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Droid Works
09-09-2007, 12:50 PM
Kondo web page translated.


http://translate.google.com/translate?hl=en&sl=ja&u=http://www.kondo-robot.com/&sa=X&oi=translate&resnum=1&ct=result&prev=/search%3Fq%3Dhttp://www.kondo-robot.com/%26hl%3Den%26lr%3D%26sa%3DG

Matt
09-12-2007, 10:20 AM
Nice :) Good trick :)

Dave
09-12-2007, 03:13 PM
Now if it were only that easy to translate their new software...

Droid Works
09-13-2007, 10:30 AM
I have translations for the manuals but not the software yet. I will be ordering the KHR-1hv in October and I will work on a English translation for it soon after I get it.

Droid Works
10-06-2007, 05:49 PM
Here is a rough translation of the KHR-1HV manual. It is a word for word translation so it may be a bit difficult to understand. This text and the supplied KHR-1HV manual combined should get you threw the build process a little bit easier. I will work on a better one when I get some free time but for now this should work ok.




KHR-1HV page 2


In this book, in order to prevent the danger to the person and the other person who become errand and the damage to property beforehand, be sure to state the fact that you protect as follows.
* Ignoring indicatory contents, when doing the erroneous using, it divides, in the following indication of the harm and the obstacle which it occurs has explained.
The column of this indication, “the death or the danger of owing the serious injury and the like impending, is the contents where it is supposed that it occurs,”.
The column of this indication “the death or is the contents where the possibility of owing the serious injury and the like is supposed”.
The column of this indication is the contents where “the possibility of owing the injury or the possibility only physical damage occurring is supposed”.
* Type of contents which you protect has been explained, in the next picture indication. (Description below is portion of picture indication.)
This kind of picture indication does not have to do, they are “prohibition” contents.
You execute this kind of picture indication, by all means, they are “forced” contents.
Danger
Job guarantees the sufficient space, physical does mentally in healthy state.
The death or there is a danger of owing the serious injury depending upon estimate impossible accident.
When abnormality happens, the connector of the HV battery is pulled out directly.
The substance broke. This foreign material entered into internal. The smoke has come out. Stench does. The substance has become feverish abnormally.
When while it is such abnormal condition, you have used, it becomes cause of fire and electric shock.
- When abnormality happens, stopping use at once, please consult to this corporation service section.
It does not do kind of that the charger & the cable are broken.
You damage, bring close to processing and the thermal instrument, you do not use in a state where unreasonable power has increased.
When while it is damaged you have used, it becomes cause of fire electric shock.
- As for repair of the cord/code and the cable, please consult to this corporation service section.
Warning
It assembles this product and it is many about to owe to “the self responsibility” of the customer from the nature of the product, kit, concerning the result which is used. Please use this point in regard to understanding.
As for each component, the small child way that it does not make the hand, you note.
With the frame material and the like of the aluminum, there is danger which owes injury.






KHR-1HV page 2


When using the charger, it pulls out from the electrical outlet.
The charger - inside the little electric current flows even in a state where it is put in the electrical outlet.
- It cleans the electrical outlet part, the dust that try it does not accumulate periodically and.
It does not do servo of the finished product, or the disassembly and remodeling of the base plate.
Other than being in assembly explanation, it prohibits disassembly and repair.
The method disassembly and the assembly of being wrong, becomes breakdown and cause of the electric shock fire which accompanies that.
- The case of breakdown, please leave to this corporation service section.
It does not soak the knitting machine, in high humidity and the circumstance where dew condensation occurs it does not use.
Because as for the component of the knitting machine, the precise electronic part is used, it becomes cause of breakdown.
Electric shock, when it becomes cause of the fire with short, it is.
- When by any chance, it soaks, please consult to this corporation service section.
When you use in the foreign country, there are times when permission approval is necessary. Please verify.
There are times when procedure with respect to law becomes necessary depending upon area or the country which you use.
- Other than the Japanese country of this product you make outside support concerning use.
The case where the charger and the cables are pulled out, it has the plug part.
When it pulls out with the cord/code part, there are times which are due to broken wire and short circuit, become cause of electric shock and fire.
At the unstable place it does not operate.
Balance deteriorating, there are times which collapse, they become cause of the wound with falling.
While operating, you note try to be able to correspond to unexpected accident safely and.
Please do not forget the point where 100% safety is not guaranteed with respect to character of the assembly kit, concerning the result which is operated. When actually operation it differs from the operation which by his expected largely, because there is, danger such as injury and fracture of the fingertip, please note.
The component recognizes the danger which causes short circuit.
As for the control base plate, the terminal because of bareness, please recognize the danger which is short-circuited simply with those of conductivity. Short circuit causes the ignition of the battery or wiring material. In addition, concerning error connection, there is a similar danger.
As for the HV battery which has belonged to this product being the nickel hydrogen electric battery, as for this, it is the recycling electric battery. Effective utilization of the resource is possible by the fact that it recycles. Disassembly abandonment causes destruction of environment conversely. Please cooperate to effective recycling.




KHR-1HV page 4


About handling the HV battery
with this kit, the HV battery (the nickel hydrogen electric battery) you use as a power source for operating.
Nickel hydrogen, charging, is the reuse possible accumulator, but when handling is mistaken, when it leads to serious accident, because it is, to you reading this instruction manual carefully, please use.
Method of charge
Charge cord/code
Charger
9N-800HV battery
- The charger is AC100V exclusive use. Inserting in the AC electrical outlet of home, you use.
You use in order to connect the nickel hydrogen of attachment to the charger.
The charge cord/code is connected to the attachment charger.

The charger is inserted in the AC electrical outlet.
* In order not to come out midway, you connect securely.
* When it is connected to the charger, electricity has come in the pin ahead the charge cord/code. Please do not make short-circuit with those of conductivity.

The HV battery is connected to the connector of the charge cord/code.
The lamp of the charger lighting up, charge is started.
Charge time differs depending upon the remaining amount of nickel hydrogen, but when it is state of the sky, approximately 32 hours it is required.
While charging, please pay attention to the state of nickel hydrogen. When abnormal heat generation, strange noise and stench do, please remove nickel hydrogen directly.
You pay attention to the polarity which connects.
Please do not put conversely.
Distinction is possible even with color of the line.
In the charger of attachment, as charge advances, LED (the lamp) becomes dark, but it does not go out completely.
([robopawaseru] D type)






