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Connection with PC 2

HTH4 (HeartToHeart4) is used to adjust the robot. The software is exclusively for RCB-4HV/RCB-4mini 

(referred to as “RCB-4” below) and has been designed to make it easy for anyone to control the robot. 

Using this software allows you to make full use of the functions needed to freely operate the robot, 

including the neutral position check (checks that parts have been assembled correctly with the servos 

in the origin (neutral) position), basic positioning adjustment (trim adjustment), motion creation, sensor 

settings, etc. 

■  Install HeartToHeart4 Software

  To install the software, double-click the "setup.exe" in the HeartToHeart4 folder in the CD-ROM 

included with the kit to automatically run the setup program. Continue the installation process as 

instructed by the setup program.

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 HeartToHeart4 for the first time, a HeartToHeart4 folder is created in the My Document 

folder of your personal computer. Project files created must be saved in the “Projects" sub-folder in 

this folder.

2. Software Activation

  Connect the Serial Extension Cable to the Dual USB Adapter HS, and connect the other end to the 

port connector at the top of the KXR backpack.

3. Connecting Dual USB Adapter HS to the Robot

Dual USB Adapter HS

Serial Extension Cable

PC

1.5m

Содержание KXR-R4LL

Страница 1: ...Rover Long Leg Type KXR R4LL Assembly Manual Service Dept KONDO KAGAKU Co Ltd support kondo robot com Support Information www kondo robot com Ver 1 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 21 Leg and Wheel Assembly 29 Attaching All Parts 32 Robot Operations 38 Battery Mounting 38 Co...

Страница 3: ...lt 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...

Страница 4: ...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 whic...

Страница 5: ...xx is the option part number Use this number for searches and inquiries No 03115 No 03116 6pcs KRS 3301 ICS Servo Joint Base Cable Guide X Arm supporter 3300A Upper Arm 3300 20 Bottom Arm 3300 20 Join...

Страница 6: ...Body Panel Lock Ring BT Box Plate BT Side Plate BT Hatch Back Pack Cover Back Pack Base Frame Parts There may be more parts included in the set than the number used No xxxxx is the option part number...

Страница 7: ...Extension Cable LV Power Source Switch Harness No 02116 Dual USB Adapter HS Length 120mm Length 200mm Decal for KXR CD ROM Kit Guidance Length 100mm Length 1 5m Board AC Adapter Accessories 0 1 Bind H...

Страница 8: ...ini control board used in this kit has a total of six ports three 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...

Страница 9: ...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 m...

Страница 10: ...304 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 Scr...

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 beco...

Страница 12: ...e 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 Jo...

Страница 13: ...nstallation 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 h...

Страница 14: ...t function properly Servo ID stickers are classi ed 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...

Страница 15: ...es Procedure 1 Body Assembly Procedure 0 Setting Servo IDs Procedure 3 Full Assembly Procedure 2 Arm Assembly Multiuse parts 1 BT Battery Box 2 Joining 1 Wheel Leg 1 Wheel 2 Electronic Compnents KXR R...

Страница 16: ...tion Dual USB Adapter HS Serial Extension Cable Servo ZH Conversion Cable Be aware that the cable used for connection di ers from the software manual Connect the servos to the Dual USB Adaptor HS and...

Страница 17: ...COM Con rmation In the image COM 1 is selected but the COM number di ers depending on the computer you use so always select the con rmed number 4 Set the speed for servo communica tions If you select...

Страница 18: ...e 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 con rming operations connect the battery Refer...

Страница 19: ...selected but the COM number differs depending on the computer you use so always select the confirmed number 2 Set the speed for servo communica tions If you select Auto it will auto matically connect...

Страница 20: ...ad button again In particular be sure that Dual USB Adaptor HS is in Serial Mode 4 Put a checkmark in Rotation Mode in the flag item in the middle of the window 5 Press the Write button When the Write...

Страница 21: ...acer 4 A D Joint base B 4 Assemble all the multiuse parts Parts used Joint Base x8 Joint Nut x12 Bottom spacer x4 M2 M2 6 1 1 Cut 4 M2 parts 2 2 Joint nut screw holes 1 Cut all M2 6 parts 2 Use the cu...

Страница 22: ...nder the hook 2 Pull the cable to the length indicated below Wire six ZH connection cables of 160 mm to the BT box plate BT Box plate x2 BT Side plate x2 BT Hatch x2 M2 6 x8 ZH connection cable 200mm...

Страница 23: ...Firmly apply the tape aligned with the uneven surface Firmly apply the tape aligned with the uneven surface 5 Apply the decal to the cable The diagram is only of the BT box plate so that it is easy to...

