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Kondo KXR-L4N, Инструкция по сборке

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32

Head Assembly 1   

Gripper

M3 ー 6

M2.6 ー 10

M2 ー 6

④-1.

Attach the gripper A-a.

④

⑤

④-2.

Attach the free horn C.

④-3.

Attach the gripper A.-b

⑤-1.

Attach the free horn C and joint base A 

             to the gripper A-b.

Gripper A-a

Gripper A-b

Gripper A-b

Joint base A

Bush

Spacer

Free horn C

Free horn C

M2 ー 4

x4

M2 ー 4

x4

M2 ー 4

 x4

Parallel

<Installation Angle Reference Diagram>

<Installation Angle Reference Diagram>

KXR-L4N

Содержание KXR-L4N

Страница 1: ...Long Neck Type KXR L4N Assembly Manual Service Dept KONDO KAGAKU Co Ltd support kondo robot com Support Information www kondo robot com Ver 2 0 2017 Kondo Kagaku Co Ltd ...

Страница 2: ...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 Confirmation 47 Running Sample Motions 54 Reduced Voltage Motion Settings 60 Options 61 Option Parts List 61 Option Mounting Examples 63 ...

Страница 3: ... 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 ...

Страница 4: ...f 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 Vist...

Страница 5: ... 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 Ring BT Box Plate BT Side Plate BT Hatch Back Pack Cover Back Pack Base Small...

Страница 6: ...rts 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 ...

Страница 7: ...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...

Страница 8: ...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...

Страница 9: ...at 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...

Страница 10: ...S 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...

Страница 11: ...t an angle Right Right Tighten while applying pressure If you strip the screw head remove the screw without applying too much force and then use a new screw Do not use damaged screws If the screw becomes hard to tighten unscrew it a few revolutions and then tighten again carefully With this kit use a 0 screwdriver for M2 screws and 1 screwdriver for M2 6 and larger screws M refers to millimeter sc...

Страница 12: ...he 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 ...

Страница 13: ...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 ...

Страница 14: ...operly 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 Remove 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 Put the decal around t...

Страница 15: ... 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 ...

Страница 16: ...n 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...

Страница 17: ...M 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 s h i p m e n t i s 1 1 5 2 0 0 a n d t h e C o n n e c t b u t...

Страница 18: ...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...

Страница 19: ...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 Attach 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...

Страница 20: ...t frame 3300A Joint frame 3300A M2 6 ー 10 2 Attach the otherside 1 Attach the Joint Frame 3300A 2 Attach the Joint Frame 3300B b 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 x...

Страница 21: ...D5 x1 Bottom spacer x1 Assembled Arm supporter 3300B x1 Supporter B spacer 2 x1 Joint base x1 Joint Nut x1 Horn B x1 M2 ー 4 x4 M2 ー 8 x4 M3 ー 8 x1 Bottom spacer Case screw x4 M2 ー 8 x4 Supporter B spacer 2 Dented side is upper Detach case screws Assemble part Assembly parts completed Parts used KXR L4N ...

Страница 22: ... to Upper Shaft A When the origin deviates with the diagram position lightly insert the arm and rotate to adjust the position Attach it straight toward the A line Use M3 8 Make sure the screw length is correct It would be helpful to use a paint marker pen etc to mark the front of the joint so that it is easy to find the origin even if the joint rotates before attaching the arm The nut M2 part can a...

Страница 23: ...nder the hook 2 Pull the cable to the length indicated below Wire four ZH connection cables of 160 mm to the BT box plate BT Box plate x2 BT Side plate x2 BT Hatch x2 M2 ー 6 x2 ZH connection cable ２ 160mm x4 Decale ZH ZH Connection cable 1 Make sure the direction of the BT side plate is correct BT Box plate BT Side plate x2 Assemble part Assembly parts completed Parts used KXR L4N ...

Страница 24: ... it is easy to view Attach the plate on the opposite side so that it sandwiches the two BT hatch plates BT Hatch x2 If installation proves difficult try temporarily securing the BT box plate and inserting one BT hatch at a time Hinge positions BT Box plate Opening closing hatch Push and slide Both sides open the same way LOCK OPEN BT Box M2 ー 6 x4 Firmly apply the tape aligned with the uneven surfac...

Страница 25: ... unit x1 Assembled M2 ー 8 x4 M2 ー 12 x4 M2 ー 6 x6 M2 ー 8 x12 M2 ー 12 x8 M2 6 ー 10 x4 ZH Connection cable ２ 120mm x1 Attach the part with the cut M2 so that it comes to the outer side of the panel Assembled on p 18 Joint base B BT Box Front Front Rear Rear Assenble 2 sets M2 ー 12 x4 Assemble part Assembly parts completed Parts used 2 1 4 3 Assemble by wiring through the BT Leg pate Body Assemble th...