KHR-1HV page 5
Note in regard to handling
Because the below-mentioned behavior, it is dangerous, please do not do no matter what.
To remove the connector, remodeling such as exchange of the cord/code.
The battery is not made to short-circuit.
The battery it depends short, there are times when explosion, ignition and the fluid leak etc occur, there is a danger of injury and loss of eyesight etc. In addition, because, there are times when it short-circuits in the part of the pin even in a state where the connector has been attached, is always while using note necessary.
When conveying and retention other ones and please do not make simultaneous.
There are times when ignition and the fluid leak etc with short with, the scar and damage etc of the wrapping of the connector, the wire rod and nickel hydrogen occur. When conveying and retention, please make separate other ones and to simultaneous.
Short-circuiting with the coin, and the car and the key of the house there is also an example which ignites.
When the fluid leak occurs, please wash away the liquid which is attached to the hand at once.
When by any chance, it enters into the eye, after washing away well, please receive the medical examination of the doctor.
The substance inside the battery is harmful. Influence to the human body occurs, of course, damage to the furniture and the residence. When it enters into the eye, because there is a possibility of loss of eyesight, sufficient note is necessary.
When using, or when long haul it leaves, please be sure to pull out the connector of nickel hydrogen, from the base plate or the charger.
About the quality of nickel hydrogen
As for nickel hydrogen, because internal resistance is very low by comparison with the dry cell battery and the like, there is an advantage where it can remove big electric current.
On the other hand, not consuming, when it repeats charge, a state where it is called the memory effect occurring, not being life also there are times when the time when you can use becomes very short.
In order to prevent this memory effect, avoiding the patch adding charge of nickel hydrogen, after consuming, try to charge.
Please recycle the nickel hydrogen which becomes unnecessary, with the method each self-governing community deciding. Illegal abandonment and cancellation cause environmental pollution. In addition, there is danger of the accident due to the short circuit and the fluid leak after the abandoning.
Necessary correspondence when unexpected situation and the like occurs is not achieved. Please be sure to use at the place where the eye reaches. Because there is also a possibility of fire, while the long haul connector is put please do not do the fact that it leaves.









KHR-1HV page 6

In beginning
This each time, thank you for purchasing robot assembly kit “KHR-1HV”.
This product, it is low price, is two foot walking robot assembly kit whose various operations are possible. At the time of the assembly, this instruction manual and the other instruction manual of attachment please go in regard to perusal. In addition, printout according to need, we recommend that it becomes viewing. As for this product, we are constituted in order for you to enjoy two foot walking robot to wide age layer.
But, because it is not the toy, it is low with child like age, also a part where understanding is difficult or a part which cannot do job there is. Because of that, you can understand and now it is the guardian or the leader you request the advice concerning the place where it is thought that the assembly is difficult. To assemble this product, because this cannot always be guaranteed with respect to character of the product, kit, concerning the operation of the fuselage which was assembled, please consent. In addition, after assembling, concerning operation, it is influenced largely by the method of the assembly because there are times when, even with when it receives question, please consent the fact that it is times when always precise reply is not possible. Concerning the assembly of this product and the operation after the completing, the personal computer (the after of Windows2000 operates, those which can use the USB port) uses. Because of that, in this instruction manual and the other attachment instruction manuals, because it becomes explanation with the prerequisite fundamental maneuver the personal computer please consent. In addition, because we can answer by our company concerning question and the inquiry regarding the personal computer or window eddy are unable please understand.
Because in this product, the assembly and operation (operation) for the sake of other than this product kit the below-mentioned tool etc become necessary, other way please prepare.
- Personal computer
Microsoft corporation Windows2000 or XP operates.
1 ports or more you can use the USB port. (*)
CD-ROM drive (for installation of software and for perusal of manual)
When the printer (printout the manual,)
- Those which tools note other ways you prepare
* Please use the port of the personal computer itself for principle, concerning the USB port. When it is expanded with the USB hub and the like, there are times when it does not operate normally.
Standard of driver bit
Those where the handle is thick, magnetic processing is made the point are convenient.
Size of the bit the #1 or, 1st those which are called with is optimum.
Driver of medium size (#1)
Scissors
Although the cowl, decare and the sponge are cut, you use. The cowl (polycarbonate make) to cut, the strong putting for model construction is faced.
In addition when it is, the convenient tool
- Carpenter paulownia
- Pin vise
- Drill
It can make hole processing of the board cover clean.
- Cutter knife
- Nipper
- File
In cutting of the part and cutting etc of the board cover is useful.
- Company name, trade name, or the logographic mark of statement, are trade mark or registered trade mark of the respective company in the manual.
- Concerning the contents of the manual and the contents of the commodity, when is not notice depending upon the revised other reasons and is modified





KHR-1HV page 7


About the servo-motor
About RCB-3
The servo-motor which is used in order to drive the joint with this kit is digital FET servo it was developed in robot exclusive use. By the fact that it makes HV corresponding servo in addition to the know-how which is accumulated with the radio control, in comparison with in case of former 6V drive furthermore, it actualized powerful and the energy conservation. Function and the specifications have become as follows.
The function of
●RedVersion that way loading. Characteristic change and position capturing etc enabled.
By the use of
●ICS, setting from outside is possible.
- The fixing with both axial support as robot private servo is possible.
●HV correspondence. As for the specifications although it is rise, in comparison with the type until recently the energy conservation.
* Main specifications
- Main functional specifications
* Size………… 45×35 (mm) 
* Weight………… 12g
* The quantity of control possible servo… 24
* Proper voltage………… direct current 9~12V
* In order to use, it is necessary to use the software for the personal computer.
About the after-sales service
concerning this product and the accessory, at our company service section is done correspondence to such as question.
The Tokyo Arakawa Ku Higashi Higure village 4-17-7 116-0014
Kondo scientific corporation service section
TEL 03-3807-7648 (service direct communication)
9 where earth day celebration national holiday is excluded: 00~12: 13: 00~17: 00
Notification and the rise data concerning the product etc are published to our company
http://www.kondo-robot.com
Being attached to the inquiry with E-mail, at the below-mentioned address you receive, but there are times when it receives time to reply. Please acknowledge beforehand.
[email protected]
External size… 41×35×21 (mm) * spine not being included
Weight… 47.5g
Torque… 10.0kg cm (at the time of NiCad 9 cell use)
Speed… 0.14sec/60° (at the time of NiCad 9 cell use)
Proper service voltage 9~12V
Largest operational angular 180°
●KRS-788HV
●KRS-4024SHV
External size… 43×32.5×32 (mm) * spine not being included
Weight… 52.5g
Torque… 10.5kg cm (at the time of NiCad 9 cell use)
Speed… 0.17sec/60° (at the time of NiCad 9 cell use)
Proper service voltage 9~12V
Largest operational angular 260°
Furthermore, contents of this manual version of the firmware of software HeartToHeart3 for PC and RCB-3 are applied to below-mentioned ones.
After the HeartToHeart 32,007 /02/05 editions
After the RCB-3 Ver1.03 2007/02/05 edition





KHR-1HV page 8

About the instruction manual
The manual of this product (the instruction manual), there is four at all.
1, kit guidance
It is the only manual which is printed.
Perusal method is expressed concerning the manual of the explanatory of the whole kit and remaining PDF file.
2, KHR-1HV assembly instruction manual
It is this manual. It is offered with the PDF file.
Mainly, it has explained concerning the assembly procedure of the kit.
3, RCB-3 operation instruction manual
This is offered with the PDF file. It has explained concerning explanatory of the motion compilation software which you use and control board RCB-3.
Summary of constitution and assembly of this manual
with this manual, chasing order, concerning the assembly of the substance it keeps explaining.
With this kit, most jobs of the assembly complete just tighten. But, item with after 9th in the advance figure the left, connecting servo to the control base plate, while verification (starting point setting) to do the stop position of initial condition, it is necessary work.
Because of this, before starting the assembly, first, please do the charge of the HV battery.
After in the part which tightens plural , temporarily locking all it increases lastly and tightens.
From first when it tightens hard, there are times when position of the entire hole is not agreeable.
4, serial USB adapter
Connecting control board RCB-3 of this product with the personal computer, when you use, you use the serial USB adapter for the USB port of the personal computer. This related manual is prepared.






