KRS Series_manual__a4 En 1113 Series Manual Eng V2

User Manual:

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Instruction Manual

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:

http://kondo-robot.com/

Customer center → Information Support

→ ICS & KRS Servo Development materials
Software Samples

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.
● Do not dismantle or modify this product in a way

●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.

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.

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.

● 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.

●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.

Speciﬁcations and Accessories
※Changes or improvements may be made to this product without prior notice.

Specs.

Performance

Accessories

KRS-6003RHV ICS

Size：L 51 ㎜ ×W32 ㎜ ×H39.5 ㎜
Operating voltage：9 〜 12V
Weight：103g
Maximum operating angle：270°(±135°)
Maximum current：6.1A (@11.1V)
Gear material：Aluminum+Stainless
Communication standards：ICS3.5(Serial/PWM）
Control Boards：RCB-4HV、KCB-5、RCB-3HV

KRS-4034/4033/4032HV/4031HV ICS
Size：L43 ㎜ ×W32 ㎜ ×H32.5 ㎜
Operating voltage：9 〜 12V
Weight：61.2g / 61.4g / 61.2g / 55.2g
Maximum operating angle：270°(±135°)
Maximum current：3.1A(@11.1V)
Gear material：Aluminum+Steel /POM
Communication standards：ICS3.5(Serial/PWM)
Control Boards：RCB-4HV、KCB-5、RCB-3HV

【 1 pc 】
HV Connection Cable（400mm ）× 1
Aluminum Cramp Horn × 1
【 6 pcs set 】
HV Connection Cable（400mm ）×6
Aluminum Cramp Horn× 6

KRS-6003RHV ICS

Torque：67.0kg・cm
Speed：0.22s/60°
Reduction ratio：362.88：1
※Torque/Speed@11.1V

【 18 pcs set 】
HV Connection Cable（400mm ）×18
Aluminum Cramp Horn× 18

【 1 pc 】
Connection Cable G（400mm ）× 1
M3-8 Low Head Horn Screw × 1
【 6 pcs set 】
Connection Cable G（400mm ）× 6
M3-8 Low Head Horn Screw × 8

KRS-4034HV

Torque：41.7kg・cm
Speed：0.17s/60°
Reduction ratio：381.2：1

KRS-4033HV

Torque：30.6kg・cm
Speed：0.12s/60°
Reduction ratio：249.6：1

KRS-4032HV

Torque：19.8kg・cm
Speed：0.08/60°
Reduction ratio：167.2：1

KRS-4031HV ICS

Torque：13.0kg・cm
Speed：0.16sec/60°
Reduction ratio：346.6：1
※Torque/Speed@11.1V

KRS-2572HV/2552RHV/2542HV ICS
Size：L41 ㎜ ×W21 ㎜ ×H30.5 ㎜
Operating voltage：9 〜 12V
Weight：47.7g / 41.5g / 35.5g
Maximum operating angle：270°(±135°)
Maximum current：2572 2.5A (@11.1V)
2552/2542 1.3A (@11.1V)
Gear material：Metal + (Nylon:2542）
Communication standards：ICS3.5(Serial/PWM)
Control Boards：RCB-4HV、KCB-5、RCB-3HV

【 1 pc 】
ZH Connection Cable A（300mm ）× 1
M3-8 Low Head Horn Screw × 1：2552
2.6-6 Flat Head Screw × 1：2542
【 6 pcs set 】
ZH Connection Cable A（300mm ）× 8
ZH Connection Cable B（200mm ）× 2
M3-8 Low Head Horn Screw × 10：2552
2.6-6 Flat Head Screw × 10：2542

KRS-2572HV

Torque：25.0kg・cm
Speed：0.13sec/60°
Reduction ratio：309.11：1

KRS-2552RHV

Torque：14.0kg・cm
Speed：0.14sec/60°
Reduction ratio：312.40：1

KRS-2542HV ICS

Torque：11.0kg・cm
Speed：0.12sec/60°
Reduction ratio：193.18：1
※Torque/Speed@11.1V

KRS-3304 ICS
Size：L32.5 ㎜ ×W26.0 ㎜ ×H26.0 ㎜
Operating voltage：6.0 〜 7.4V
Weight：33.7g
Maximum operating angle：270°(±135°)
Maximum current：2.2A (@7.4V)
Gear material：Metal
Communication standards：ICS3.5
Control Boards：RCB-4HV、KCB-5、RCB-3HV

