Kondo KXR-L4N User manual

LongNeckType
KXR-L4N Assembly
Manual
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
●Leg Assembly 29
●Head Assembly 31
●Attaching All Parts 37
■ Robot Operations 43
●Power Source 43
●Connecting with PC 44
●Trim Conrmation 47
●Running Sample Motions 54
●Reduced Voltage Motion Settings 60
■ Options 61
●Option Parts List 61
●Option Mounting Examples 63

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
本製品は組立てキットです。本製品の使用による、お使いになる人や第三者への危害や財産への損害
につきまして、お客さまの「自己責任」に負うところが多くございます。その点をご理解の上、下記の
注意事項をお守りいただき、ご使用ください。

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
No.03146 No.03147（6pcs）
KRS-3302ICS
x11
No.03115 No.03116（6pcs）
KRS-3301ICS
/
x4
x4
x2
x4
x2
x4
E
No.02304
No.02304
No.02303
No.02303
No.02302
No.02302
x4
x1
x2x2 x2
x1 x1
x1
AB
C
No.02313 No.02313
No.02312 No.02312
No.02313
No.02311
No.02313
No.02311
x1 x1
D
No.02309 No.02309
F
x2
x3
No.02157
No.02159
ExampleofIDsticker
application
■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
UpperArm3300-26
BottomArm3300-26
UpperArm3300-26
BottomArm3300-26
UpperArm3300-38
BottomArm3300-38
BodyPanel
LockRingCap
LockRingBTBoxPlate BTSidePlate BTHatch
BackPackCover BackPackBase
SmallDiameter
HornC
DummyServo
-Upper
DummyServo
-Bottom
SmallDiameter
HornB
Prior to Assembly
List of Parts Used (1)
KXR-L4N

6
x19
x20
x8
x10
x2
x2
No.02300
No.02301
No.02314
No.02305
No.02305
No.02305
G
L
x2 x2
x2/x2
No.02318 No.02318
No.02318
x1
x1
x1
J
No.02315 No.02315
No.02316
*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.
JointBase
CableGuideX
JointNut
JointFrame
3300A
JointFrame
3300B-a
JointFrame
3300B-b
■FrameParts
Armsupporter
3300B
SupporterB
Spacer2
BottomSpacer
3300
GripperA-a GripperA-b
GripperA
Spacer/Bush
Prior to Assembly
List of Parts Used (2)
KXR-L4N

7
No.03141 No.02186
No.03120
x1
x1 x1
x1
RCB-4mini
x1
x40 x17 x11 x1x24x40x20
No.02332
No.02331
No.02330 x6
x4
x1
■Cable/Screw
No.02177
No.02166
No.02086
LowHeadScrew LowHeadScrew LowHeadScrew
BHScrew
LowHead
HornScrew
LowHead
HornScrew
FlatHeadScrew
No.02325 No.02326 No.02324 No.02164 No.02176 No.02083
ZHConversionCable
SerialExtensionCable
LVPowerSource
SwitchHarness
No.02116
DualUSBAdapterHS
Length=120mm
Length=200mm
●KitGuidance
Length=100mm
Length=1.5m
Length=160mm
■Board/Battery/Charger
■Accessories
M2-4 M2-6 M2-8
x8
LowHeadScrew
No.02327
M2-12 M2.6-10 2.6-4 M3-6 M3-8
#0#1
（BindHead）
ZHConnectionCable2Atype
*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.
●Decal（forKXR） IDSealforServo/Cable
ACAdapter（6V2A） LVConversionDCJack
Prior to Assembly
List of Parts Used (3)
KXR-L4N

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

11
Tighteningscrews Withmultiplescrews
Tightenscrewsthat
arediagonallyaligned




①
②
③
④




①Putthescrewinvertically


②Tightenwithoutapplyingpressure






Right Right









(Exampleortighteningorder)
Alwaysuseascrewdriverthatisrightforthescrewhead.
■
Whenusingseveralscrewsto
secureparts,firsttighteneach
screwlightly,andthentighten
themfurthertosecuretheparts
evenlywithequalforce.
Further,whenusingmorethan
fourscrewstosecurepartsavoid
addingunevenpressuretothe
partsbyalternatelytightening
screwsthatarediagonally
aligned.
Prior to Assembly
Screw Handling

12
Prior to Assembly
Basic Frame Parts
M2 M2.6
①BendtheM2.6end. ②Fitintothejointbase.
Putthetopsidestogetherfacingeachother.
(Thenutsidefacesout)
M2-8x4
Cutthe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
Jointpartsforconnectingthearmsandframe,etc.withtheservos.
Putontheplasticjointnutandscrewtosecure.
PlasticjointnutscanbereplacedwithM2/M2.6metalnuts.