KHR-1HV page 9


Part list
Item name
Quantity

Control board
RCB-3
1
RCB-3 full function
Servo-motor cable length 300mm
KRS-788HV C300
11
Servo-motor cable length 480mm
KRS-788HV C480
6
Servo-motor for shoulder
KRS4024SHV
2
Servo bracket B
NHR-009
6
Aluminum part
Hand L
NHR-010
1

Hand R
NHR-011
1

Leg joint A-L
NHR-012
1

Leg joint A-R
NHR-013
1

Leg joint B-L
NHR-014
1

Leg joint B-R
NHR-015
1

Foot angle A
NHR-016
2

Foot angle B-L
NHR-017
1

Foot angle B-R
NHR-018
1

Top cover _a
NHR-020
1

Body frame F_a
NHR-021
1

Body frame B_a
NHR-022
1

Body frame L_a
NHR-023
1

Shoulder frame L_a
NHR-024
1

Shoulder frame R_a
NHR-025
1

Servo bracket A_a
NHR-026
2

Servo bracket C-L
NHR-027
1

Servo bracket C-R
NHR-028
1

Servo bracket D-L
NHR-029
1

Servo bracket D-R
NHR-030
1

Servo bracket E
NHR-031
2

Offset arm B-L
NHR-032
1

Offset arm B-R
NHR-033
1

Hip holder L
NHR-034
1

Hip holder R
NHR-035
1

Battery holder
NHR-036
1

Bathtub sole
S-01
2
Resin part
PCB base
1

Cable guide
12

Arm supporter 700A
2

Arm supporter 4000A
2

Limiter cam
2

Extended adapter
4

Body post
3

Board cover
1

Front cowl
1

Servo arm 700A upper arm
12

Servo arm 700A bottom arm
12

Servo arm 700A base
14
Low height servo horn
7
Free horn
2
Resin part (KRS-700 series)
The axis it is not the bottom case
2
Body pin
For φ5mm
5
Pin
Nylon strap
8
Resin part
Flat head horn stop  
33






KHR-1HV page 10


Item name
Type turn
Quantity
Remark
2.6-6 tapping
21

M2-4
56

2.6-8 tapping
26

2-6 plate tapping
14

2.3-6 tapping
36

M2-6
48

3-8 tapping
3

M2-8 plate
6

M2-20 plate
10

Inner clip washer gold
Chrysanthemum outside M3
3
Washer
HV battery
ROBO power cell D type
1
Electric battery
HV power source switch harness
1
For ROBO power cell HV
HV battery charge cord/code
1

HV charger
1

Serial USB adapter
1
Serial communication cable
1.5m
1
Cable (for serial communication)
Cable extension
100mm male - female
1
Cable (for base plate side connection)
Servo connector cable
200mm male - male
2
Cable (for KRS-4024SHV)
Decare seat
1
Part list





KHR-1HV page 11


The battery holder (1 ) the front cover (1 ) the board cover (1 ) the PCB base (1 ) RCB-3 (1 ) KRS-788HV servo lead/read length = 300mm (11 ) KRS-788HV servo lead/read length = 480mm (6 ) KRS-4024SHV bathtub sole (2 ) offset arm B-L (1 ) foot angle A (2) * after the purchasing and before starting assembling, please be sure to verify that all part has been even at quantity of statement. Foot angle B-R (1 ) leg joint B-L (1 ) hand L (1 ) hand R (1 ) leg joint B-R (1 ) foot angle B-L (1 ) the HV charger (1 ) HV battery 9N 800mAh (1) leg joint A-L (1 ) leg joint A-R (1 ) the punch hole (dent) the fact that it has been attached is . * There are those of the form which is similar depending upon the part. Following to the note writing, please verify. Shoulder frame L (1) shoulder frame R (1) in direction of the slit note servo lead/read removal possible (2 ) it is summary of the aluminum alloy make frame in note form. Because as for the metal part there is a place and the like where it becomes pointed, please pay attention to handling sufficiently. Sheet metal part hip holder R (1) in position of notch note hip holder L (1) offset arm B-R (1)
11





KHR-1HV page 12


Top cover _a (1 ) body frame F_a (1 ) servo bracket B (6 ) * after the purchasing and before starting assembling, please be sure to verify that all part has been even at quantity of statement. * There are those of the form which is similar depending upon the part. Following to the note writing, please verify. In position of the notch it is summary of the note aluminum alloy make frame in the note hole and position of the tub. Because as for the metal part there is a place and the like where it becomes pointed, please pay attention to handling sufficiently. When sheet metal part servo bracket E (2 ) servo bracket A_a (2 ) servo bracket C-L (1 ) servo bracket D-L (1 ) servo bracket C-R (1 ) servo bracket D-R (1 ) body frame B_a (1 ) body frame L_a (1 ) * adding the pivot of maneuver of afterwards, you use. You do not use for the latest assembly.






KHR-1HV page 13


The servo arm 700A base (14 ) the servo arm 700A bottom arm (12) the cable guide (3) 2.6-8 tapping (26) 2-6 plate tapping (14) 2.3-6 tapping (36) M2-6 (48) arm supporter 700A (2 ) * the case of use, you note on the reverse side. This figure becomes . < The actual size large >< actual size large >< actual size large > servo arm 700A upper arm (12 ) < the actual size large > axis it is not the bottom case (2 ) arm supporter 4000A (2 ) < actual size large >M2-20 plate (10) M2-8 plate (6) the Parts Bag A Parts Bag B Parts Bag C body post (3 ) the body pin (5 ) low height servo horn (7 ) the nylon strap (8) the chrysanthemum washer outside M3 (3 ) the extended adapter (4 ) free horn (2 ) the limiter cam (2 ) Parts Bag E Parts Bag I Parts Bag DHV power source switch harness (1 ) cable extension length = 100mm (1) HV battery charge cord/code (1) servo connector cable length = 200mm (2) Parts Bag JM2-4 (56) 2.6-6 tapping (21) < actual size large >< actual size large >Parts Bag G serial USB adapter (1 ) serial communication cable length = 1.5m (1) Parts Bag K flat head horn stop (33) < actual size large >M3-8 tapping (3) < actual size large >Parts Bag F Parts Bag H< actual size large >
Part summary




