Table of Contents
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KRS Servo Series
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.
Information related to this product can be found at the following website:
https://kondo-robot.com/
Warning! Improper use of this product could result in serious injury or death.
●Keep all body parts away from this product during operation. Always pay attention while operating this product.
※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.
Caution! Improper use of this product could result in injury or damage to property.
● 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.
Precautions for Use
●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.
●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.
Table of Contents
6100/6000/4000/2500 Series
3300/3200 Series
Information for the English + → Support + → Manual / Software
ICS 3.5 Manager, Command Reference, Dual USB Adapter, HS Manual, KO Driver etc.
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2
3
4
5
6
7
1
Instruction Manual
● 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.
●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.
Ver.1.4
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Table of Contents
Summary of Contents for Kondo KRS Series
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Page 1: Table Of Contents
Instruction Manual KRS Servo Series Ver.1.4 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. Information related to this product can be found at the following website: https://kondo-robot.com/ Information for the English + → Support + → Manual / Software ICS 3.5 Manager, Command Reference, Dual USB Adapter, HS Manual, KO Driver etc. Warning! Improper use of this product could result in serious injury or death. ●Keep all body parts away from this product during operation. Always pay attention while operating this product. ※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. Caution! Improper use of this product could result in injury or damage to property. ● Check the input signal and source voltage before ● Do not dismantle or modify this product in a way operating this product. that is not endorsed by this company. ● Pay attention to the orientation of the connectors, and ※Do not use signals or voltages outside the specified range. Doing so may result in ensure they are correctly plugged in. malfunction or damage to the product. ● Do not use this product in a place where there it may get ※Reversal of the polarity of the power source will damage the product. wet. ※Allowing water to get inside this product may cause damage and/or malfunction. Precautions for Use ●This product is designed for use in robots. It cannot be used in other ●Take extra care when attempting to use home-built control products such as radio controlled cars. -
Page 2: Hv Servo
HV Servo Specifications and Accessories ※Changes or improvements may be made to this product without prior notice. Specs. Performance Accessories KRS-6104FHV ICS 【 1 pc 】 KRS-6104FHV ICS HV Connection Cable（400mm ）× 1 Torque：70.0kg・cm Size：L 54.2 ㎜ ×W37.4 ㎜ ×H39.5 ㎜ Speed：0.23s/60° 【 6 pcs set 】 Operating voltage：9 〜 12V Reduction ratio：362.88：1 HV Connection Cable（400mm ）×6 Weight：113g ※Torque/Speed@11.1V Maximum operating angle：270° (±135° ) 【 18 pcs set 】 HV Connection Cable（400mm ）×18 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-6003R2HV ICS KRS-6003R2HV ICS 【 1 pc 】 HV Connection Cable（400mm ）× 1 Torque：67.0kg・cm Size：L 51 ㎜... -
Page 3: Connecting The Servos
Power(Vcc) Power(Vcc) Power(GND) Power(GND) （Connector） （Servo） （Connector） （Servo） 6100 Series 6000 Series ※6003HV Red Version is serial communication only. 4000 Series 2500 Series ●Plug the connectors into the terminals vertically. (The plastic part of the connector will sit flush with the servo when connected correctly) ■ Connection to the KONDO Control Board ■Connecting to a PC Using the KONDO control board in conjunction Using the connection adapter described below with these servos allows you to use either our together with the ICS manager software on your Heart to Heart robot control software, or C PC to change all the servo parameter settings programming language. It also allows for the use and assign servo IDs. You may also control your of Bluetooth and Wi-Fi connections, gyros and servos directly via your PC or compact mother- accelerometers, and wireless control. board. ・Dual USB Adapter HS (sold separately) ※Refer to pages 6 through 9 of this manual for ・KO Driver (free download) further details about ICS management software ... -
Page 4: Anchoring Servos
Anchoring Servos 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. 6100 Series 6000 Series (Case screw) Please remove 1 screw, Please remove 2 screws, M2.6×13 Countersunk head screw if you mount frames both sides. if you mount frames both sides. Please keep screw for reuse. Please keep screws for reuse. (Case screw) M3-25 M2.6×25 Countersunk head screw ●M3-10 (Frame t=2mm) x 4 ●M2.6-15 (Frame t=2mm) x 4 ＊Sold separately ＊Sold separately ●M3-27 (Flame t=2mm) x 4 ●M2.6-25~30 (Flame t=2mm) ＊Sold separately x 4 ＊Sold separately 4000 Series 2500 Series Please remove 2 screws, (Frame t=1mm) (Case screw) -
Page 5: Installation Of Servo Horns
