo
Armsupporter
3300A
UpperArm3300-26 BottomArm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.02303No.02303
No.02306
x4
x1
x2x2 x2
x1 x1
AB
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Hatch
BackPackCover BackPackBase
Prior to Assembly
List of Parts Used (1)
KXR-A5

6
■FrameParts
*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.
GripperA-a GripperA-b GripperA
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1x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

7
No.03120
RCB-4mini
ACAdapter（6V2A） LVConversionDCJack
x1
No.02332
No.02331
No.02330 x2
x2
x1
ZHConnectionCable2AType
x1
x1 x1
x1
■Cable/Screw
No.02177
No.02166
LowHeadScrew LowHeadScrew LowHeadScrew LowHeadScrew
BHScrew
LowHead
HornScrew
LowHead
HornScrew
FlatHeadScrew
ZHConversionCable
SerialExtensionCable
LVPowerSource
Switch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
M2ー4 M2ー6 M2ー8 M2.6 ー 10 2.6 ー 4 M3ー6 M3ー8
x28 x11 x5x52 x8x33
No.02327
M2 ー 12
x2x24
No.03141 No.02186
Prior to Assembly
List of Parts Used (3)
KXR-A5

8
KRS-3300SeriesServo
RCB-4miniControlBoard
●Spec
*For part names, refer to the following page.
●Spec
*Computer software is used to operate the robot’s motions.
*For details, refer to the “Heart to Heart4 User’s Manual.”
Servo motors are integrated with gears for raising the output torque and a control board that enables stopping at any angle.
Using servo motors in the robot’s joints makes it easy to send angle commands to the joints and enables multiple motors to be
accurately controlled at the same time. The KRS-3302 ICS servo used in this kit employs half-duplex serial communication, so
operating commands can be sent simultaneously to multiple servos, and this allows cables to be wired using the multi-drop/dai-
sy-chain method (method for connecting servos like a chain of beads). This reduces the number of cables connected to the
control board to make possible a simpler, cleaner layout. You can also easily upgrade to the higher-grade KRS-3304 ICS for
more powerful operating performance.
The RCB-4mini 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 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 Connecter)
■Proper Voltage: DC 6.0–12.0V
Main Features *For details, refer to the KRS Servo manual.
●Servo characteristics settings can be changed using the ICS manager ●Supports high-speed communications up to 1.25 Mbps
●As a dedicated robot servo, can be mounted using dual axial support ● Compact cubic design
●The higher-grade model is the same shape, so you can easily upgrade for more power
■Size: 32.5 x 26 x 26 (mm) ■Maximum operating angle: 270° ■Proper Voltage: DC 6.0–7.4V
■Weight: 26.4g
■Torque: 6.0kg-cm (7.4V)
■Speed: 0.14s/60° (7.4V)
■Communication standards: ICS3.6
■Gear material: Plastic
KRS-3301 ICS KRS-3304/3304R2 ICS
■Weight: 33.7g
■Torque: 13.9kg-cm (7.4V)
■Speed: 0.13s/60° (7.4V)
■
Communication standards: ICS3.5 / 3.6(R2)
■Gear material: Metal
KRS-3302 ICS
■Weight: 26.4g
■Torque: 6.7kg-cm (7.4V)
■Speed: 0.16s/60° (7.4V)
■Communication standards: ICS3.6
■Gear material: Plastic
Prior to Assembly
Accessories

