KRS Series_manual__a4 En 1113 Series Manual Eng V2

User Manual:

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Page Count: 11

●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con-
sequenceofaloopconnection.
PrecautionsforUse
Caution!Improperuseofthisproductcouldresultininjuryordamagetoproperty.
●Keepallbodypartsawayfromthisproductduringoperation.Alwayspay 
 attentionwhileoperatingthisproduct.
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.
●
●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.
●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.
KRSServoSeries
InstructionManual
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/
1
Warning!Improperuseofthisproductcouldresultinseriousinjuryordeath.
ICS3.5Manager,CommandReference,DualUSBAdapter,HSManual,KODriveretc.
Customercenter→InformationSupport→ICS&KRSServoDevelopmentmaterials
                          SoftwareSamples
 ※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.
SpecificationsandAccessories
Size：L32.5 ㎜ ×W26.0 ㎜ ×H26.0 ㎜
Operatingvoltage：6.0 〜 7.4V
Weight：33.7g
Maximumoperatingangle：2 7 0 °( ± 1 3 5 °)
Maximumcurrent：2.2A (@7. 4V )
Gearmaterial：Metal
Communicationstandards：ICS3.5
ControlBoards：RCB-4HV、KCB-5、RCB-3HV
KRS-3304ICS
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
【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
【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
【6pcsset】
 M3-8LowHeadHornScrew×6 本
【18pcsset】
 M3-8LowHeadHornScrew×18 本
【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
【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
【1pc】
 HVConnectionCable（400mm）×1
 AluminumCrampHorn×1
【6pcsset】
 HVConnectionCable（400mm）×6
 AluminumCrampHorn×6
【18pcsset】
 HVConnectionCable（400mm）×18
 AluminumCrampHorn×18
■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.
※Casescrew:1.7mm
KRS-3304ICS
KRS-3204ICS
ImportantPoints
Size：L33.0 ㎜ ×W15.0 ㎜ ×H26.0 ㎜
Operatingvoltage：6.0 〜 7.4V
Weight：27. 2g
Maximumoperatingangle：2 7 0 °( ± 1 3 5 °)
Maximumcurrent：2.2A(@7.4V)
Gearmaterial：Metal
Communicationstandards：ICS3.5
ControlBoards：RCB-4HV、KCB-5、RCB-3HV
※Cablelength：350mm（Fixed）
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
※Changesorimprovementsmaybemadetothisproductwithoutpriornotice.
KRS-2572HV/2552RHV/2542HVICS
Size：L41㎜×W21㎜×H30.5㎜
Operatingvoltage：9 〜 12V
Weight：47.7g/41.5g/35.5g
Maximumoperatingangle：2 7 0 °( ± 1 3 5 °)
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
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
Specs. Performance
Accessories
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：2 7 0 °( ± 1 3 5 °)
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
KRS-6003RHVICS
Size：L51 ㎜ ×W32 ㎜ ×H39.5 ㎜
Operatingvoltage：9 〜 12V
Weight：103g
Maximumoperatingangle：2 7 0 °( ± 1 3 5 °)
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-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
KRS-6003RHVICS
Torque：67.0kg・cm
Speed：0.22s/60°
Reductionratio：362.88：1
※Torque/Speed@11.1V
※Torque/Speed@11.1V
※Torque/Speed@11.1V
2
Signal
Power(Vcc)
Power(GND)
Signal
Power(Vcc)
Power(GND)
Signal
Power
Power
※Cableisfixed.
※LEDisnotincluded.
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mother-
board.
・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)
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.
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.
6000Series 2500Series
4000Series 3300Series
3200Series ■ConnectingtoaPC
■ConnectiontotheKONDOControlBoard
●Plugtheconnectorsintotheterminalsvertically.(Theplasticpart
oftheconnectorwillsitflushwiththeservowhenconnected
correctly)
Tab（凸） Slit（凹） Tab（凸） Slit（凹）
（Servo）（Connector） （Servo）（Connector）
ServoConnector ZHConnector
LED
LED
LED
LED
※6003HV Red Version is serial communication only.
ConnectingtheServos
3
※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.