KHR-1HV page 14


Table of contents
About safety
2-3
About handling the HV battery
4-5
In beginning
6
About the accessory
7
About the after-sales service
7
About the handling instruction manual
8
Part list
9-10
Part summary
11-13
Table of contents
14-15
Before the assembly - nomenclature of servo-motor -
16
Before the assembly - type of and method of using -
17
Before the assembly - identification of servo and channel -
18
Charge of battery
19
Removal of case
19
Assembly of bracket B unit
20
Assembly of bracket B unit (long)
21
Assembly of shoulder unit
22
Assembly of leg unit
23
Assembly of foot unit
24
Assembly of hip unit
25
Assembly of front frame
26
Assembly of lower unit
27
Assembly of body unit
28
Assembly of control unit
29





KHR-1HV page 15


Table of contents
Part installation point of caution to servo output axis
30
Starting point setting of servo
31-33
Installation of servo arm - arm -
34
Installation of servo arm - shank knee -
35
Installation of servo arm - ankle -
37
Installation of servo horn - between crotch -
39
Installation of servo horn - body -
40
Installation of servo horn - shoulder -
41
Assembly of head unit
42
Method of installing the cable guide
43
Assembly and wiring of arm
44
Assembly and wiring of leg
45
Installation of arm
46
Installation of leg
47
Installation of control unit
48
Installation of head unit
49
Wiring to control board
50
Processing [hurontokauru] [bodokaba]
51
Installation of board cover
52
Loading the battery
53
The setting of ICS
54-56
Setting of [torimupojishiyon] [homupojishiyon]
57-60
Execution of startup motion
61-63
Execution of sample motion
64




KHR-1HV page 16


The output axis (the upper axis) the serration (the figure which was seen from above) you connect servo to upper case middle case bottom case servo lead/read connector RCB-3 and power source.    Tub (marker for opposite connection prevention) white: Signal red: + (Vcc) black: - (GND) specification of wiring (the bottom axis) it is the axis of rotation of free support of the part is assisted. Locking part such as free horn, and servo arm you use. It is the which has stopped the servo case servo case. With process of the assembly after removing once, you use because the frame and the bracket are locked. It is the axis of rotation which outputs the power inside nomenclature servo of the upper side bottom side servo-motor. The serration (notches of output axis outer circle) locking part such as servo horn, and servo arm you use. With KRS-788HV those where length is different are 2 types. With KRS-4024SHV the servo connector cable is connected to the connector of servo.






KHR-1HV page 17


Type of and the one of treatment (coarseness meter ) with main kit of feature of tapping & , fixing of the aluminum part this is used almost. (Is inscribed "M" has shown the fact that it is the meter bis of JIS standard in name of bis.)Already when bis the hole where the screw is cut (the side of the hole which stops bis is verified, notches of the screw have been attached.)Only it does not enter. If the screw does not wear & does not become deformed, many degrees repeatedly it can use. * The case where bis is tightened when note tightening, in order not to break the head of with the driver, please note. When (you use, tighten the driver where size of the point is not agreeable too much the groove of cruciform collapses.)Because stops being able to remove with the driver, when the groove of the head collapses, will be exchanged to new ones not to tighten unreasonably. Case it stops tightening suddenly in the middle which tightens, please verify whether is not bent. When it continues to use the bis which bends the bis hole not be able to lock becomes deformed, exchanges bis to new ones and securely, becomes. * The point of maintenance tightening securely, when it vibrates, loosens naturally. You probably will verify also after the assembly completing, periodically whether bis is not loose. When loosens frequently with motion and/or falls off, when it becomes matter of concern, the screw private locking medicine use such as lock tight and screw lock is effective. * At that time please follow note in regard to use methodological use, to the instruction manual of the locking medicine. When bis is locked with the instantaneous adhesive agent, to become unable to take, because there are times when the hole is plugged with the adhesive which became firm please note. Case the part is locked with the increasing tightening plural which are tightened lightly, after tightening one time all lightly, when it increases and tightens, it can lock the part horizontally by equal power. Furthermore when the part is locked with the bis 4 or more, in order for unreasonable power not to be applied to the part in the middle which tightens to bis, preferring the which is on the diagonal, it keeps tightening. The bis one example of the order which is tightened >> the right * you use for the fixing of the feature resin part of bis and the fixing of the aluminum part of part. The screw part of tapping while in drill condition of petering out, cutting the screw in the prepared hole whose diameter is smaller than bis, locks the part. In order (for the screw thread of to be fixed to the hole, the work of cutting the groove of spiral condition is called 'the tapping'.)In order to screw in bis to the part, normal (meter ) to be more difficult to loosen also fixing is powerful, but when first tightening, power is necessary. In addition, when the attaching removing of tapping is done frequently, the bis hole spreading, the power which locks becomes weak. * The case where is tightened before tightening the verification tapping of the procedure hole, looking at this instruction manual, you verify whether there is no mistake in position form of the hole. * When tapping is tightened by mistake in the hole for normal and the hole of the where size is different, form of the hole becoming deformed, it becomes not be able to lock original . While pushing the head of tapping bis with the tapping driver, in order for bis to stand vertically, it screws. * When is tightened too much, the head of bis sinking, it deforms the resin part. While verifying, please tighten. * Removing one time, and when the degree of place union which it tightens it loosens the tapping which it tightened, the bis hole has entered in a state where the screw has been formed. Again when doing again to tighten, be sure to work with the following procedure. Before sets vertically and tightening it turns bis lightly, conversely it verifies that bis is fixed straightly cleanly. Without pushing, the normal which is tightened (meter) with in the same way, adjusting to the bis hole, please tighten. * While this time, pushing , when it screws, the hole breaking, it becomes not be able to lock . Please note. While the right pushing, it tightens.
Before the assembly





KHR-1HV page 18


Identification channel number of servo and the channel pastes 'verifying the procedure of the assembly' or rough sketch 'channel summary'. Beforehand, separating with the cutter and the scissors when it keeps, being easy to take it is convenient the occasion where it sticks. As for method of cutting the CH3CH3 declare, the picture the left please cut off the contour of the taste in reference.






