Kondo KHR-3HV Assembly Manual
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Kondo KHR-3HV Assembly Manual

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

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Summary of Contents for Kondo KHR-3HV

  • Page 1 KHR-3HV 5pcs Servos for KHR-3HV Conversion set Assembly Manual 2020. Ver1.5...
  • Page 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.
  • Page 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. 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.

  • Page 4: Preface

    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.

  • Page 5: Caution

    Preface Caution 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.

  • Page 6: Component List

    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 confirm in advance about this part as well. Servo Motor Screw Parts included with KHR-3HV...

  • Page 7: Work Sequence

    Work Sequence 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.

  • Page 8: Table Of Contents

    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 ����������������������������� 1 0 Disassembly of the robot ��������������������������...
  • Page 9 Remove the ID0 (Red) .......... 1 9 Replace cable for ID1 (Blue) ....... 1 9 Reassemble the chest ......... 2 0 Check parts ������������������������������������������������� 2 1 Assembly ������������������������������������������������������ 2 3 Setting Servo Origin ���������������������������� 2 3 Change servo's baud rate ������������������ 2 3 Attach the Arm Supporter 2500A ����...

  • Page 10: Where To Add The Servo

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

  • Page 11: Disassembly Of The Robot

    Disassembly of the robot 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. Disassemble the waist unit In order to disassemble the waist unit, it is necessary to separate the connection between the body and the waist.

  • Page 12: Separate The Body Into Upper Body And Lower Body

    Disassembly of the robot Separate the body into upper body and lower body M2-4 Remove the M2-4 Low Head Screws fixing Low Head Screw the connecting part between upper body and lower body. M2-4 Low Head Screw Remove the screw, you can separate the upper body and lower body.

  • Page 13: Disassemble The Waist Unit

    Disassembly of the robot Disassemble the waist unit 3-6 Flat Head Screw 2-5 Low Head Tapping Screw YHR-005_Body Base 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.

  • Page 14: Remove The Dummy Servos

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

  • Page 15: Disassemble The Arm

    Disassembly of the robot 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. Arm removal As shown in the image below, remove them in order from the elbow.
  • Page 16 Disassembly of the robot 1. Remove the 2.6-10BH Tapping Screws of the servo arm. 2.6-10BH 2.6-10BH Tapping Tapping Screw Screw 2.6-6 Flat Head Screw 3-8 Low Head Horn Screw 2. Pull out the upper 3. Remove the 2.6-6 Flat Head arm from the servo Screw and the 3-8 Low Head arm.

  • Page 17: Disassemble The Unit

    Disassembly of the robot Disassemble the unit Elbow Joint A Disassemble the dummy servo unit according to the procedure on the right figure. W h e n t h e e l b o w u n i t R i s 2-5 Low Head Tapping Screw disassembled, the following parts remain.

  • Page 18: Disassemble The Chest

    Disassembly of the robot 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. Remove the Body Frame F and B 　　　2-5 Low Head Remove the 2-5 Low Head Tapping...

  • Page 19: Remove The Id0 (Red)

    Disassembly of the robot Remove the ID0 (Red) 2-5 Low Head Tapping Screw Remove the servo for the head ID0(Red) by removing the screws. Servo Case Screw (2-24 Low Head Tapping Screw) Replace 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.

  • Page 20: Reassemble The Chest

    Disassembly of the robot Reassemble 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.

