Kondo KHR-3HV User manual

KHR-3HV
5pcs Servos
for KHR-3HV
Conversion set
Assembly Manual
2020. Ver1.5

2
Safety Precautions
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.
The following signs are used with each description to indicate the level of potential harm that may be
caused by ignoring the precautions.
The following graphics are used with corresponding descriptions according to the type of precaution.
(The following are only part of the graphics used in this manual.)
DANGER : This sign indicates that "there is imminent danger of death or severe injury".
WARNING : This sign indicates that "there is a possibility of death or severe injury".
CAUTION : This sign indicates that "there is a possibility of injury or material damage".
: This pictorial indication signifies that the action is "prohibited".
: This pictorial indication signifies that the action is "mandatory".
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.
Parts such as aluminum frame brackets can cause injury.
Disconnect the HV 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.
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.

3
Safety Precautions
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 disassemble or modify the servo or board of the finished product.
Disassembly and repair, other than those stated in this Instruction, is prohibited. Incorrect dis-
assembly 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 HV battery included with this product is a Lithium-Ferrite battery. To
protect valuable environmental resources, used batteries should be recy-
cled, not disposed of as trash.
Li-Fe

4
Preface
Thank you for purchasing the "5pcs Servos for KHR-3HV
Conversion set".
This product is the set of servo, cable and other parts for
extending the KHR-3 HV from standard 17 axis to 22 axis.
Please refer to this assembly manual and assembly manual
of the KHR-3HV for conversion method.
Also, please visit our website "kondo-robot.com".
•Inquiries regarding this product and accessories should be directed to our service section.
Kondo Kagaku co., LTD. Service Section
4-17-7, Higashi Nippori, Arakawa, Tokyo
116-0014
Tel : [phone] (Direct line to Service Section)
9:00-12:00 13:00-17:00 excluding Saturdays, Sundays and national holidays
•Inquiry by email is welcomed at the following email address; however, please take note that replies
may require some time.
[email protected]
•Notices and updates regarding this product are posted on our website.
http://www.kondo-robot.com
After Sales Services

55
Preface
Caution
1 :
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.
2 :
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.
3 :
The assembly and operation of this product requires the use of a personal computer (Windows XP(SP2) or Vista) 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.
•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.
Preparation
The following items are required for the assembly and operation of this product:
●Personal computer
●Tools
●#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.
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

6
Component List
Please check the contents of the set before starting assembly. In
addition, since unused parts attached to the KHR-3HV are used for
assembly, please conrm in advance about this part as well.
KRS-2552RHV
or KRS-2552HV
(5)
ID=0(Blue)/3(Blue)/3(Red)/
5(Yellow)/ 5(Green)
Nylon Strap (20)
CD-ROM (1) Kit guidance (1)
ZH Connection Cable A(ZH/ZH Connector) 50mm
(2)
ZH Connection Cable B(ZH/ZH Connector) 350mm
(2)
ZH Connection Cable B(ZH/ZH Connector) 550mm
(2)
ZH Connection Cable A(ZH/ZH Connector) 200mm
(4)
ZH Connection Cable A(ZH/ZH Connector) 300mm
(1)
M2-4 Low Head Screw (10) YHR-A1-4
Small horn
(PCDφ12-M2-offset0) (5)
M3-8
Low Head Horn Screw (5)
* Use screws removed from
the KHR-3HV.
* Please use in conjunction with the cables
already used for assembly of the KHR-3HV.
* It is a part not used in the assembly of
the KHR-3HV.
Servo Motor
Connection Cable (Total 11pcs)
Screw Parts included with KHR-3HV

7
Before starting work, please read through this instruction manual and grasp the
whole work content. Also, check the parts to be used before working. Since this
product is an expansion kit, please understand about beforehand because you may
use parts included in the main robot kit or change the use place of parts already in
use.
Follow the steps below.
[1] Disassembly of the robot
1. Separation of the body: Separate the body into upper body and lower body.
2. Disassemble the waist unit: Remove the three dummy servos at the waist.
3. Disassemble the arm: Remove the dummy servo of the arm.
[2] Assembly
1. Setting Servo Origin: Set the axis of the servos to the neutral point.
2. Assembly the waist unit: Combine the servos for expansion to assemble the
waist unit.
3. Assembly the upper body: Add extension servo to both arms and reassemble
the arms.
4. Assembly the lower body: Attach the legs to the waist unit already assembled.
5. Connect the body: After connecting the upper body and lower body, attach
the backpack.
* Use the battery when setting the neutral of the servo. Charge the battery in
advance.
[3] Wiring: Wire the cable to the robot.
Work Sequence