KHR-1HV page 19


Removal of case bis
The case bis which has been attached to the bottom case of the servo-motor is removed.
Servo-motor (or less servo)
4 these case bis have been attached to such as 1 .
Total 16 servo is
(Servo lead/read length = 300mm: 10
Servo lead/read length = 480mm: 6 )
Everything please remove the case bis which has been attached.
Servo and case bis (total 64) verifying number, it keeps in the place and the box etc which it stabilizes.
- Servo-motor KRS-788HV
Servo lead/read length =300mm
- Servo-motor KRS-788HV
Servo lead/read length =480mm
Recommends point explanatory job well procedure of the part work which secret destruction note main point verification idea contest explanation job completion it represents prepares
Process
Charge of battery
Charge cord/code
9N-800HV battery
([robopawaseru] D type)
Before beginning the assembly, please charge the battery of attachment.
This book P.4~5 viewing concerning handling the battery.
When loosening, the half clockwise
It turns.
As for the bis which you remove afterwards
In order to use, the small plate and the small article
While gathering in inserting and the like
When job is advanced, being convenient
It does.
Case bis (4)
When removing bis, the servo case
To drop, the servo case
In order not to disassemble, you pay attention.
When (content becomes disjointed
The assembly becomes very much.)
Servo case (bottom case)
Counter clock






KHR-1HV page 20


Assembly
When closing bis, it turns clockwise. 2.3-6 tapping bis (each 4) it is the part which is easy to be wrong in bracket B unit servo bracket B servo arm 700A based installation direction. Before doing the bis stop, please verify form. The surface where it has been visible in the figure is reverse side. Each ○ book of the part quantity shows the thing of the quantity which is used concerning 1 unit. You will verify the form of the part which has shown once more in the enlarged view whether even clockwise rotation cable long 300mm case bis (each 4) based installation direction is agreeable. Case bis is shaky, servo the part which is locked (the bracket and the frame etc) does not float locks.
Assembly of bracket B unit
servo (servo lead/read cable 300mm. Short ones) bracket B is installed with case bis.
servo bracket B (or less bracket B), the base of servo arm 700A (the or less base) 2.3-6 you install with tapping bis.
- Servo-motor KRS-788HV
Servo lead/read length =300mm
- Servo bracket B
- Servo arm 700A base
●2.3-6 tapping bis
- Case bis
It tightens case bis if possible lightly.
Servo the part which is locked (the bracket and the frame etc) is shaky, does not float locks.
As for case bis in order not to tighten too much, please note.
The servo case becoming deformed, physical resistance occurs in revolution of the output axis, there is a possibility where servo becomes feverish & ignites.
* as for this unit at total 2 same









KHR-1HV page 21


Bracket B unit (long) assembly
When closing bracket B long unit bis, it turns clockwise. 2.3 - 6 tapping bis (each 4) it is the part which is easy to be wrong in servo bracket B extension adapter based installation direction. Before doing the bis stop, please verify form. The surface where it has been visible in the figure is reverse side. You will verify the form of the part which has shown once more in the enlarged view whether arm two arms case bis (each 4) based installation direction is agreeable. Case bis is shaky, servo the part which is locked (the bracket and the frame etc) does not float locks. Servo arm 700A based M2 - 6 bis (each 4)
- Extended adapter
●M2-6 bis 
- Case bis
- Servo-motor KRS-788HV
Servo lead/read length =300mm
- Servo-motor KRS-788HV
Servo lead/read length =480mm
- Servo bracket B
- Servo arm 700A base
●2.3-6 tapping bis
In bracket B, the extended adapter 2.3-6 is installed with tapping bis. 
In the extended adapter, the base is installed with M2-6 bis.
To servo bracket B is installed with case bis.
* As for this unit length of servo lead/read
those which are different are assembled each 2.
Parts Bag I
2.3-6 tapping bis








KHR-1HV page 22

CH2CH6 arm supporter 4000A (each 1) KRS-4024SHV (2) servo connector cable 200mm (each 1) shoulder frame R_a shoulder frame L_a * you do not use this plate bis. Shoulder joint M2-20 plate bis (each 4)
Assembly of shoulder unit
The plate bis of upper case side of servo is removed. Total 2 this job is done to servo is.
- Servo-motor KRS-4024SHV
- Servo connector cable 200mm
- Shoulder frame L_a
- Shoulder frame R_a
- Arm supporter 4000A
●M2-20 plate bis
 The servo connector cable is installed to servo.
 Total 2 this job is done to servo is.
To servo the shoulder frame and arm supporter 4000A are installed with M2-20 plate bis.
Parts Bag H
M2-20 plate bis











KHR-1HV page 23



The part which you prepare
The hand of job
leg unit L leg unit L leg
Leg unit R leg joint B-L leg joint B-R shank knee leg joint A-L leg joint A-RCH13CH14CH20CH19M2-4 bis (each 2) servo k
It presses in. It presses in. The leg joint locks in order the punch hole (dent) to appear in outside. Cable long 480mm case bis
In note stripe
Cable length 480mm
Assembly of leg unit
To servo leg joint B-L, [retsugujiyo]
[to] B-R is pressed in.
Servo-motor KRS-788HV
Servo lead/read length =300mm
Servo-motor KRS-788HV
Servo lead/read length =480mm
Leg joint A-L
Leg joint A-R
Leg joint B-L
Leg joint B-R
●M2-4 bis
- Case bis
Parts Bag G
M2-4 bis
leg joint A-L and leg joint
M2-4 bis (each 2) with you stop.
Cutting off the decare for servo lead/read, the sir
It pastes in lead/read.
CH13: Leg unit L (top)
CH14: Leg unit L (lower part)
CH19: Leg unit R (top)
CH20: Leg unit R (lower part)
leg joint A-L and leg joint
To servo case bis (each 8) with stop








KHR-1HV page 24



Assembly
It presses in. foot angle B-R foot angle B-L foot unit R foot unit L foot angle A servo case bis (each 4) [u] and others foot uni- foot unit RCH15CH21 cable length 480mm of foot unit L foot unit R ankle & foot
Assembly of foot unit
It presses in servo to foot angle B-L and foot angle B-R.
Case bis (each 4) with foot angle A is installed.
In foot unit L and foot unit R you install bathtub sole respectively with the M2-6 screw. Because (sole is left and right combined use, there is no direction which is decided in installation.)
Cutting off the decare for servo lead/read, it pastes in servo lead/read.
CH15: Foot unit L
CH21: Foot unit R 
- Servo-motor KRS-788HV
Servo lead/read length =480mm
- Bathtub sole
- Foot angle A
- Foot angle B-L
- Foot angle B-R
●M2-6 bis
- Case bis
You pay attention to tightening too much case bis.
Process
07
CH15CH21
Bathtub sole (Each 1)
Foot unit R
Foot unit L
M2-6 bis
(Each 4)
Parts Bag I
M2-6 bis









KHR-1HV page 25



Procedure of job
Assembly
Assembly of hip unit
Servo-motor KRS-788HV
Servo lead/read length =300mm
Servo bracket D-L
Servo bracket D-R
Hip holder L
Hip holder R 
Servo arm 700A base
Process
08
●2.3-6 tapping bis
●2.6-6 tapping bis
- Case bis
The one to which the hip unit R servo bracket D-R base (each 1) KRS-788HV (each 1) [omote] and the reverse side of the body frame touch with the finger and is catching is the reverse side. CH11CH172.3-6 tapping bis (each 4) servo bracket D-L hip unit L hip holder R hip holder L hip unit R hip unit L case bis (each 4) 2.6-6 tapping bis 2.6-6 tapping bis crotch joint hip unit R hip unit L
In servo bracket D, the base 2.3-6 is installed with tapping bis.
The hip holder is pressed in to the servo-motor.
In servo bracket D, the servo-motor is installed with case bis, the hip holder and the base 2.6-6 are locked with tapping bis.
Parts Bag I
2.3-6 tapping bis
Parts Bag G
2.6-6 tapping bis