KRS-3204 ICS

【 1 pc 】
ZHConnection Cable B（300mm） ×1
M3-8 Low Head Horn Screw ×1
【 6 pcs set 】
ZH Connection Cable A（300mm）×4
ZH Connection Cable B（200mm）×2
M3-8 Low Head Horn Screw ×6

Torque：13.9kg・cm（7.4V）
11.2kg・cm（6.0V）
Speed：0.11sec/60°
（7.4V）
0.13sec/60°
（6.0V）
Reduction ratio：289.22：1

【 18 pcs set 】
ZH Connection Cable A（300mm）×12
ZH Connection Cable B（200mm）×6
M3-8 Low Head Horn Screw ×18

【 1 pc 】
M3-8 Low Head Horn Screw ×1 本

Size：L33.0 ㎜ ×W15.0 ㎜ ×H26.0 ㎜
Operating voltage：6.0 〜 7.4V
Weight：27.2g
Maximum operating angle：270°(±135°)
Maximum current：2.2A (@7.4V)
Gear material：Metal
Communication standards：ICS3.5
Control Boards：RCB-4HV、KCB-5、RCB-3HV

KRS-3304 ICS

【 6 pcs set 】
M3-8 Low Head Horn Screw ×6 本
【 18 pcs set 】
M3-8 Low Head Horn Screw ×18 本

KRS-3204 ICS

Torque：9.3kg・cm（7.4V）
7.5kg・cm（6.0V）
Speed：0.13sec/60°
（7.4V）
0.18sec/60°
（6.0V）
Reduction ratio：290.17：1

※Case screw : 1.7mm

※Cable length：350mm（Fixed）

Important Points

■ KRS-3204 and 3304 servos are not suitable for high voltage applications. Operate at less than 7.4 volts.
■Our high voltage servo products operate at a different voltage to this product. Using high and low voltage servos in
the same robot requires separate circuitry.

Connecting the Servos
Using the included (or optional) cables, connect one end to the signal terminal of the control board, and the
other end to the signal terminal of the servo. The two signal terminals on the servos are internally connected in
parallel, so you may connect to either one. Please refer to page 6 of this manual if you wish to connect multiple
servos using the same terminal in a multi-drop arrangement.

Servo Connector

ZH Connector
Tab（凸）

Tab（凸）

Slit（凹）

Signal
Power(Vcc)
Power(GND)

Slit（凹）

Signal
Power(Vcc)

（Connector）

Power(GND)

（Servo）

（Connector）

6000 Series

（Servo）

2500 Series

LED

LED
※6003HV Red Version is serial communication only.

4000 Series

3300 Series

LED

●Plug the connectors into the terminals vertically. (The plastic part
of the connector will sit ﬂush with the servo when connected
correctly)

■Connecting to a PC

3200 Series

Using the connection adapter described below
together with the ICS manager software on your
PC to change all the servo parameter settings
and assign servo IDs. You may also control your
servos directly via your PC or compact motherboard.
・Dual USB Adapter HS (sold separately)
・KO Driver (free download)
・ICS 3.5 Manager (free download)
・ICS 3.5 Command Reference (free download)
(The old version of ICS is also available for
download on the website)

※LED is not included.
※Cable is fixed.

Power
Signal

Power

■ Connection to the KONDO Control Board

Using the KONDO control board in conjunction
with these servos allows you to use either our
Heart to Heart robot control software, or C
programming language. It also allows for the use
of Bluetooth and Wi-Fi connections, gyros and
accelerometers, and wireless control.

※Refer to pages 6 through 9 of this manual for
further details about ICS management software
and communication systems.
※Refer to page 10 of this manual for further details
about optional parts.
※Refer to each manual for further details.

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.

6000 Series
Please remove 2 screws,
if you mount frames both sides.
Please keep screws for reuse.

4000 Series
●M2.6-15 (Frame t=2mm)
x4
＊Sold separately

Please remove 2 screws,
if you mount frames both sides.
Please keep screws for reuse.