●M2×24
(Framet=1mm)
●2-5LowHeadTappingScrew
 No.02084（100pcs）
●2×20LowHeadTappingScrew
(Casescrew)
●M1.7×20LowHeadScrew
x4
x4
＊Reuse
＊Reuse
＊Soldseparately
＊Donotuse
 2mmscrew.
 Caseswillbe
 damaged.
x4
＊Reuse
x4
x4
●M2.6-15(Framet=2mm)
＊Soldseparately
x8
●M2-15(Framet=2mm)
 No.01127（50pcs）
＊Soldseparately
＊Soldseparately
(Framet=1mm)
●2-5LowHeadTappingScrew
 No.02084（100pcs）
(Framet=1mm)
●1.7-5LowHeadTappingScrew
 No.02162（100pcs）
x4
＊Soldseparately
x4
＊Soldseparately
x4
●M2.6-27(Flamet=2mm)
4000Series
6000Series
2500Series 3300Series 3200Series
Pleaseremove2screws,
ifyoumountframesbothsides.
Pleasekeepscrewsforreuse.
Pleaseremove2screws,
ifyoumountframesbothsides.
Pleasekeepscrewsforreuse.
M2.6×13
Countersunkheadscrew
M2×15
Countersunkheadscrew
M2×10
Countersunkheadscrew
M2.6×25
Countersunkheadscrew
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.
AnchoringServos
4
(Casescrew)
(Casescrew)
(Casescrew) (Casescrew)
2500Series 4000/2500Series
3300/3200Series
3300Series 3200Series
①
①
②
③
④
②
③
④
④
④
SmallDiameterHornC
（PCDΦ12-M2-offset0)
No.02159（2pcs）
No.02160(12pcs）
SmallFreeHornC
（PCDΦ12-M2-offset0)
No.02159（2pcs）
No.02160(12pcs）
SmallDiameterHornB
（PCDΦ12-M2-offset0)
No.02157（2pcs）
No.02158(12pcs）
SmallDiameterHornB
（PCDΦ12-M2-offset0)
No.02157（2pcs）
No.02158(12pcs）
M2-4LowHeadScrew
No.02086（100pcs）
＊Flamet=1mm
＊Flamet=1mm
＊Forplasticgearmodel
2.6-4FlatHeadTappingScrew
No.02164（100pcs）
①
①
①
②
③
④
①
②
③
④
M2-4LowHeadScrew
No.02086（100pcs）
2.6-6FlatHeadScrew
No.01094（50pcs）
3-6FlatHeadScrew
No.02090（100pcs）
①
①
②
②
③④
④
4000Series
6000Series
No.02137
No.02138(6pcs）
＊M3-8（6000series）
M3-6（B3Mseries）
No.02031
No.02032(6pcs）
Option
（PCDΦ17-M2.6-offset+2)
（Associated)
（Associated)
（PCDΦ17-M2.6-offset0)
No.02083(50pcs）
Option
ServoHorn
ServoHorn
ServoHorn
ServoHorn
②FreeHorn
②FreeHorn
③FreeHornScrew
④HornScrew
FreeHorn
FreeHorn
FreeHornScrew
FreeHornScrew FreeHornScrew
HornScrew
HornScrew HornScrew
④HornScrew ＊M2.6/M2
＊3-10
＊M2.6/M2
HornScrew
HornScrew
ServoHorn
FreeHorn
HornScrew
AluminumFreeHornwithBearing
forB3M/KRS-6000series
No.01140（1pc）
No.01141(6pcs）
AluminumFreeHornwithBearing
forKRS-4000series
AluminumCrampHorn
（PCDΦ14-M2-offset0)
No.01158（1pc）
No.01159(6pcs）
FreeHornforKRS-4024/4031
（PCDΦ14-M2-offset0)
No.02075(1pc）
No.02076(6pcs）
（PCDΦ17-M2.6-offset+2)
AluminumCrampHorn
No.01042(1pc）
No.01043(6pcs）
（PCDΦ14-M2-offset0)
AluminumLowheightServoHorn
No.02093(1pc）
No.02094(6pcs）
（PCDΦ12-M2-offset0)
AluminumSmallDiameterHorn
No.02079(1pc）
No.02080(6pcs）
（PCDΦ14-M2-offset0)
AluminumFreeHorn2500A
No.02049(2pcs）
No.02050(12pcs）
（PCDΦ12-M2-offset+2)
FreeHorn2500B
No.02047(2pcs）
No.02048(6pcs）
（PCDΦ12-M2-offset0)
SmallDiameterHorn
No.01029(2pcs）
No.01030(12pcs）
（PCDΦ14-M2)
LowheightServoHorn
M3-8LowHeadHornScrew
No.01183(4pcs）
⑤ServoArm
ServoArm4000ABlack
No.01211(4pcs）
ServoArm4000BBlack
No.02046(4pcs）
⑤ServoArm
ServoArm2500A
M3-8LowHeadHornScrew
M3-8LowHeadHornScrew
2.6-6FlatHeadScrew（2542）
M3-8LowHeadHornScrew
※Seeourwebsiteformoreinformation.