KHR-1HV page 26

Procedure of job
Body frame F_a body post (3) 2.6-6 tapping bis (3) servo bracket A_a (2) M2-4 bis (4) battery holder crotch joint front frame
Assembly of front frame
In body frame F_a, the body post 2.6-6 is installed with tapping bis.
In body frame F_a, servo bracket A_a and the battery holder are installed with M2-4 bis.
- Body frame F_a  
- Servo bracket A_a 
- Battery holder  
- Body post     
●M2-4 bis     
●2.6-6 tapping bis
Process
09
Parts Bag G
2.6-6 tapping bis
Parts Bag G
M2-4 bis






KHR-1HV page 27



Procedure of job
Assembly of lower unit
Process
10
- Servo-motor KRS-788HV
Servo lead/read length =300mm
- Servo bracket C-L
- Servo bracket C-R
- Body frame L_a
- Normal bottom case
- Case bis
It presses in. The normal bottom case (each 1) case bis (while holding down the bottom case of servo with the thumb, it tries each 4) pressing in, to push around the hole of the frame with it enters well. Bracket C-R bracket C-L unit R unit L body frame L_a unit R unit L * you do not use this case. Crotch joint lower unit
The bottom case of the servo-motor is removed.
In the servo-motor, the normal bottom case and servo bracket C are installed with case bis.
The servo-motor is pressed in to body frame L_a.






KHR-1HV page 28


shoulder unit in order for the shoulder frame to come outside, arranges L and R. Body body unit (before) M2-4 bis (9) body unit (after) shoulder unit R shoulder unit LM2-4 bis (4) in order to come out to back of the hole of body frame B_a, it passes the servo lead/read of lower unit CH6CH16CH10CH10 and CH16. CH2 front unit M2-4 bis (4)
Assembly of body unit
In front unit, lower unit is installed with M2-4 bis. body frame B_a is installed with M2-4 bis. This time, as in the figure it passes through the line of servo lead/read and the servo connector cable between the frame.
Cutting off the decare for servo lead/read, it pastes.
CH2: Shoulder unit (L)
CH6: Shoulder unit (R) CH10: Lower unit (L)
CH16: Lower unit (R) 
- Shoulder unit L (assembly end)
- Shoulder unit R (assembly end)
- Front unit (assembly end)
- Lower unit (assembly end)
- Body frame B _a
●M2-4 bis
Process
11
In front unit, shoulder unit is installed with M2-4 bis.
Parts Bag G
M2-4 bis








KHR-1HV page 29

As for the power switch which has been attached to the power source switch harness, other than being the indication, please be sure to turn to OFF (enlarged view reference). When it has entered state of ON, at the time of power source connection there is a possibility the robot suddenly moving falling, breaking down, doing the large wound due to the finger scissors and the like. As for the connector it has become the form which cannot be inserted conversely. When you insert unreasonably with method of pouring which you are wrong it is connected to the damage of the connector. M2-6 bis heart OFF control unit RCB-3PCB based power source switch harness
Assembly of control unit
In PCB RCB-3
You install with M2-6 bis.
Power source switch harness
Please insert in the power source terminal of RCB-3.
In case of the person, when moving the body, first “the body probably will be moved”, that the brain puts out order by the fact that you think, the nerve transmits order to the muscle, the arm and the [a] does and each joint, the plural muscles which is around expand and contract and move ......With the blood flows to the brain and the muscle which become the device which is said, in order for energy (oxygen and nutrition etc) in order to exercise to be always carried, the circulating organ which begins the heart works.
In this way, it continues the body of the person to move, but in case of the robot how probably will be.
With KHR-1HV, the control board (RCB-3) the signal conductor in the brain and wiring doing the role of the nerve, as for these operations which do the control of servo it becomes the joint, following to the program (motion data and the like which was drawn up) which, is written to the memory inside all control boards it is done.
By the way, the motor itself inside the servo case and the gear have done the role which is suitable to the muscle, when assembly condition and state of this part become bad, the joint of the robot stops moving well, to unstable operation is connected.
In addition, for the robot which does not have the circulatory organ moves the operation and the joint of the control board in place of the blood centering on the body, the fact that it becomes source of the energy which is electricity. The control board does also the function of the repeater station to each servo of the electricity which is input from power source.
* As for control board the heart of robot?
●RCB-3J
●PCB base
●M2-6 bis
- Power source switch harness
Process12 Parts Bag I
M2-6 bis







KHR-1HV page 30


Good example bad example POS 1 POS 2 +45° rotary starting point does not move is not identical with well.
Part installation point of caution to servo output axis
As for starting point setting, revolution of servo
The important work which decides the datum point
It does. By the fact that it does securely
[npurumoshiyon] and the like truth
The [se] it is the time, reproducibility is high
It does.
Installation example of servo horn
There are notches which are called the serration in the output axis of servo. The case where servo horn is installed, by the fact that it keeps shifting the position where you install, it is designed in such a way that it can choose appropriate position.
In case of the servo arm you install and because direction has been decided in 1 directions, when it does not match the figure exactly, shifting delicately on the right, or the left you mean to install.
Installation of servo arm
When the case where starting point is set to servo of both shoulders is cited as example, position of the hand of extent and the robot which is the gap in starting point of servo of the shoulder left and right becomes uneven.
While noting, choosing appropriate position if possible, please assemble.





KHR-1HV page 31


Starting point setting of servo
The servo-motor KRS-788HV which has been used for the knitting machine, being maximum, approximately 180 degrees, with KRS-4024SHV has the operational angle of approximately 260 degrees. In other words, you know that of the joint of the body of the person is thought, but it is not the case that it turns limitlessly, there is restriction in the angle which operates. In case of the robot, thinking of in regard to restriction and actual operation with respect to mechanism, in order for optimum operation to be possible, it is necessary to assemble. The fact that in this case it becomes important is starting point setting of servo. Unless starting point setting is correct, when sample motion was made to execute and the like, because there are times when inconvenience is caused, after understanding setting method well, will try to do job. Starting point setting has the necessity to do by all means the occasion where the servo arm is installed to the respective servo. When there is the explanation which does starting point setting with process after this, it does with the below-mentioned procedure. With process before this, the control board RCB-3 which is installed in the PCB base is used. The board using the USB serial adapter which belongs to the personal computer, you connect. In addition, in order to be able to use motion compilation software “HeartToHeart3”, it prepares in the personal computer. Concerning the usage of RCB-3 and the software and the usage of the USB serial adapter, because it is detailed in the “RCB-3 operation instruction manual”, please view there.
Control unit
retpadA
BSU
laireS
NAPAJ
NI
EDAM
HV battery 9N-800mAh
Serial USB adapter
Serial communication cable
As for the personal computer, those where Microsoft Windows2000 or Xp operates are necessary. In addition, as for this it is necessary for you to prepare with the customer.
Those which you prepare Connection
The serial USB adapter is connected to the USB port of the personal computer.
* When first you connect, “detection wizard of the new hardware” starts. Following to the manual of the serial USB adapter, please make setup complete.
- Cable extension,
 The high-speed serial terminal of RCB-3
 (The COM terminal) you connect.
In ●RCB-3, power source harness
 Connecting, it charged beforehand
 The HV battery is connected.
- Power switch of power source harness
 When it turns to ON, LED of green on the baseplate
 Lights up.
Setting
Putting being packed
You pay attention to direction!
Please connect the cable from the USB adapter just.
The erroneous [se] when the [ku] is done, there are times when the USB adapter breaks.
High-speed serial terminal
Green LED
Cable extension