(Case screw)
M2.6×13
Countersunk head screw

●M2-15 (Frame t=2mm)
No.01127（50pcs）
x8
＊Sold separately

(Case screw)
M2×15
Countersunk head screw

M2.6×25
Countersunk head screw

M2×10
Countersunk head screw
●M2.6-27 (Flame t=2mm)
x4
＊Sold separately

2500 Series
(Case screw)
●M2×24
x4

＊Reuse

(Frame t=1mm)
●2-5 Low Head Tapping Screw
No.02084（100pcs）
x4
＊Sold separately

3200 Series

3300 Series
(Case screw)
●2×20 Low Head Tapping Screw
x4
＊Reuse

(Case screw)
●M1.7×20Low Head Screw
x4
＊Reuse

(Frame t=1mm)
●2-5 Low Head Tapping Screw
No.02084（100pcs）
x4
＊Sold separately

(Frame t=1mm)
●1.7-5 Low Head Tapping Screw
No.02162（100pcs）
x4
＊Sold separately

＊Do not use
2mm screw.
Cases will be
damaged.

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.

6000 Series

※See our website for more information.

4000 Series
④

① Servo Horn

Aluminum Cramp Horn

（Associated)
（PCDΦ17-M2.6- offset+2)
Option

Option
No.02083( 50pcs）

①

No.02031
No.02032 (6 pcs）

②

Horn Screw ＊M2.6/M2

M3-8 Low Head Horn Screw（Associated)

Servo Horn

Free Horn

Aluminum Free Horn with Bearing
for B3M/KRS-6000 series

④

Horn Screw

③

Free Horn Screw ＊3-10

②

Free Horn

（PCDΦ17-M2.6- offset 0)
No.02137
No.02138(6pcs）

⑤

＊M3-8（6000 series）
M3-6（B3M series）

Servo Arm
Servo Arm 4000A Black
No.01183 (4 pcs）
Servo Arm 4000B Black
No.01211 (4 pcs）

2500 Series

Aluminum Free Horn with Bearing
for KRS-4000 series
（PCDΦ14-M2- offset 0)
No.01140（1 pc）
No.01141 (6 pcs）
Free Horn for KRS-4024/4031
（PCDΦ14-M2- offset 0)
No.01158（1 pc）
No.01159 (6 pcs）

4000/2500 Series
④ Horn Screw

＊M2.6/M2

①

M3-8 Low Head Horn Screw
2.6-6 Flat Head Screw（2542）

Aluminum Small Diameter Horn Small Diameter Horn
（PCDΦ12-M2- offset 0) （PCDΦ12-M2- offset 0)
No.02093 (1 pc）
No.02047 (2 pcs）
No.02094 (6 pcs）
No.02048 (6 pcs）
Small Diameter Horn B

① Servo Horn

No.02157（2 pcs）
No.02158 (12 pcs）

Free Horn

④

Horn Screw

⑤

Servo Arm
Servo Arm 2500A
No.02046 (4 pcs）

Horn Screw

Servo Horn

②

Low height Servo Horn
（PCDΦ14-M2)
No.01029 (2 pcs）
No.01030 (12 pcs）
＊For plastic gear model

（PCDΦ12-M2- offset 0)
No.02159（2 pcs）
No.02160 (12 pcs）

③

2.6-6 Flat Head Screw
No.01094（50 pcs）

④

3300/3200 Series
Horn Screw

①

Servo Horn

Small Diameter Horn B
（PCDΦ12-M2- offset 0)
No.02157（2 pcs）
No.02158 (12 pcs）

M3-8 Low Head Horn Screw

①

M2-4 Low Head Screw
No.02086（100 pcs）
＊Flame t=1mm

3-6 Flat Head Screw
No.02090（100 pcs）

3200 Series

M3-8 Low Head Horn Screw

①

Free Horn 2500B
（PCDΦ12-M2- offset +2)
No.02049 (2 pcs）
No.02050 (12 pcs）
Small Free Horn C

Free Horn Screw

3300 Series
④

Aluminum Free Horn 2500A
（PCDΦ14-M2- offset 0)
No.02079 (1 pc）
No.02080 (6 pcs）

Aluminum Cramp Horn
（PCDΦ17-M2.6- offset +2)
No.02075 (1 pc）
No.02076 (6 pcs）
Aluminum Low height Servo Horn
（PCDΦ14-M2- offset 0)
No.01042 (1 pc）
No.01043 (6 pcs）

（PCDΦ12-M2- offset 0)