8
Table of Contents
Safety Precautions ������������������������������������������� 2
Preface ������������������������������������������������������������� 4
After Sales Services ����������������������������������� 4
Caution ������������������������������������������������������� 5
Preparation ������������������������������������������������ 5
Component List ����������������������������������������������� 6
Work Sequence ����������������������������������������������� 7
Table of Contents ������������������������������������������� 8
Where to add the servo ����������������������������� 10
Disassembly of the robot �������������������������� 11
Disassemble the waist unit ���������������� 11
Remove the backpack .......................................... 11
Separate the body into upper body and lower body ......... 12
Disassemble the waist unit ................................. 13
Remove the Dummy Servos ................................ 14
Disassemble the arm ��������������������������� 15
Arm removal ........................................................... 15
Disassemble the unit ............................................ 17
Disassemble the chest ������������������������ 18
Remove the Body Frame F and B ....................... 18
Remove the head .................................................. 18

9
Remove the ID0 (Red) .......................................... 19
Replace cable for ID1 (Blue) ............................... 19
Reassemble the chest ......................................... 20
Check parts ������������������������������������������������� 21
Assembly ������������������������������������������������������ 23
Setting Servo Origin ���������������������������� 23
Change servo's baud rate ������������������ 23
Attach the Arm Supporter 2500A ���� 26
Attachment to ID3(Red) and ID3(Blue) ............. 26
Attachment to ID5(Yellow) and ID5(Green) ..... 26
Assemble the waist unit ��������������������� 27
Attach the Small horn �������������������������� 28
Assemble the arms ������������������������������ 29
Assemble the lower body �������������������� 32
Wiring ������������������������������������������������������ 33
Wiring the upper body .......................................... 33
Wiring the lower body .......................................... 34
Connect the fuselage and legs ���������� 35
Attach the Backpack ��������������������������� 36
Bundle cables ���������������������������������������������� 38

10
Using this expansion set, replace the dummy servo of 5
positions with the servos.
Where to add the servo

11
Disassemble the waist unit
In order to disassemble the waist unit, it is necessary to separate the connection
between the body and the waist. First, remove the backpack and remove the screws
at the connection.
Remove the dummy servos attached to the part of the KHR-3HV expansion. Since
the screws and parts removed are used when installing the extended servos. Please
keep it.
1Remove the backpack
2-8 Low Head Tapping Screw
M2-6BH Screw
Unplug all wiring of the control board,
remove the 2-8 Low Head Tapping
Screws and remove the board and the
parts mount A.
Remove the M2-6BH Screw securing
the backpack and remove the
backpack.
Disassembly of the robot

12
Separate the body into upper body and lower body
Separation of the waist unit and the leg
2
3
M2-4
Low Head Screw
M2-4
Low Head Screw
Remove the M2-4 Low Head Screws xing
the connecting part between upper body
and lower body.
Remove the screw, you can separate the upper body and
lower body. Please take care of wiring and separate them.
(In the illustration on the right, wirings are omitted for
notation.)
Remove the 2-5 Low Head
Tapping Screws securing
the Small Diameter Horn
and the Free Horn and
separate the left and right
legs from the waist unit.
2-5 Low Head Tapping Screw
2-5 Low Head Tapping Screw
Disassembly of the robot

13
4Disassemble the waist unit
3-6 Flat Head Screw
2-5 Low Head Tapping Screw
YHR-005_Body Base
3-6 Flat Head Screw
YHR-008_
Offset
Arm La THR-009
Offset
Arm Ra
2-5
Low Head
Tapping Screw
Separate the YHR-005 Body Base from
the waist unit. Disassemble by removing
the 3-6 Flat Head Screws and the 2-5 Low
Head Tapping Screws.
Remove the O󱐯set Arms La and Ra.
Disassemble by removing the 3-6 Flat Head
Screws and the 2-5 Low Head Tapping
Screws, respectively.
* The left and right Offset Arms are very
similar. Please keep it separated so as not
to make a mistake.
Disassembly of the robot