KHR-1HV page 32


The software is started.
When motion compilation software “HeartToHeart3” is started, in first like the right the window is indicated.
First, the communication port (COM) number is appointed.
* With example the right, COM8 is selected.
Check is inserted in synchronizer switch SYNC of the window.
Position 1 is arranged after the data seat.
It arranges, after clicking the position tool, furthermore, the data seat (at the point where the top of the picture is white) it clicks.
Double clicking the position which arranges, you open the position window
Procedure follows to the following page.
The right clicking CH1, you open the menu and select SERVO.
* There is statement in the manual of the serial USB adapter concerning the verification method of the number which is used.





KHR-1HV page 33


Connecting servo, it does operation verification.
(Unable to translate all info on page 33)













KHR-1HV page 34



The part which you prepare
Procedure of job
Servo arm 700A upper arm servo arm 700A bottom arm bracket B unit pulling out servo lead/read from RCB-3, please be sure to work. When servo lead/read has turned on electricity (the drive sound, Gee [tsu] is audible,) the upper arm is moved coercively, it becomes cause of breakdown. The flat head horn stop bis (each thing which 2) (1) (2) (3) on the figure which were seen from above & the structure which, there is a complete does not become parallel. In that case, please install at parallel close position. Connection of servo
Installation of servo arm
Starting point setting of servo is done.
(As for setting method you refer to “starting point setting of servo”.)
Setting the slide bar (starting point specification) of CH1 to “0”, you connect servo to CH1 of RCB-3.
The servo arm 700A upper arm (or less upper arm) is inserted into bracket B unit, installation position of the servo arm which pulls out the connector of servo from RCB-3 in unit the anti- [te], stops the upper arm and the servo arm 700A bottom arm (or less bottom arm) which are installed with the arrangement which is closest to the figure, with the respective flat head horn stop bis.
There is a mechanical limit in the movable range of servo. Exceeding the limit, when it adds power, because it is connected to damage and breakdown, please note.
This job total 6 unintentionally to servo.
(1) Starting point
The servo arm is adjusted the position as in the figure by the hand.
(2) Limit of movable range of the left side
When it turns the servo arm to the left slowly, revolution stops near position in the figure.
(3) limit of movable range of right side
When it turns the servo arm to the right slowly, revolution stops near position in the figure- Bracket B unit (assembly end)
- Long (assembly end)
- Servo arm 700A
Upper arm
- Servo arm 700A
Bottom arm
- Flat head horn stop bis
- Control unit
Process
13
The movable range of servo is verified.
Parts Bag F
Flat head horn stop bis






KHR-1HV page 35



Assembly
Leg unit R flat head horn stop bis (thing which each 4) ② leg unit L * with respect to structure, there is a complete does not become parallel. In that case, please install at parallel close position. Connection CH20CH19CH14CH13CH20CH19CH14CH13 of servo
Installation of servo arm - shank knee -
Starting point setting of servo is done.
(Setting method refers to “the starting point setting of servo”.)The slide bar of CH1 (starting point specification) setting to the value in the chart, you connect servo to RCB-3
- Leg unit L (assembly end)
- Leg unit R (assembly end)
- Control unit
- Servo arm 700A
Upper arm
- Servo arm 700A
Bottom arm
- Flat head horn stop bis
CH13: -90
CH14: 0
CH19: 90
CH20: 0
The upper arm is inserted into leg unit, the connector of servo is pulled out from RCB-3.
Installation position of the servo arm in unit the anti- [te], stops the upper arm and the bottom arm which are installed with the arrangement which is closest to the figure, with the respective flat head horn stop bis.
Process
14
Parts Bag F
Flat head horn stop bis









KHR-1HV page 36


It stops (1) (2) the (3) concerning the frame. Please pay attention to power allowance.
When the servo arm is installed, when there is the mistake in starting point appointment of servo the operating range of each servo will be verified and the installation of the servo arm, servo cannot operate original position (angle).
Pulling out servo the movable range of servo is verified lead/read from RCB-3, please be sure to work.
When servo lead/read has turned on electricity (drive sound is audible) with moves the upper arm coercively, it becomes cause of breakdown.
Exceeding the operating range of servo, when it turns unreasonably, the gear and the like inside servo breaks. The case where it turns please do prudently.
(1) field
The servo arm (2) you adjust the position as in the figure by the hand the limit of the movable range of the left side
When it turns the servo arm to the left slowly, when (3) revolution stops near position in the figure it turns the limit servo arm of the movable range of the right side to the right slowly, revolution stops near position in the figure





KHR-1HV page 37



Procedure of job
Foot unit L foot unit R flat head horn stop bis (each 2) the servo arm like installation & the figure, vertically is installed in the closest position. It stops (1) (2) (3) concerning the frame. Please pay attention to power allowance.
Installation of servo arm - ankle -
- Flat head horn stop bis
●2.6-8 tapping bis
- Control unit (assembly end)
- Foot unit L (assembly end)
- Foot unit R (assembly end)
- Servo arm 700A
Upper arm
- Servo arm 700A
Bottom arm
- Servo arm 700A
Base
Starting point setting of servo is done
(Setting method referring to “the starting point setting of servo”. The slide bar of CH1 (starting point specification) setting to “0”, you connect servo to RCB-3.
The upper arm is inserted into foot unit, installation position of the servo arm which pulls out the connector of servo from RCB-3 in unit the anti- [te], stops the upper arm and the bottom arm which are installed with the arrangement which is closest to the figure, with the respective flat head horn stop bis.
The movable range of servo is verified.(1) field
The servo arm (2) you adjust the position as in the figure by the hand the limit of the movable range of the left side
When slowly it turns the servo arm to the left, (3) revolution stops near position in the figure it turns the limit servo arm of the movable range of the right side to the right slowly, pulling out servo revolution stops near position in the figure lead/read from RCB-3, when please works when servo lead/read has turned on electricity (drive sound is audible) with moves the upper arm coercively, be sure to become cause of breakdown.
There is a mechanical limit in the movable range of servo. Exceeding the limit, when it adds power, because it is connected to damage and breakdown, please note.
Process
15
Parts Bag F
Flat head horn stop bis