②

②
③

①

②

Small Diameter Horn C
（PCDΦ12-M2- offset 0)
No.02159（2 pcs）
No.02160 (12 pcs）

②
③
④

Free Horn

②

Free Horn

Free Horn Screw

③
④

Free Horn Screw

Horn Screw

③

2.6-4 Flat Head Tapping Screw
No.02164（100 pcs）

④

M2-4 Low Head Screw
No.02086（100 pcs）
＊Flame t=1mm

Communications Standard ICS 3.5
※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.
( Value range: 1 is the slowest. 127 is the fastest. )
■ Reverse ：Enabling reverse mode will reverse the servo s direction of movement in relation to the input signal.
( Range: On/Oﬀ )
■ Serial signal ：This mode disables the use of PWM signal based movement, and enables the exclusive use
of serial signal mode.
( Range: On/Oﬀ )
■ Slave ：Slave mode enables multiple servos using the same ID to move in unison when tethered to a single
serial signal.
( Range: On/Oﬀ )
■ Rotation mode ：Rotation mode enables the servos to rotate continuously.
( Range: On/Oﬀ )
■ Punch：You can set the initial response level of the servo motors. The higher the number, the stronger the
initial response to input.
( Range: 0 is the lowest. 10 is the highest.)
■ Dead band ：You are able to set the dead bandwidth of the servo. The size of the neutral position is
determined by this dead bandwidth. The higher the number, the larger the neutral position.
The smaller the number, the narrower the neutral position becomes. Setting the dead bandwidth
too small can result in slight vibrations (jitter).
( Range: 0 is the narrowest. 10 is the widest. )
■ Response ：Set how fast the servos respond to input. The smaller the number, the slower the response.
The higher the number, the faster the response.
( Range: 1 is the slowest. 5 is the fastest.)

■ 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.

Initial Parameters
6003R
ID
RATE

4034/3/2

4031

115200

2572

2552R

115200 115200

60/30/90

Speed

127

Reverse

OFF

Stretch
Stretch 1/2/3

2542
0
115200
30

60/30/90 60/30/90 30/15/60

3204

3304

115200 115200
127
100 ※
60/30/127

127

60/30/90
100 ※

OFF

127

Sirial signal

OFF

Slave

OFF

Rotation mode

OFF

Punch

Dead band

Response

1 ※

Damping

128

Protection

250

Limiter(normal rotation)

11500

Limiter(reverse rotation)

3500

Temperature restriction

Current restriction

254

User oﬀset

Firmeare version
6
3
（Firmware cannot be updated by the user.）

※Please Use 3204 with below parameters.
Stretch/Speed：Less than 100 Response：Less than 1

Operation and Connection of Servos
This product can be controlled using either a PWM or serial signal. Use the Serial Signal menu function in
the ICS manager software to change between a PWM signal and a serial signal. Uncheck the Serial Signal
box to operate servos using a PWM signal.

Using a Serial Signal
Multiple ser vos can be connected to the output of a
single control board using the serial signal. You can
assign an ID to each servo in a range from 0 to 31 for a
total of 32 servos. The signal is then transmitted to
these servos based on their ID. The diagram to the right
is a representation of this arrangement. Connecting multiple 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
number of servos may introduce power supply problems.
This also depends on the compatibility of your control
board.

Diagram of a serial signal arrangement
（Connected in a daisy-chain arrangement）
Control board
Serial output 1

IDy

y+1 y+2

y+ｎ

IDｘ

x+1 x+2

x+ｎ

Serial output 2

Servos

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.

RCB-4HV：2 x serial outputs. Suited for daisy-chaining up to 32 servos.
RCB-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

Using a PWM Signal
When operating this product using a PWM signal, position commands
can be made using general radio control signals.
Functionality can also be expanded by using other specific signals.

Example of how servos are
connected in PWM control
mode.

PWM cycle compatibility：3ms 〜 30ms
Pulse width: Normal operation 700μs to 2300μs.
Expanded function 50μs to 200μs.
■Controlling Servos with a Control Board
Only one servo per output port may be connected when using a PWM
signal. Uncheck the Serial Signal check box.

Control Board
1 2 3‥n (Ch)
・

■Control Using Programming
Please refer to When using a PWM signal in the ICS 3.5 Command
Reference to control the servos in PWM mode.

１

２

３

Servos

PWM Compatible Control Boards
※The KRS 3000 series is designed to be operated between 6.0 and 7.4 volts. Ensure the input current is within that range.

RCB-3HV ：RCB-3HV/RCB-3J: 24 x PWM outputs. Up to 24 servos can be connected. Suitable for teaching
RCB-3J
and changing characteristics.
KCB-5

：6 x PWM outputs. Teaching and characteristic change are possible depending on the programming.
(Cannot be used in conjunction with serial terminal, so separate wiring is required.)