  • Page 21: Check Parts

    Check parts After completing the work so far, refer to the table below to check the parts removed from the robot. Some parts are not used for assembly, but please do not throw it away and keep it as repair parts. YHR-006 YHR －...
  • Page 22 ZH Connection Cable (ZH/ZH Connector) 200mm ZH Connection Cable (ZH/ZH Connector) 550mm ZH Connection Cable (ZH/ZH Connector) 300mm * Please use in conjunction with the cables already used for assembly of the KHR-3HV. Nylon Strap (20) CD-ROM (1) Kit guidance (1)

  • Page 23: Assembly

    Assembly Setting Servo Origin The servo-motor, KRS-2552RHV or KRS-2552HV, used in this product has a maximum  angular operating range of approximately 270 degrees. Like human joints, it does not  turn limitlessly and its rotational movement is restricted. For the robot to operate  properly, it must be assembled taking into consideration its mechanical restrictions and  actual operation.  Because of this, setting the Servo origin is very important. If the origin setting is not correct, problems may occur when performing sample  motions. Therefore, please understand the origin setting method correctly and proceed  carefully. Refer to the KHR-3 HV Assembly manual for the origin setting method. The servo that sets the origin setting is five servos for expansion.  In addition, since the servo arm is installed again, please set the servo (ID 4 (red)) and  servo (ID 4 (blue)) to the origin setting. * The corresponding servo manager software differs depending on the servo being used. KRS-2552HV：Serial Manager for ICS3.0 KRS-2552RHV：ICS3.5/3.6 Manager softwar Change servo's baud rate The sample project for the robot of 22 axis "22DOF̲KHR3 (V2.0)" is set at the ICS  baudrate of 1250000bps. Since the initial values     o f KRS-2552HV and KRS-2552RHV  are 115200bps, when using the sample project change all servos to 1250000bps.  * If you are using the KRI-3 for the wireless controller, please also change this to  1250000 bps. Please use "KRI-3 Manager" for the baud rate of KRI-3. Also, when using the KRR-5FH as a receiver, please change it to 1250000 bps. Please  use "KRR 5 Maneger" to change the KRR-5FH.
  • Page 24 Assembly ●  Connection   Connect to servo with the Dual USB Adapter HS and the ZH Connection Cable B (ZH  ⇔ servo connector). Any length of the ZH Connection Cable B is OK. Servo ZH Connection Cable B  Dual USB Adapter HS  (ZH/Servo Connector)  ●  Setting method   1.  Start the ICS 3.5 Serial Manager and  select the COM number. In the image,  COM 1 is selected, but since the COM  number will change depending on your  computer, please be sure to select the  number you confirmed.   2.  Set the communication speed with the  servo. When "Auto" is selected, the  software automatically connects to the  communication speed. The communication speed is selected  (initial value of KRS-2552HV /  2552RHV is 115200).  It is completed when the "connection"  button is changed to "disconnected".  When the connection is completed,  the ID also automatically switches  according to the servo.
  • Page 25 Assembly   3.  Pressing the "Read" button reflects the  setting values     i n the servo to the man- ager. If it succeeds "Read completed" is  displayed in the lower left column. If it  fails, "Failed to acquire" is displayed,  please check the procedure and press  the "Read" button again. Please be es- pecially careful that the Dual USB  adapter HS is not "Serial mode (Green  LED)".   4.  Select "1.25 Mbps".   5.  Please press "Write" button. It will be  completed if "dialogue success" is dis- played. Please close the dialog with OK  button.   T his is how to change the baud rate setting. Repeat the procedure to change the baud rate of all servos. When all the work is done,  be sure to quit the software and remove the Dual USB Adapter HS from the PC. *Since these changes are only for setting changes, it communicates with the bus  power of the PC, but please connect a battery when checking the operation of the  servo. For the connection method and cables required, refer to the manual attached to  the servo manager.

  • Page 26: Attach The Arm Supporter 2500A

    Assembly Attach the Arm Supporter 2500A Attach the Arm Supporter 2500A to each of the five servos used for expansion. Attachment to ID3(Red) and ID3(Blue) Arm Supporter 2500A Elbow Joint A Servo Case Screw Servo Case Screw (2-24 Low Head Tapping Screw) 2-5 Low Head Tapping Screw (2-24 Low Head Tapping Screw) Assemble ID3(Red) and ID3(Blue) in the same way.