13
Prior to Assembly
Basic Frame Parts
■Arm
Thispartsupportsandrotatestheservowithtwoshafts.
Theuppershaftandbottomshaftareusedasapair.
Makesurethepositionofinstallation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holesfor
guidingcables.
Serrationfacesthetopside.
Serration Free
Serration
Serration
Example：CrossFrame
Free
Upper Bottom
Upper Bottom
Upper Bottom
Bottom Upper
Arm-26
Arm-38

14
Prior to Assembly Servo ID and Position
ConnectservotoservoandservotoRCB-4miniusingZH-ZHconnectioncable.
RCB-4minisSIOports(servoconnectors)aredividedintotwosystems,SIO1-3andSIO5-7.
Withinthesamesystem,changingtheportdoesnotimpactoperations,butbeawarethatif
thesystemisincorrect,therobotwontfunctionproperly.ServoIDstickersareclassified
withthesymbols◯and□.*AlwaysconnectID0totheSIO5-7system.
Theexplanationsinthismanualusethefollowingwiringlayout.
PuttingonConnectionCableDecals
①Removethedecal.
*Putthenumberstickerontheblankdecalsticker
orwriteonitdirectlyasnecessary.
*Leavearound1cmopennearthe
terminalsothecablecanbendeasily.
1cm
②Putthedecalaroundthecable.
*SIO3isnotused.
SIO1〜3
SIO1
SIO2
SIO5 SIO6
SIO7
SIO5〜7
120mm
120mm
120mm
120mm
120mm
120mm
160mm
160mm
160mm
160mm
200mm
KXR-L4N

15
Full Body Assembly Procedures
Procedure 0 Setting Servo IDs
*Reference diagram
Procedure 1 Body Assembly
Procedure 3 Head Assembly
Procedure 2 Leg Assembly
Procedure 4 Full Assembly
Multiuse parts
1 Neck
2 BT(Battery) Box
3 Joining
1 Leg assembly
1 Gripper assembly
2 Neck assembly
1 Legs / Head
2 Electronic compnents
KXR-L4N

16
Setting Servo IDs 1
PC 1.5m
ExampleofIDstickerapplication
● KODriverInstallation
● DualUSBAdapterHSCOMConfirmation
DualUSBAdapterHS SerialExtensionCable
Servo
ZHConversionCable
Beawarethatthecableusedforconnectiondiffersfromthesoftwaremanual.
 ConnecttheservostotheDualUSBAdaptorHSandserialextensioncablewithZH
conversioncable.
● Connection
 1. SettheDualUSBadapterHSswitch
toICSmode,connecttheSerial
ExtensionCable,andthenplugitinto
theUSBportofyourpersonalcom-
puter.WhenconnectedtotheUSB
portinICSmode,theDualUSB
AdapterHSLEDlightsupred.
 2. WhenconnectedtotheWindowsPC
forthefirsttime,theAddNewHard-
wareWizardwillautomaticallyrun.
CompletethesetupfollowingtheKO
DriverInstallationManualinthe
ManualfolderintheKXRfolder.
 WhentheDualUSBAdapterHSdriverinstallationiscompleted,confirmtheCOMPort
Number.  Thisnumberisimportantwhenusingthesoftware,sopleasewriteitdown.The
methodofconfirmingtheCOMnumberisincludedintheKODriverInstallationManualin
the Manual folder in the KXR folder. Point Operation Tips Caution for Breakage
ConfirmationRequired.
First,applyIDstickers
totheservos.
■ SettingServoIDs
KRS-3301/3302
x12
SerialExtensionCable
1.5m
DualUSBAdapterHS
ICSMODE
LED:RED
KXR-L4N