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.
InstallationofServoHorns
5
6
CommunicationsStandardICS3.5
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.
WhatisICS(InteractiveCommunicationSystem)?
DescriptionofICSMenus
※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.
※RefertotheICS3.5Manager/controlboardmanualforfurtherinformation.
■ID：NominatetheservoIDsusingnumbers0through31.
 （Range:0˜31.）
■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.)
■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.)
■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.)
■Rotationmode：Rotationmodeenablestheservostorotatecontinuously.
 (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)
■Serialsignal：ThismodedisablestheuseofPWMsignalbasedmovement,andenablestheexclusiveuse
          ofserialsignalmode.
 (Range:On/Off)
■Reverse：
Enablingreversemodewillreversetheservosdirectionofmovementinrelationtotheinputsignal.
 (Range:On/Off)
■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.)
■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.
■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.)
■MOVE：Rangeofmovement:Servosrotateoutputshaftinresponsetoinputofserialsignal. 
 （Range:3500(-135°)to7500(0°)to11500(+135°)）
■Baudrate：Choosetransmissionspeeds.
 (Range:115200,625000and1250000.)
7
※PleaseUse3204withbelowparameters.
 Stretch/Speed：Lessthan100 Response：Lessthan1
■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.
0
115 2 0 0
60
60/30/90
127
OFF
ON
OFF
OFF
1
1
3
128
250
115 0 0
3500
30
63
0
6
ID
RATE
Stretch
Stretch1/2/3
Speed
Reverse
Sirialsignal
Slave
Rotationmode 
Punch
Deadband
Response
Damping
Protection
Limiter
(normalrotation)

Limiter
(reverserotation)
Temperaturerestriction
Currentrestriction
Useroffset
Firmeareversion
6003R
0
115 2 0 0
60
60/30/90
127
OFF
ON
OFF
OFF
0
4
3
40
20
115 0 0
3500
75
40
0
3
4034/3/2
0
115 2 0 0
60
60/30/90
127
OFF
ON
OFF
OFF
0
4
3
40
20
115 0 0
3500
10
40
0
3
4031
0
115 2 0 0
60
60/30/90
127
OFF
ON
OFF
OFF
0
2
3
12
250
115 0 0
3500
10
63
0
7
2572
InitialParameters
0
115 2 0 0
60
60/30/90
127
OFF
ON
OFF
OFF
0
6
3
32
20
115 0 0
3500
80
20
0
254
2552R
0
  115 2 0 0
30
30/15/60
127
OFF
ON
OFF
OFF
0
2
3
25
250
115 0 0
3500
10
13
0
254
2542
0
115 2 0 0
100
60/30/90
100
OFF
OFF
OFF
OFF
0
2
1
25
250
115 0 0
3500
40
40
0
11
3204
※
※
※
0
115 2 0 0  
127
60/30/127
127
OFF
OFF
OFF
OFF
0
1
1
40
250
115 0 0
3500
75
40
0
20
3304
（Firmwarecannotbeupdatedbytheuser.）
8
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.
Multipleservos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mul-
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servos,butdaisy-chainingalarge
numberofservosmayintroducepowersupplyproblems.
Thisalsodependsonthecompatibilityofyourcontrol
board.
UsingaSerialSignal
RCB-4HV：2xserialoutputs.Suitedfordaisy-chainingupto32servos.
R C B - 3 H V ：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.