Страница 26: ...by wiring through the BT Leg pate Leg plate Lock ring Back pack BT Box side Body part top side Lock Align the notch and protrusion and attach Rotate until it clicks into place About the lock portion for the BT box and body parts Use the M2 6 part of joint nuts cut when making the neck The screw side facing out is the side with bevelling around the holes KXR L4N ...

Страница 27: ... Joint frame 3300B a Joint frame 3300B b Origin 1 2 1 1 2 In side connecter Attach four cables In to the Backpack Apply the decal to the cable 120mm M2 6 ー 10 x2 Be careful of the protruding direction and do not force it in Whichever one is fine KXR L4N ...

Страница 28: ...28 Body Assembly 3 Joining KXR L4N Rotate until it clicks into place Attach case screws Body Body panel Lock ring cap Lock ring Case screw x8 ...

Страница 29: ...x4 Bottom arm 3300 20 x4 Joint frame 3300A x8 Joint base A x4 Assembled Joint base C x4 Assembled M2 ー 6 x4 M2 6 ー 10 x20 M3 ー 6 x4 2 6 ー 4 x4 Assenble the four sets Joint base C M2 6 ー 10 M2 6 ー 10 2 6 ー 4 Assemble part Assembly parts completed Parts used Confirm the servo origin and attach it straight Detach case screws Case screw x2 KXR L4N ...

Страница 30: ...30 Leg Assembly 2 M2 ー 6 x2 Side with no connectors Bottom Arm 3300 20 Leg Assemble four sets Case screw x2 M2 6 ー 10 KXR L4N ...

Страница 31: ...rame B x1 Assembled Small diameter horn B x1 Small diameter Free horn C x3 M2 ー 4 x16 M2 ー 6 x3 M2 ー 8 x4 M2 6 ー 10 x6 M3 ー 6 x1 2 6 ー 4 x1 Case screw x2 M2 ー 6 x2 Assemble the Gripper Assemble part Assembly parts completed Parts used Align with the servo origin mark Points on Attaching to Upper Shaft A When the origin deviates with the diagram position lightly insert the arm and rotate to adjust ...

Страница 32: ...orn C 3 Attach the gripper A b 1 Attach the free horn C and joint base A to the gripper A b Gripper A a Gripper A b Gripper A b Joint base A Bush Spacer Free horn C Free horn C M2 ー 4 x4 M2 ー 4 x4 M2 ー 4 x4 Parallel Installation Angle Reference Diagram Installation Angle Reference Diagram KXR L4N ...

Страница 33: ...to the Bottom shaft 3 Detach the Case screw 5 Attach the Gripper A a to the Joint base A 6 Attach the Gripper A a Attach the Joint base B 4 Attach the Free horn C Gripper A a Joint base A Joint base B Bush Spacer Free horn C M2 ー 4 x4 Case screw M2 6 ー 10 M2 6 ー 10 M2 ー 8 x4 KXR L4N ...

Страница 34: ...34 Head Assembly 1 Gripper M2 6 ー 10 Joint frame 3300A Joint frame 3300A Gripper M2 6 ー 10 KXR L4N ...

Страница 35: ... arm 3300 38 x2 Bottom arm 3300 38 x2 double joint x1 Assembled Dummy servo x1 Assembled Gripper x1 Assembled Cable guide X x4 M2 ー 6 x8 M2 6 ー 10 x4 M3 ー 6 x2 2 6 ー 4 x2 ZH ZH Connection cable ２ 200mm x1 2 6 ー 4 M2 6 ー 10 M2 6 ー 10 M3 ー 6 G E Assemble the neck part and attach the gripper Assemble part Assembly parts completed Parts used Confirm the servo origin and attach it straight KXR L4N ...

Страница 36: ...36 Head Assembly 2 Join M2 6 ー 10 M2 ー 6 x4 Botom arm 3300 38 Cable guide X 2 6 ー 4 Head 200mm KXR L4N ...

Страница 37: ... legs Assemble part Assembly parts completed Parts used M2 ー 6 M3 ー 6 x4 Uper arm 3300 20 x4 Cable guide X For the cable whichever connector is used it has no effect on operations but make sure the cable does not overlap 120mm Attach the four legs to the body Right Legs Left Legs 2 6 ー 4 M2 6 ー 10 Confirm the servo origin and attach it straight Attach the upper arm to the body servo Attach the four ...