Installation of Servo Horns 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. ※See our website for more information. 6100 Series 6000 Series ① Servo Horn ① Servo Horn Aluminum Servo Horn (I-cut) Aluminum Cramp Horn （for KRS-6104FHV Series) （Associated) No.02189 （PCDΦ17-M2.6- offset+2) No.02190 (6 pcs） Option ＊M3-8 Countersunk head screw No.02031 No.02032 (6 pcs） ② Free Horn ② Free Horn Aluminum Free Horn with Bearing for B3M/KRS-6000 series Aluminum Free Horn with Bearing for KRS-6100 series （PCDΦ17-M2.6- offset 0) No.02137 No.02191 No.02138(6pcs） No.02192(6pcs） ＊M3-8 （6000 series） ＊M3-8 Bind head screw M3-6 （B3M series） 4000 Series 4000/2500 Series ④... -
Page 6: Lv Servo
LV Servo Specifications and Accessories ※Changes or improvements may be made to this product without prior notice. Specs. Performance Accessories KRS-3304R2/3302/3301 ICS 【 1 pc 】 KRS-3304R2 ICS ZH Connection Cable A（300mm）×1 Torque ：13.9kg・cm（7.4V） ZHConnection Cable B （300mm） ×1 11.2kg・cm（6.0V） Size ：L32.5 ㎜ ×W26.0 ㎜ ×H26.0 ㎜ M3-6 Low Head Horn Screw ×1 Speed ：0.11sec/60° （7.4V） Operating voltage ：6.0 〜 7.4V 0.13sec/60° （6.0V） 【 6 pcs set 】 Weight ：33.7g (3304R2)/26.4g(3302/3301) Reduction ratio ：289.22：1 ZH Connection Cable A（300mm）×6 Maximum operating angle ：270°... -
Page 7: Installation Of Servo Horns
Installation of Servo Horns 3300/3200 Series 3300 Series 3200 Series ① Small Diameter Horn B ④ ④ Horn Screw Horn Screw （PCDΦ12-M2- offset 0) No.02157（2 pcs） Low Head Horn Screw M3-8 Low Head Horn Screw M3-8 No.02158 (12 pcs） ① Servo Horn ① Servo Horn ② Small Diameter Horn C （PCDΦ12-M2- offset 0) No.02159（2 pcs） No.02160 (12 pcs） ③ 2.6-4 Flat Head Tapping Screw No.02164（100 pcs） ② ② Free Horn Free Horn ④ M2-4 Low Head Screw ③ Free Horn Screw ③... -
Page 8: Communications Standard Ics 3.5/3.6
Communications Standard ICS 3.5/3.6 ※Refer to the ICS 3.5 Manager/control board manual for further information. What is ICS (Interactive Communication System)? 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. ※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. Description of ICS Menus ■ ID：Nominate the servo IDs using numbers 0 through 31. （ Range: 0 ˜ 31.） ■ Baudrate：Choose transmission speeds. ( Range: 115200, 625000 and 1250000.) ■ MOVE：Range of movement: Servos rotate output shaft in response to input of serial signal. （ Range: 3500 (-135° ) to 7500 (0° ) to 11500 (+135° )） ■ 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. ) ■ 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. ■ 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. ... - Page 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.
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Page 10: Initial Parameters
Initial Parameters HV Servo 6104/6003R2 4034/3/2 4031 2572 2552R 2542 RATE 115200 115200 115200 115200 115200 115200 Stretch Stretch 1/2/3 60-30-90 60-30-90 60-30-90 60-30-90 60-30-90 30-15-60 Speed Reverse Sirial signal Slave Rotation mode Punch Dead band Response Damping Protection Limiter(normal rotation) 11500 11500 11500 11500 11500 11500 Limiter(reverse rotation) ... -
Page 11: Operation And Connection Of Servos
Serial output 1 Serial output 2 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 ser vos, but daisy- chaining a large ID ｘ x+1 x+2 x+ｎ number of servos may introduce power supply problems. Servos This also depends on the compatibility of your control board. Serial Signal Compatible Control Board ※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. R CB-4HV：2 x serial outputs. Suited for daisy-chaining up to 32 servos. R CB-3HV：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. Movement of Servos Using a Serial Signal ■Please refer to the Command Reference for further information. The command reference is available as a free download from the website below. http://kondo-robot.com/ Customer center → Information Support → ICS and KRS Servo Development Materials... - Page 12 ■Position Capture (Teaching) ■Characteristic Change (Stretch preset change) Inputting a pulse width of between 50μs and 200 Inputting a pulse width of 100μs, 150μs or 200μ μs will instruct the servos to output a pulse width s will instruct the servos to change between three that indicates the current position of the servo preset characteristics (SET1 ˜ SET3 stretch set- output shaft. This pulse output from the servos is tings) saved within the servo. then read by the control board and the current posi- The servos will maintain the state the output shaft tion of the servos can be ascertained. ■ Diagram showing the timing of the signal and servo movement ■ 100〜200μsec 50μsec 700〜2300μsec Input signal present input signal No input signal present Servo movement Normal movement Hold Power limitation Normal movement Servo signal line Input Output Input Output Input Points of Caution When Using a PWM Signal ※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.
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Page 13: Optional Extras And Related Products
Optional Extras and Related Products ＊See our website for further information. Cases ＊See our website for availability of cases and/or gears for repair/spares. ※Three M2.6 x 35 screws and one single M2.6 Change the bottom casing on the 6000 series servos to make it easy to x 25 screw are used to secure the casing. adapt this servo to your project needs. When reinstalling the screws, please be sure to screw them in to the correct locations as they are different lengths. -
Page 14: Troubleshooting
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.
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