Kondo KHR-3HV Assembly Manual Download Page 39

Page: 39 / 40

Bundle cables

On the photo, it is a part of the arm seen from
another angle.
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.

Summary of Contents for KHR-3HV

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

Page 2: ...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 emotio...

Page 3: ...ruction 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 bec...

Page 4: ...egarding 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 81 3 3807 7648 Direct line to Serv...

Page 5: ...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 re...

Page 6: ...H 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...

Page 7: ...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 As...

Page 8: ...e to add the servo 1 0 Disassembly of the robot 1 1 Disassemble the waist unit 1 1 Remove the backpack 11 Separate the body into upper body and lower body 12 Disassemble the waist unit 13 Remove the D...

Page 9: ...Attach the Arm Supporter 2500A 2 6 Attachment to ID3 Red and ID3 Blue 2 6 Attachment to ID5 Yellow and ID5 Green 2 6 Assemble the waist unit 2 7 Attach the Small horn 2 8 Assemble the arms 2 9 Assemb...

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

Page 11: ...tached to the part of the KHR 3HV expansion Since the screws and parts removed are used when installing the extended servos Please keep it 1 Remove the backpack 2 8 Low Head Tapping Screw M2 6BH Screw...

Page 12: ...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...

Page 13: ...parate 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 Offset Arms La and Ra Disassemble by removing the 3 6 F...

Page 14: ...ow Head Tapping Screw Arm Supporter 2500A Dummy Servo 2500A Disassemble the Arm Supporter 2500A and the Dummy Servos As shown in the figure on the left Disassemble by removing the all 2 5 Low Head Tap...

Page 15: ...t 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 cabl...

Page 16: ...crew 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...

Page 17: ...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 4...

Page 18: ...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...

Page 19: ...head ID0 Red by removing the screws 4 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...

Page 20: ...cing 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 ori...

Page 21: ...o Arm 2500A Upper Arm Servo Arm 2500A Bottom Arm 2 6 10BH Screw 2 6 6 Flat Head Screw M3 8 Low Head Horn Screw YHR 008 Offset Arm La M2 6BH Screw YHR C2 Dummy Servo A Servo Case Screw YHR 009 Offset A...

Page 22: ...H 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...

Page 23: ...gin setting is ve 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 softwa...

Page 24: ...ted but since the COM number will change depending on your computer please be sure to select the number you con rmed 2 Set the communication speed with the servo When Auto is selected the software aut...

Page 25: ...be completed if dialogue success is dis played Please close the dialog with OK button This is how to change the baud rate setting Repeat the procedure to change the baud rate of all servos When all t...

Page 26: ...upporter 2500A Elbow Joint A Assemble ID3 Red and ID3 Blue in the same way Attach the Arm Supporter 2500A with the 2 5 Low Head Tapping Screw Then remove the Servo Case Screws from the servo and attac...

Page 27: ...igure to the ID0 Blue servo 2 5 Low Head Tapping Screw Connect the connectors as shown For ZH Connection Cable B 200mm use the cables for connecting ID6 Yellow and ID6 Green mounted on the KHR 3HV to...

Page 28: ...embly Attach the 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 Smal...

Page 29: ...nce the origin is already set please pay attention to the mounting position Servo Case Screw 2 24 Low Head Tapping Screw 2 5 Low Head Tapping Screw Secure the ID2 servo to the unit with the 2 5 Low He...

Page 30: ...he upper side with the M3 8 Low Head Horn Screw and the bottom side with the 2 6 6 Flat Head Screw Attach the Upper Arm to the ID4 servo according to the origin Please attach it like the image M3 8 Lo...

Page 31: ...nt Base of the forearm into the Servo Arm Secure both sides of the Servo Arm with the 2 6 10BH Tapping Screws Please assemble the left arm with the same procedure 2 6 10BH Tapping Screw 2 6 10BH Tappi...

Page 32: ...ctors can not be accessed after installing the Body Base so please check the insertion of the connectors and the handling of the cables before installing 2 5 Low Head Tapping Screw 2 5 Low Head Tappin...

Page 33: ...nnector 200mm ZH Connection Cable A ZH ZH Connector 200mm ZH Connection Cable A ZH ZH Connector 200mm ZH Connection Cable A ZH ZH Connector 50mm ZH Connection Cable A ZH ZH Connector 50mm ZH Connectio...

Page 34: ...ZH Connection Cable A ZH ZH 100mm ZH Connection Cable A ZH ZH 100mm ZH Connection Cable A ZH ZH 100mm ZH Connection Cable A ZH ZH 50mm ZH Connection Cable B ZH Servo 200mm ZH Connection Cable B ZH Ser...

Page 35: ...35 Assembly M2 4 Low Head Screw M2 4 Low Head Screw Insert the lower body into the fuselage Install with the M2 6 Low Head Screws Connect the fuselage and legs...

Page 36: ...kpack Assembly 1 2 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 PCB Base B M2 6BH Screw Put the HV Connector inside the body as sho...

Page 37: ...the PCB Base B and the Parts Mount A SIO Port Power Terminal COM Port second pin from top PIO Port Not Used presently Analog Input Port AD port Not Used presently Make sure the signal cable white face...

Page 38: ...shows the waist from the back Wiring will increase so please be careful not to pull the cable during operation to bundle the cables Please bundle the cable of the arm so that the cable is not pulled...

Page 39: ...rt of the arm seen from another angle 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...

Page 40: ......

Search results

Summary of Contents for KHR-3HV

Reviews:

Related manuals for KHR-3HV

Brands by name

Popular brands

Kondo KHR-3HV, Assembly Manual

Search results

Summary of Contents for KHR-3HV

Reviews:

Related manuals for KHR-3HV

Brands by name

Popular brands