Страница 38: ...38 Parts Combination 1 Legs and Head M2 ー 6 x 2 Case screw x 2 120mm 200mm to ID 7 120mm to Board 1 3 2 Case screw x2 KXR L4N ...

Страница 39: ...moving the robot ZH type 3PIN ZH type 3PIN x12 VH type 2PIN To RCB 4mini VH type 2PIN VH type 2PIN To power switch To Battery The white circle side is power ON The power is normally OFF unless the robot is being operated Servo connecter To Serial Extension Cable PC To COM port To Servo etc Conversion cable for connecting serial extension cable connected with the PC and the RCB 4mini s COM port Con...

Страница 40: ...e the direction is correct To Battery box To RCB 4mini To COM port at RCB 4mini Attach so that the white wire comes up 1 Attach RCB 4mini Attach the electronic components 2 Attach ZH Conversion cable 3 Attach LV Power Source Switch Harness 2 6 ー 4 x2 2 6 ー 4 x2 M2 ー 6 x4 KXR L4N ...

Страница 41: ...PIN ZH type 3PIN ZH Conversion cable Be careful of the protruding direction and do not force it in Be sure to confirm the lock guide direction and that it is not connected backward Connect wire When operating the robot lock the cover with 2 6 4 screws so that it does not unexpectedly open and shut 2 6 ー 4 x2 LV Power Source Switch Harness LV Power Source Switch Harness Right Front Leg Left Front Le...

Страница 42: ...42 Complete Assembly completed KXR L4N ...

Страница 43: ...ack to the AC adapter and connect that to the LV power switch harness When removing the jack always first turn the power switch off and remove the AC adaptor from the outlet Align the tabs AC Adapter LV Conversion DC Jack RCB 4mini 6V 2A LV Power Source Switch Harness ...

Страница 44: ...rvos and robot to communicate with the PC via a USB connection In the following adjustments are made to the robot using a computer When all the processes are completed the robot will begin to walk Conduct the processes by following the procedures below Process procedures Connecting with PC Set the Dual USB adapter HS switch to Serial mode Connect the Dual USB adaptor HS to the PC Install the HTH4 ...

Страница 45: ...eart4 Software To install the software double click the setup exe in the HeartToHeart4 folder in the KXR folder to automatically run the setup program Continue the installation process as instructed by the setup pro gram 1 Software Installation After completing the software installation click the HeartToHeart4 icon in the Windows Start Menu or on the Desktop to run the software When running HeartT...

Страница 46: ...roject example 4 Copy Sample Data Turn the KXR power switch ON 5 Activate KXR IMPORTANT Check the RCB 4 wiring and each servo motor once again be foreturning the power ON Turning the power ON with connectors out of alignment or the polarities reversed may cause damage to the robot If you notice anything abnormal when the power is on such as a strange odor or a hot servo motor immediately turn off t...

Страница 47: ...ral symmetry If you run a motion with the trim out of alignment the robot will not function properly or topple over easily so make sure to perform the process carefully Trim Adjustment Types of Positions Neutral Position The state in which all servos are positioned to their Neutral origin position This is used for confirmation after assembly Trim Position The pose where only the trim is adjusted f...

Страница 48: ...j ect name in the New Project window be comes the same as the name of the folder that was imported If no change is made press OK 5 Assign the Communication Port COM number to be used This will typically be the COM number used for the KO Driver In the initial state there is a pull down switch next to the COM button When the button layout or window size is changed the pull down design will also chan...

Страница 49: ...nication rate and ICS communication rate to 115200 Read the cautions on the next page before pressing the RAM button 6 Press the Project Setting Window but ton The Project Setting window opens when selected Trim Adjustment 3 ...

Страница 50: ...osture If the robot does not match this pose then the origin setting is wrong Retrace the origin setting steps to determine and correct the part that is off track Proceeding to set the Home Position without confirming this posture can cause damage to the servo motors Make sure that the robot assumes this posture before continuing any further When given power a servo may vibrate slightly hunting th...

Страница 51: ...s 10 Press the Sync button in the toolbar of the Main Window If the color of the button changes after pressing it is turned ON In the Sync state the corresponding servo motor operates on a real time basis by moving the HeartToHeart4 slide bar The screen layout is an example for reference purposes This applies when you run the robot for the first time When the servos are shipped from the factory the...

Страница 52: ... Adjust one side completely and then use that as the standard when adjusting the opposite side Align the leg servos so that when looked at from the side their output shafts are lined up in a straight line Trim Adjustment Points ...