14
2-5
Low Head
Tapping Screw
2-5
Low Head
Tapping Screw
2-5
Low Head
Tapping Screw
Arm Supporter 2500A
Dummy Servo 2500A
Disassemble the Arm Supporter 2500A and
the Dummy Servos. As shown in the gure on
the left, Disassemble by removing the all 2-5
Low Head Tapping Screws.
5Remove the Dummy Servos
Disassembly of the robot

15
Disassemble the arm
The picture on the right is the enlargement of the
elbow unit R. Remove the dummy servo of center.
Disassemble in the following order.
As shown in the image below, remove them in order
from the elbow. Please also remove the cable.
1Arm removal
1
2
3
Disassembly of the robot

16
When disassembling, the dummy servo unit shown
in the left figure remains. On the next page,
disassemble further from here.
Servo Case
Screw
(2-24 Low
Head Tapping
Screw)
2-5
Low Head
Tapping
Screw
2-5
Low Head
Tapping
Screw
3. Remove the 2.6-6 Flat Head
Screw and the 3-8 Low Head
Horn Screw and remove the servo
arms.
1. Remove the 2.6-10BH Tapping Screws of
the servo arm.
2. Pull out the upper
arm from the servo
arm.
1
23
2.6-6 Flat Head Screw
3-8 Low Head Horn Screw
2.6-10BH
Tapping
Screw
2.6-10BH
Tapping
Screw
Disassembly of the robot
Servo Case Screw
(2-24 Low Head
Tapping Screw)

17
2
Elbow Joint A
2-5 Low Head Tapping Screw
2-5 Low Head Tapping Screw
2-5 Low Head
Tapping Screw
Servo Bracket A
3-6 Flat Head Screw
Dummy Servo 2500A
Arm Supporter 2500A
Disassemble the dummy servo unit
according to the procedure on the
right gure.
When the elbow unit R is
disassembled, the following parts
remain. Please check the type and
quantity.
YHR-006_Servo Bracket A 1pc
YHR-007_Elbow Joint A 1pc
YHR-C2 Dummy Servo 2500A 1pc
Arm Supporter 2500A 1pc
2-5 Low Head Tapping Screw 16pcs
Servo Case Screw 4pcs
(2-24 Low Head Tapping Screw)
3-6 Flat Head Screw 1pc
Disassemble the elbow Unit L on the other side in the same
way.
Even after disassembling the elbow unit L, the same parts as
above remain. Please keep this part so that it will not be lost
as it is used for servo installation.
Disassemble the unit
Disassembly of the robot

18
Remove the 2-8 Low Head Tapping
Screws securing the helmet and visor
and remove the head.
1
2
Note.
Remove the Body Frame F and B
Remove the head
Disassemble the chest
In order to add the servo (ID0(Blue)) of the yaw axis of the waist, it is necessary to
change the wiring of the shoulder servo (ID1(Blue)). Therefore disassemble chest once.
2-5
Low Head
Tapping Screw
2-5
Low Head
Tapping Screw
2-5
Low Head
Tapping Screw
2-5 Low Head
Tapping Screw
M2-4 Low Head Screw
M2-4 Low Head Screw
Remove the 2-5 Low Head Tapping
Screws and the M2-4 Low Head
Screws, and remove the Body
Frame F and B.
Face
Visor
Helmet
2-8 Low Head
Tapping Screw
THR-002 Body Frame B
YHR-001 Body Frame F
"22DOF_KHR3 (V2.0)" is set at the ICS baudrate of 1250000bps. Since the initial
values of KRS-2552HV and KRS-2552RHV are 115200bps, when using the sample
project change all servos to 1250000bps. Please be aware that ID0 (Red), ID 1
(Red), ID 1 (Blue) can not be changed after assembly. For how to change the ICS
baudrate, refer to page 23.
Disassembly of the robot

19
3Remove the ID0 (Red)
2-5 Low Head
Tapping Screw
Servo Case Screw
(2-24 Low Head Tapping Screw)
Remove the servo for the head ID0(Red)
by removing the screws.
4Replace cable for ID1 (Blue)
Replace the ZH Connection Cable B (ZH/Servo)
100mm attached to the ID1(Blue) with the ZH
Connection Cable A (ZH/ZH) 300mm included in
this Conversion set.
Replace this cable with the ZH
Connection Cable A (ZH/ZH) 300mm�
Disassembly of the robot

20
5Reassemble the chest
After replacing the cable and changing the
baudrate, reassemble the chest in the reverse
order.
In doing so, please make sure that the replaced ZH
Connection Cable goes out from the hole on the
same back as the original cable.
Disassembly of the robot