  • Page 27: Assemble The Waist Unit

    * For ZH Connection Cable B 200mm, use the cables for connecting ID6(Yellow) and ID6(Green) mounted on the KHR-3HV to the RCB-4HV. C o n n e c t t h e I D 0 ( B l u e ) c a b l e t o Servo Case Screw ID5(Green) and ID5(Yellow).

  • Page 28: Attach The Small Horn

    Assembly Attach the Small horn Small horn Attach a small horn to each of the five expansion servos. Since the origin is already set, make sure that the position of the output shaft does not shift when installing.

  • Page 29: Assemble The Arms

    Assembly Assemble the arms Attach the servo bracket A to the ID3(Red) and ID3(Blue) servos. Since the origin is already set, please pay attention to the Servo Bracket A mounting position. M2-4 Low Head Screw M3-8 Low Head Horn Screw * Before expansion, the 2-5 Low Head Tapping Screws was used for this part, but this time use M2-4 Low Head Screws.
  • Page 30 Assembly Attach the Upper Arm to the ID4 servo according to the origin. Please attach it like the image. Attach the bottom arm to the ID 4 servo. Fix the upper side with the M3-8 Low Head Horn Screw and the bottom side with the 2.6-6 Flat Head Screw.
  • Page 31 Assembly Insert the Joint Base of the forearm into the Servo Arm. 2.6-10BH Tapping Screw Secure both sides of the Servo Arm with the 2.6-10BH Tapping Screws. 2.6-10BH Tapping Screw Please assemble the left arm with the same procedure.

  • Page 32: Assemble The Lower Body

    Assembly Assemble the lower body M3-8 Low Head Attach the Offset Arms. Please do not change Horn Screw 2-5 Low Head the installation position of the La and Ra. Tapping Screw Be careful not to shift the origin at the time of Offset installation.

  • Page 33: Wiring

    Assembly Wiring Wiring the upper body ZH Connection Cable A ZH Connection Cable A (ZH/ZH Connector) (ZH/ZH Connector) 200mm 200mm ZH Connection Cable B ZH Connection Cable B (ZH/Servo Connector) (ZH/Servo Connector) 350mm 350mm ZH Connection Cable A ZH Connection Cable A (ZH/ZH Connector) (ZH/ZH Connector) Back View...

  • Page 34: Wiring The Lower Body

    Assembly Wiring the lower body ↑To RCB-4 ↑To RCB-4 ↑To RCB-4 ZH Connection Cable B ZH Connection Cable A ZH Connection Cable B ZH Connection Cable B (ZH/Servo) 300mm (ZH/ZH) 300mm (ZH/Servo) 200mm (ZH/Servo) 200mm ZH Connection Cable A ZH Connection Cable A (ZH/ZH) 200mm (ZH/ZH) 200mm ZH Connection Cable B...

  • Page 35: Connect The Fuselage And Legs

    Assembly Connect the fuselage and legs Insert the lower body into the fuselage. Install with the M2-6 Low Head Screws. M2-4 Low Head Screw M2-4 Low Head Screw...

  • Page 36: Attach The Backpack

    Assembly Attach the Backpack PCB Base B M2-6BH Screw Route the cables as shown in the figure and mount the PCB Base B to the back of the body using four M2-6BH screws. Put the HV Connector inside the body as shown in the picture.
  • Page 37 Assembly Open the Wing and mount the RCB-4HV 2-8 Low Head Tapping Screw u s i n g e i g h t 2 - 8 L o w H e a d T a p p i n g Screws so that it comes between the PCB Base B and the Parts Mount A.

  • Page 38: Bundle Cables

    Bundle cables T h e p h o t o o n t h e l e f t shows the waist from the back. Wiring will increase, so please be careful not to pull the cable during operation to bundle the cables.
  • Page 39 Please refer to it for bundling cables. The setup method of HTH 4 is the same as the KHR-3HV (17 axes). For details, please refer to "KHR-3HV Assembly manual". Please use "22DOF_ KHR3HV (2.x)" of the sample project.

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