SerialSignalCompatibleControlBoard
MovementofServosUsingaSerialSignal
Diagramofaserialsignalarrangement
（Connectedinadaisy-chainarrangement）
Controlboard
Servos
IDｘ x +ｎ
Serialoutput1
Serialoutput2
x+1 x+2
IDy y +ｎ
y+1 y+2
※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.
http://kondo-robot.com/
Customercenter→InformationSupport
 →ICSandKRSServoDevelopmentMaterials
■PleaserefertotheCommandReferenceforfurtherinformation.
 Thecommandreferenceisavailableasafreedownloadfromthewebsitebelow.
9
■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UsingProgramming
 PleaserefertoWhenusingaPWMsignalintheICS3.5Command
 ReferencetocontroltheservosinPWMmode.
Exampleofhowservosare
connectedinPWMcontrol
mode.
ControlBoard
Servos
123
‥
n
１ ２ ３ n
・
(Ch)
※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.
PointsofCautionWhenUsingaPWMSignal
UsingaPWMSignal
100〜200μsec 50μsec 700〜2300μsec
■Diagramshowingthetimingofthesignalandservomovement■
■PositionCommand(MOVE)
Theoutputshaftoftheservorotatesinaccor-
dancewiththePWMinputsignal.
700μs(-135 ° )to1500μs(0 ° )to2300μs
( + 1 3 5 °)
■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set-
tings)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posi-
tionoftheservoscanbeascertained.
MovementofServosUsingaPWMSignal
RCB-3HV
RCB-3J
PWMCompatibleControlBoards
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.
    PWMcyclecompatibility：3ms 〜 30ms
Pulsewidth:Normaloperation700μsto2300μs.
      Expandedfunction50μsto200μs.
※TheKRS3000seriesisdesignedtobeoperatedbetween6.0and7.4volts.Ensuretheinputcurrentiswithinthatrange.
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.)
：RCB-3HV/RCB-3J:24xPWMoutputs.Upto24servoscanbeconnected.Suitableforteaching
andchangingcharacteristics.
Normalmovement
Normalmovement
Servomovement
inputsignal
Hold
InputInput Input
Servosignalline Output Output
Inputsignalpresent
Noinputsignalpresent
Powerlimitation
10
OptionalExtrasandRelatedProducts
Cases
Changethebottomcasingonthe6000seriesservostomakeiteasyto
adaptthisservotoyourprojectneeds.
＊Seeourwebsiteforfurtherinformation.
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.
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.
No.02023
No.02024(6pcs）
FlatBottomCase
forKRS-6000HVseries
for4000series
No.01224(4pcs）
SpacerHornA
withHeartToHeart4
No.03076(1pc）
RCB-4HVonlyBoard
ControlBoard
withHeartToHeart3
No.03027(1pc）
RCB-3HVonlyBoard
ProgramableC
No.03081(1pc）
KCB-5
withWiFi
No.03078(1pc）
KCB-4WL
Gsensor
No.03045(1pc）
RAS-2C
Gyrosensor
(Accelerometer)
No.03003(1pc）
KRG-4
forPCLinkwithUSB
No.02116(1pc）
DualUSBAdapterHS
2.4GHzFHSSTx/Rxset
No.03099(1pc）
KRC-5FH
Bluetoothmodule
No.03062(1pc）
KBT-1
for4000series
No.01223(4pcs）
ServoSpacer4000A
for4000series
No.01197(4pcs）
FrictionSpacer4000A
for4000series
No.01204(2pcs）
ExtensionAdapterA
for4000series
No.01195(2pcs）
ArmSupporter4000A
for2500series
No.02052(2pcs）
ArmSupporter2500A
No.02025
No.02026(6pcs）
BottomCase
withFlangeandAxis
forKRS-6000HVseries
No.02027
No.02028(6pcs）
No.02029
No.02030(6pcs）
FlangeFlatBottomCase
forKRS-6000HVseries
BottomCasefordoubleServo
forKRS-6000HVseries
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.
M2.6×35
M2.6×35
M2.6×35
M2.6×25
M2.6×35
※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.
Sensor Communication
＊Seeourwebsiteforavailabilityofcasesand/orgearsforrepair/spares.
11
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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