9
KRS-3300SeriesServo
RCB-4miniControlBoard
●Spec
*For part names, refer to the following page.
●Spec
*Computer software is used to operate the robot’s motions.
*For details, refer to the “Heart to Heart4 User’s Manual.”
Servo motors are integrated with gears for raising the output torque and a control board that enables stopping at any angle.
Using servo motors in the robot’s joints makes it easy to send angle commands to the joints and enables multiple motors to be
accurately controlled at the same time. The KRS-3302 ICS servo used in this kit employs half-duplex serial communication, so
operating commands can be sent simultaneously to multiple servos, and this allows cables to be wired using the multi-drop/dai-
sy-chain method (method for connecting servos like a chain of beads). This reduces the number of cables connected to the
control board to make possible a simpler, cleaner layout. You can also easily upgrade to the higher-grade KRS-3304 ICS for
more powerful operating performance.
The RCB-4mini 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 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 Connecter)
■Proper Voltage: DC 6.0–12.0V
Main Features *For details, refer to the KRS Servo manual.
●Servo characteristics settings can be changed using the ICS manager ●Supports high-speed communications up to 1.25 Mbps
●As a dedicated robot servo, can be mounted using dual axial support ● Compact cubic design
●The higher-grade model is the same shape, so you can easily upgrade for more power
■Size: 32.5 x 26 x 26 (mm) ■Maximum operating angle: 270° ■Proper Voltage: DC 6.0–7.4V
■Weight: 26.4g
■Torque: 6.0kg-cm (7.4V)
■Speed: 0.14s/60° (7.4V)
■Communication standards: ICS3.6
■Gear material: Plastic
KRS-3301 ICS KRS-3304/3304R2 ICS
■Weight: 33.7g
■Torque: 13.9kg-cm (7.4V)
■Speed: 0.13s/60° (7.4V)
■
Communication standards: ICS3.5 / 3.6(R2)
■Gear material: Metal
KRS-3302 ICS
■Weight: 26.4g
■Torque: 6.7kg-cm (7.4V)
■Speed: 0.16s/60° (7.4V)
■Communication standards: ICS3.6
■Gear material: Plastic
Prior to Assembly
Accessories
Battery/Charger
*Always refer to the battery and charger manuals before use.
*The included battery and charger differ with the set.
● Remove the battery from the robot when not in use.
If you store or transport the robot with the battery connected and the switch is accidentally turned on, the
servos may be damaged and smoke or fire may result. Always remove the battery when the robot is not in use.
Readthebelowcontentbeforeusingthebattery.
Make sure to charge the battery before assembly and before operation.
▼The following cautions apply when using an Li-Fe battery.
Do not use the included USB charger (BX-31LF/BX-32MH) from the USB port of a computer.
When charging use a commercially available AC adaptor (1-2A) that supports USB.
●Donotuseatlowvoltage.Becarefulofoverdischarging.
Whenbatteriesareusedforalongperiodofthetime,thecapacitymayreduceandvoltagemaydrop.The
sameoccurswithLi‐Fe.Usinga6.6vratedbatteryatlowerthan6.0v(*)maydamagethebattery
causingittoswell.Thisisknownasoverdischarging.Continueduseinthisstatemayresultinfire.
*3.0vfor1cell.
●Donotuseifthebatteryisswollen.
Swellingisasignthatthebatterymustnotbeusedanylonger.Disposeofthebatteryinaccordancewith
thelawsandrulesinyourregion.
Shortingtheterminalscausesdamagetothebattery,whichintheworstcasemayresultinthebatteryemitting
smokeorfire.Holdtheterminalsfirmlywhendisconnectingthebattery.Donotpullonthecables.Nevertryto
modifythegenuineconnectors.Continuedusemayresultintheframeorpartsbecomingscratched,andtheouter
insulationofwiresmaybecomesplit.Checkthewiresperiodicallytoensureashortcircuitdoesnotoccur.
Iftheinteriorofthebatteryisexposed,gasmayleakandignite.Whenusingthebattery,besuretocheckthatthe
outercoveringisundamaged,thatthebatteryisfittedsecurelyintherobotbody,andthat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wires
periodically,aswiresexposedthroughsmallgapsintheinsulationmayresultinshorting.

Carryingthebatteryaroundinabag,etc.uncoveredmayresultinmetallicobjectscomingintocontactwiththe
batterycausingashortoutordamagingthebatteryresultinginashortout.Furthermore,storinginthewrong
locationsmayresultinitemsfallingonthebatteryorwaterbeingsplashedonthebatteryresultinginashortout.
AlwaysplaceinsideanLi‐Fesafetybagwhencarryingorstoringthebattery.

Therearevarioustypesofchargersavailableatawidevarietyofprices,andsuchchargersaredesignedto
chargespecifictypesofbatteries.BesuretouseanLi‐Fecompatiblechargerthatcanprovidebalancedcharging.
Furthermore,thecapacityofbatteriesdiffers.Besuretosetthechargertotheratedvoltageofthebatteryand
thechargecurrentbelowthecapacityofthebattery.Repeatedlychargingthebatterytounnecessarilyhigh
settingsmaycausedamagetothebatteryorfire.Beextremelycarefulwhenchargingbatteriesanddonotleave
thebatterybyitselfduringcharging.
Donotuseorstoreinalocationthatissubjecttodirectsunlight,orinalocationthatmaybecomehotsuchas
insideacarornearaheater.Donotuseorrechargeinlocationswhereitmaybesplashedwithwaterorwhere
thereisalotofhumidity.
1.Donotreverseconnect/shortthebattery.
2.Donotdamagethebattery.Donotdroporsubjecttostrongimpact.
Donotdisassembleormodify.

3.Donotuseifthewireinsulationissplit.
4.Donotcarryaroundorstoreuncovered.

5.Usethecorrecttypeofcharger,andmakesureallsettingvaluesare
correct.Becarefulnottooverchargethebattery.
6.Donotuse/storeinhightemperature/humidity.

10
UpperCase
UpperAxis（FinalAxis）
CaseScrew
Framepartinstallationhole
Groovesurroundingtheshaft.
Thetopoftheshafthasaconcave
origin;findthispositionandinstall
thepart.
ThiskitusesM3screws.
Thiskituses2.6-4screws.
Thelightcomeson
whenthepowerison.
KRS-3301/3302ICS:Red
KRS-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
theinstallationdirection.
BottomAxis（FreeAxis）
BottomSide
UpperSide
Prior to Assembly
Servo Motor