17
Setting Servo IDs 2
● ChangingServoIDSettings
 1.CopytheSerialManagerfolderinthe
KXRfolderwiththesetontothePC
desktop.
 2.Double-clickICS3.5Manager.exeinthe
copiedSerialManagerfolderandlaunch
ICS3.5SerialManager.ICS3.5Serial
Managerallowsyoutochangesettings
forICS3.5/3.6-spec.servoIDs,
rotationalmodeandvariousparameters.
 3.SelecttheCOMnumberconfirmed
aboveinDualUSBAdaptorHSCOM
Confirmation.Intheimage,COM1is
selected,buttheCOMnumberdiffers
dependingonthecomputeryouuse,so
alwaysselecttheconfirmednumber.
 4.Setthespeedforservocommunica-
tions.IfyouselectAuto,itwillauto-
maticallyconnectinlinewiththecom-
municationspeed.
Whenthecommunicationspeedis
selected(KRS-3302ICSatfactory
shipmentis115200)andthe
Connectbuttonchangesto
Disconnect,theprocessiscomplete.
Whentheconnectioniscomplete,the
IDswillautomaticallyswitchbasedon
theservos.
The〇and▢markontheIDstickeris
unrelatedtotheID,soconfirmonlythe
number.
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18
Setting Servo IDs 3
 5. SelectthesetIDnumberfromtheID
pull-downmenu.
 7. Justtobesure,confirmtheID.When
youpresstheAcquirebutton,the
writtenIDwillbedisplayedinthe
pull-downmenu.
ConfirmthatID:AcquireCompleteis
displayedinthelower-left,andconfirm
thatthecorrectIDisdisplayedinthe
pull-downmenu.
TheaboveisthemethodforchangingServoIDsettings.Whenalloftheprocesses
arecompleted,alwaysremovethe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confirmingoperations,connectthebattery.Refertothemanual
includedwithServoManagerforinformationontheconnectionmethodandnecessary
cabletypes.
 6.PresstheWritebuttonontheID
menuandwritetheIDontotheservo.
Ifsuccessful,ID:WriteCompletewill
bedisplayedinthelower-leftbox.
Ifitfails,CommunicationFailedwillbe
displayed,soconfirmtheprocedures
andpresstheWritebuttonagain.In
particular,besurethatDualUSBAdap-
torHSisinSerialMode.
KXR-L4N

19
Body Assembly 1
Multiuse Parts
G
Partsused
◯JointBasex18
◯JointNutx19
◯BottomSpacer3300x1
（Firstassemble19sets.）
◯M2 ー 8x4
J
■Assembleallthemultiuseparts.
JointbaseA：11
JointbaseB：4
Doublejointbase：1
②AttachJointnuttoJointbase.
M2
M2.6
1.
1.Cut2M2parts.
1.Cutall.
2.
2.
JointbaseC：1
1.Cut4M2parts. 2.
2.Securetwojointbaseswithscrews.
Jointnutscrewholes
Alignthetopsidesfacingeachother.
(Thenutsidefacesout)
M2ー8
x4
Bottomspacer
①AttachJointnuttoBottomspacer3300.
1.CutallM2.6.
（nearroots） 2.
(forTNeck:1)
OftheM2.6partswithjointnutscrewholescut,use
twotoattachthebackpackcover.Theotherscan
alsobeusedasnuts,sostorethem.
KXR-L4N

20
Body Assembly 1
Multiuse Parts
Partsused
◯M2.6 ー 10x10
D G
◯M2 ー 6x1
①AssembleDummyservo.
Dummyservo-Upper
DummyServo-Bottom
Dummyservo：1（Neck）
M2ー6
Jointbase+FrameA:4
Jointbase+FrameB:1
JointbaseA
Jointframe3300A Jointframe3300A
M2.6 ー 10
②-2.Attachtheotherside. ②-1.AttachtheJointFrame3300A.
③-2.AttachtheJointFrame3300B-b. ③-1.AttachtheJointFrame3300B-a.
M2.6 ー 10
JointFrame3300B-a
JointbaseA JointFrame300B-b
M2.6 ー 10
M2.6 ー 10
■Assembleallthemultiuseparts.
◯Dummyservo-Upperx1
◯DummyServo-Bottomx1
◯JointFrame3300Ax8
◯JointFrame3300B-ax1
◯JointFrame3300B-bx1
◯JointBaseAx5（Assembled）
KXR-L4N