Страница 24: ...24 Body Assembly 1 BT battery Box BT Box Opening closing hatch Push and slide Both sides open the same way LOCK OPEN KXR R4LL...

Страница 25: ...ssembled Joint base B x4 Assembled Bottom spacer x4 Assembled M2 6 x2 M2 8 x32 M2 12 x16 M2 6 10 x10 Supporter B Spacer 2 Arm supporter 3300B 1 Detach the case screws 4 3 Attach the arm supporter 3300...

Страница 26: ...Joint base A Assenble 2 sets Assemble by wiring through the Body panel and Backpack base Leg plate Lock ring Back pack BT Box side Body part top side Lock Align the notch and protrusion and attach Ro...

Страница 27: ...2 1 Turn to the right until it clicks and locks 2 Backpack cover M2 6 Nut 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...

Страница 28: ...28 Body Assembly 2 Joining Body Attach all four areas 200mm x4 KXR R4LL...

Страница 29: ...ZH Connection cable 2 120mm x8 Detach case screws Assemble 4 sets Servo combination Case screw x8 M3 6 Upper arm 3300 26 Flat frame With the at frame the leg length can be adjusted by changing the att...

Страница 30: ...e runners The parts are small so take care not to lose them It is used in rotation mode so there is no need to align the origin M2 12 x4 Assemble the wheel and tire Assenble 4 sets Tire 60 Wheel 60 2...

Страница 31: ...31 Attach the cable 120mm 120mm Wheel Leg Assemble 4 sets Wheel leg KXR R4LL...

Страница 32: ...sure the installation direction is correct Make sure the origin and arm installation direction are correct Make sure the origin and arm installation direction are correct Origin side Origin side Origi...

Страница 33: ...33 If the joint is rotated a little the screwdriver won t interfere 2 6 4 M2 6 10 120mm 120mm 120mm 120mm Attach 4 sets M2 6 x4 Cable guide X Parts Combination 1 Joining KXR R4LL...

Страница 34: ...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 ro...

Страница 35: ...ure 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 cabl...

Страница 36: ...2PIN ZH type 3PIN ZH Conversion cable Be careful of the protruding direction and do not force it in Be sure to con rm the lock guide direction and that it is not connected backward Connect wire When o...

Страница 37: ...37 Complete Assembly completed The following will explain how to mount the battery and run motions KXR R4LL...

Страница 38: ...o read about Motion when voltage reduced voltage check function on HTH4 after the instructions for running motions 1 Push down lightly on the hatch clasp and slide it Put in the battery in the directi...

Страница 39: ...l in the USB folder in the included CD ROM Point Operation Tips Caution for Breakage Confirmation Required Dual USB Adapter HS COM Con rmation KO Driver is driver software that enables Windows OS to r...

Страница 40: ...p exe in the HeartToHeart4 folder in the CD ROM included with the kit to automatically run the setup program Continue the installation process as instructed by the setup program 1 Software Installatio...

Страница 41: ...e project 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...

Страница 42: ...th bilateral 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...

Страница 43: ...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...

Страница 44: ...om the factory there is no data loaded into them thus the RAM button needs to be clicked multiple times for initiali sation Once initialised pressing RAM once will be enough to get robot moving 8 Keep...

Страница 45: ...rmine 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 befo...

Страница 46: ...nt the overall motion will also be o so adjust the trim properly so that the robot stands perfectly upright 9 Click the Trim Adjustment tab at the top of the Project Setting window to change screens 1...

Страница 47: ...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 l...

Страница 48: ...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 restartin...

Страница 49: ...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 yo...

Страница 50: ...otion 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...

Страница 51: ...he 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 OF...

Страница 52: ...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...

Страница 53: ...when operating all the servos simultaneously depending on the battery s remaining charge reduced voltage motion may be run To restore the robot from the reduced voltage motion turn the power o and on...

Страница 54: ...n the Main Window to specify a project Select a file with the extension h4p in the Project folder and press Open to expand a project Reading Project This completes the instructions for assembly and ru...

Страница 55: ...ject Battery over discharge prevention setting Always enable 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...

Страница 56: ...ree 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 compone...

Страница 57: ...304 For KRS 3304 For KRS 3300 series Standard control board for KXR Connect to Robot from PC Connect to RCB 4mini from Dual USB Adapter HS For LV Battery use For USB connection to PC For Sole Soft typ...

Страница 58: ...le 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...

Страница 59: ...sor 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 10 M2 Nut x2 Can also be attached by reversing t...

Страница 60: ......

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