Movement of Servos Using a PWM Signal
■Position Command (MOVE)
The output shaft of the ser vo rotates in accordance with the PWM input signal.
700μs (-135 ° ) to 1500μs (0 ° ) to 2300μs
(+135°)
■Power Limitation
Inputting a pulse width of 50μs will reduce the
power output of the servos. This state of limited
power output will be maintained until the servos
receive the next position command with a pulse
width between 700μs and 2300μs.
■Characteristic Change (Stretch preset change)
Inputting a pulse width of 100μs, 150μs or 200μ
s will instruct the servos to change between three
preset characteristics (SET1 ˜ SET3 stretch settings) saved within the servo.
The servos will maintain the state the output shaft

was in directly before they were instructed to
change position.
Preset parameters (SET1, SET2 and SET3) can be
changed using the ICS menu. Setting 1 (SET1) will
automatically be selected when turning the servo
power on. 。
Stretch 1 (SET1) 100μs +/-10μs
Stretch 2 (SET2) 150μs +/-10μs
Stretch 3 (SET3) 200μs +/-10μs
■Position Capture (Teaching)
Inputting a pulse width of between 50μs and 200
μs will instruct the servos to output a pulse width
that indicates the current position of the servo
output shaft. This pulse output from the servos is
then read by the control board and the current position of the servos can be ascertained.

■ Diagram showing the timing of the signal and servo movement ■
100〜200μsec
input signal
Servo movement
Servo signal line

50μsec

700〜2300μsec

Input signal present
No input signal present

Normal movement
Input

Hold
Output

Power limitation
Input

Output

Normal movement
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.

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
x 25 screw are used to secure the casing.
When reinstalling the screws, please be sure
to screw them in to the correct locations as
they are different lengths.

Change the bottom casing on the 6000 series servos to make it easy to
adapt this servo to your project needs.

M2.6×35

M2.6×25
M2.6×35

M2.6×35
M2.6×35

Flat Bottom Case
for KRS-6000HV series
No.02023
No.02024(6 pcs）

Bottom Case
with Flange and Axis
for KRS-6000HV series
No.02025
No.02026(6 pcs）

Flange Flat Bottom Case
for KRS-6000HV series
No.02027
No.02028(6 pcs）

Bottom Case for double Servo
for KRS-6000HV series
No.02029
No.02030(6 pcs）

You can easily join two servos in a back to back arrangement by
using our flat flange bottom case . These are available in a set
known as the double servo bottom case . Two flat flange
bottom cases and the required screws are available as a set.

Spacers and Arm Supporters
＊A more stable movement can be created through the use of a spacer or an arm supporter in between the horn and the frame.

Spacer Horn A

Friction Spacer 4000A

for 4000 series

Arm Supporter 4000A

for 4000 series

No.01224 (4 pcs）

for 4000 series

No.01197 (4 pcs）

No.01195 (2 pcs）

Servo Spacer 4000A

Extension Adapter A

Arm Supporter 2500A

for 4000 series

for 2500 series

No.01223 (4 pcs）

No.01204 (2 pcs）

No.02052 (2 pcs）

Electronics
＊A wide range of machines can be developed to meet various objectives by using a combination of our control boards,
sensors and communication devices.
＊Also Help to prevent wires damage in between Frames and the horn.

Control Board

Sensor

Communication

RCB-4HV only Board RCB-3HV only Board

RAS-2C

Dual USB Adapter HS

KBT-1

with Heart To Heart 4

with Heart To Heart 3

G sensor (Accelerometer)

for PC Link with USB

Bluetooth module

No.03076 (1 pc）

No.03027 (1 pc）

No.03045 (1 pc）

No.02116 (1 pc）

No.03062 (1 pc）

KCB-5

KCB-4WL

KRG-4

KRC-5FH

Programable C

with WiFi

Gyro sensor

2.4GHz FHSS Tx/Rx set

No.03081 (1 pc）

No.03078 (1 pc）

No.03003 (1 pc）

No.03099 (1 pc）

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.
If the servos are indeed locked out, extricate them from that position and remove the load from the servos.
You can set the time threshold the servos will wait before going into protection mode via the ICS menu.

■ A chemical-like smell is being emitted from the servos during operation.
□ The motor coils may be starting to burn out.
Immediately turn off the power and allow the servos to cool before operating again.

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