Страница 53: ...window 14 When the data writing is completed a confir mation dialog asking Do you want to restart your computer to reflect the changes made will appear press OK PC HTH4 will not restart When restarting all of the robot servos will relax To prevent the robot from fall ing make sure to support the head or backpack while restarting 17 When the saving is completed the following dialog appears so press...

Страница 54: ...Play button is pressed so please be careful 4 Save Project before quitting the soft ware Press the Save Project button in the toolbar of the Main Window To play other motions repeat steps 2 to 3 If you wish to stop the robot during a motion press the Stop button In reduced voltage motion servos are depowered To return them to normal turn the robot off and back on In the sample project settings are ...

Страница 55: ...motion assigned to the button data is sent to the robot by pressing the button shown in the window For detailed instruc tions please refer to HeartToHeart4 User s Manual For usage details refer to the HeartToHeart4 User s Manual Use button assignments as they are with wireless control on KRC 5FH Try Running a Motion with KRC Commander Running Sample Motions 2 ...

Страница 56: ...the KRC Command er window The KRC Commander screen opens Motions can be assigned to each button and operated Refer to the sample motion assignment list at the end of this section 2 Click the Send ON OFF button to start communications with the robot Usage Method Running Sample Motions 3 ...

Страница 57: ...ormed by con tinuing to click the button 4 Click LockKey when executing a combination of buttons With LockKey clicked when you press a button it will stay down When you press it again it will release For combinations with S1 S3 press the buttons beginning with S1 S3 5 PA1 PA2 PA3 PA4 is the slide bar for analog control It can be used with motions that use analog functions 6 When you are finished re...

Страница 58: ...tery s remaining charge reduced voltage motion may be run To restore the robot from the reduced voltage motion turn the power off and on or charge the battery To cancel reduced voltage motion change the setting for Run motion when power voltage reduced from the project window Robot KXR L4N Long Neck type Servo KRS 3301 3302 x12 No 0 0 0 0 1 2 8 4 1024 4096 513 514 64 256 16 0 0 S2 S4 S1 S1 Motion N...

Страница 59: ...en to expand a project Reading Project This completes the instructions for assembly and running motions For software operation instructions refer to the HeartToHeart4 User s Manual Always check the Reduced voltage motion setting as shown on the next page With an LiFe battery set On the slippy surface can adjust grip with option sponge For Arm For Sole Grip sheet Normal 2 sheets No 02336 Sole grip ...

Страница 60: ...le this setting before use 1 Set the project and open the project window The voltage per cell cannot drop below 3 0V so 3 0V x 2 cells is 6 0V Set the motion to run when power voltage drops below the voltage that you indicate 2 Set the voltage for running the reduced voltage motion to 6 0V Select low voltage indicator motion If you run an active motion at low voltage it will consume more of the ba...

Страница 61: ... 90 degree angle Dummy servo for servo replacement Sole grips sold separately can be attached to the underside Set of panels for securing servos and making the body Backpack for installing electronic components etc Box for storing the battery and making the body Part for wiring cable along the arm Supporter for securing the side of a servo etc via a cantilever Spacer for securing the bottom side o...

Страница 62: ...ーボです KXR の新型標準サーボです KRS 3301 3302 標準の樹脂ギヤセットです KRS 3301 3302 用のサーボケースです KRS 3301 ICS と同一形状でトルクアップした上位モデル KRS 3304 標準の金属ギヤセット KRS 3304 対応のサーボケースです KRS 3300 シリーズ用のケースビスです KXR の標準コントロールボードです ロボットと PC を接続する際の延長ケーブルです RCB 4mini と USB アダプタを接続する変換ケーブルです 6N ニッケル水素 2S リフェ電池用の電源ケーブルです ロボットを USB 経由で PC と接続するためのアダプター ソールの底面に貼ってグリップ力を調整します 柔らかめ ソールの底面に貼ってグリップ力を調整します 硬め 多脚ロボットの足先のグリップを高めるスポンジシートです モーションを操作キーに割り...

Страница 63: ... sample motion uses the port in the diagram If a servo is connected remove it and connect it to the KRR 5FH port It does not matter which of KRR 5FH s SIO ports is used it has no impact on operations Also daisy chain connection is possible just as with servos Example Connect KRG 4 and the RCB 4mini AD port The sample motion uses the port in the diagram Please refer each manuals Example Connect the...

Страница 64: ...Sensor 2 USRX 1 Sensor base Bottom arm Can use 20 26 or 38 The joint base can be attached to the necessary area whether body or neck etc Can also use M2 6 ー 10 M2 Nut x2 Can also be attached by reversing the direction Method for Mounting Sensor Base Method for Mounting Sensor Base ...

Страница 65: ......

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