KHR-1HV page 38


The (1) (2) please pay attention to convex (4) (3) bottom arm upper arm based and the reverse side. It inserts on. 2.6 - 8 tapping bis (each 2)
Following to the order under the, the servo arm 700A base (the or less arm base) you install between the upper arm and the bottom arm.
(1) The convex direction which verifies arm based form is the point.
(2) Direction of the arm base the arm base which is adjusted to the joint section of the upper arm and the bottom arm you push in into the joint section lightly, insert to 1/3.
While (3) looking at the side, until [pachitsu] and sound do in the joint section of bottom arm side, it inserts the arm base.
Until (4) in the same way, [pachitsu] and sound do in the joint section of upper arm side, the arm base is inserted.
The arm base 2.6-8 you stop the joint section of the upper arm and the bottom arm with tapping bis, (each 1).
As for the joint section of the servo arm in order to raise strength, the insertion has become hard. The case of the assembly and the removal, that the finger and the nail etc are not damaged, noting, please work. In addition, when especially removing, the part of the arm base and the like is a possibility spirit well of flying. Paying attention also around, please work safely.






KHR-1HV page 39



Procedure of job
Like hip unit L & the figure verticality horizontally you install in the closest position. The figure which was seen from the operating shaft hip unit R hip unit L low height servo horn flat head horn stop bis hip unit L free horn flat head horn stop bis front between the crotch
Installation of servo horn - between crotch -
- Hip unit L (assembly end) 1
- Hip unit R (assembly end) 1
- Servo horn 2
- Free horn 2
- 4 flat head horn stop bis
Process
16
Starting point setting of servo is done.
(Setting method “starting point setting reference of servo”) setting the slide bar of CH1 to” 0”, connects servo to RCB-3.
CH11: 0
CH17: 0
You install servo horn in hip unit and lock with horn stop bis.
You install free horn in hip unit and lock with horn stop bis.
* It assembles also hip unit R in the same way.
Parts Bag F
Flat head horn stop bis









KHR-1HV page 40



Pivot of maneuver arm supporter 700A of the leg (2) M2-4 bis (8) the (3) (2) (1) low height servo horn (2) flat head horn stop bis (2) offset arm B-L offset arm B-R * with this process meter bis is used vis-a-vis the resin part, but it is not error.
Installation of servo horn - body -
Starting point setting of servo is done, (setting method referring to “the starting point setting of servo”. The slide bar of CH1 (starting point specification) setting to “0”, in the body unit which connects servo to RCB-3, it locks arm supporter 700A and servo horn with flat head bis.
- Body unit (assembly end)
- Control unit (assembly end)
- Low height servo horn
- Arm supporter
- Offset arm B-L
- Offset arm B-R
●M2-4 bis
- Flat head horn stop bis
In servo horn, offset arm B-L and B-R are locked with M2-4 bis.
) (1) Starting point
Offset arm B-L and B-R are adjusted the position in the figure by the hand.
(2) limit of offset arm B-L opening direction movable range
When it turns offset arm B-L to the left slowly, revolution stops near position in the figure.(3) limit of offset arm B-R opening direction movable range
When it turns offset arm B-R to the right slowly, revolution stops near position in the figure. By all means pulling out servo lead/read from RCB-3, when please works when servo lead/read has turned on electricity (drive sound is audible) with moves the upper arm coercively, it becomes cause of breakdown. There is a mechanical limit in the movable range of servo. Exceeding the limit, when it adds power, because it is connected to damage and breakdown, please note. The process which verifies the movable range of servo17Parts Bag F Flat head horn stop bis
Parts Bag G
M2-4 bis










KHR-1HV page 41



Connection of shoulder
M2-6 bis (4)
Low height servo horn
Limiter cam
Projection in position in the right figure
Limiter cam
M3 inner clip washer
3-8 tapping bis
Servo arm 700A base
Projection of base
It comes to the position in the right figure
It makes the way.
Installation of servo horn - shoulder -
Process 18
- Body unit (assembly end) 1
- Control unit (the assembly it is completed) 1
- Low height servo horn 2
- Limiter cam 2
- Servo arm 700A based 2
2 ●3-8 tapping bis
8 ●M2-6 bis
●M3 inner clip washer 2
Procedure of job
Starting point setting of servo is done. Setting the slide bar of CH1 to the value in the chart below, you connect the respective servo to RCB-3
CH2: 80
CH 6: -80
In body unit, low height servo horn and the M3 inner clip washer washer 3-8 are locked with tapping bis and the limiter cam is inserted.
As for installation direction of the limiter cam please refer the figure.
In servo horn, the base is installed with M2-6 bis.
As for based installation direction please refers the figure.
* With this process vis-a-vis the resin part meter bis
You use, but it is not error.
Parts Bag F
3-8 tapping bis
Parts Bag I
M2-6 bis
* Installation position of the respective limiter cam changes in the left side right side surface of body unit.
* The respective servo arm 700A based installation position changes in the left side right side surface of body unit.




KHR-1HV page 42



Procedure of job
Flat head horn stop bis low height servo horn control unit * with this process meter bis is used vis-a-vis the resin part, but it is not error. M2-4 bis (the surface where 4) as for the power source switch head top cover, the completion of alumite processing is clean is [omote]. Installation direction servo side (the cable has been attached to FRONT direction.)* The black cable (1) (2) (3) pulling out servo lead/read from RCB-3, please be sure to work. CH1 cable length 300mm
Cutting off the CH number for the servo lead/read of CH1 from decare, it pastes
Starting point setting of servo is done.
Connecting servo to CH1 of RCB-3, it designates the slide bar of CH1 as " 0 ".
As for angle of the installation which to servo case bis is not removed installs low height horn with flat head bis please refer to the figure.
You stop low height horn and top cover _a with M2-4 bis.
The movable range of servo is verified.
Assembly of head unit
- Servo-motor KRS-788HV
Servo lead/read length =300mm
- Top cover _a
- Control unit
- Low height servo horn
- Flat head horn stop bis
●M2-4 bis
power source switch harness (or less power switch)
You remove from control unit.
The power switch is pressed in to top cover _a.
(1) field
Servo (2) you adjust the position as in the figure by the hand the limit of the movable range of the left side
When it turns servo to the left slowly, when (3) revolution stops near position in the figure it turns limit servo of the movable range of the right side to the right slowly, the process where revolution stops near position in the figure
19 Parts Bag F Flat head horn stop bis
Parts Bag G
M2-4 bis








KHR-1HV page 43


Usage of cable guide
The cable guide is separated.
When the runner (the framework part of outer circle) from you snap the cable guide, by the hand and also it is possible to take, but you cut off with the nipper, and the like remove Bali with the cutter and the file it is finished cleanly.
The cable guide is installed in the servo arm, as for the position where you install, please refer to the photograph under.
4 you install in the arm , installing at the point in time when the arm was assembled it collects wiring.
Collecting wiring at the point in time when 6 the foot of the foot was assembled in the same way, you install.
The hip 2, doing the entire assembly, the occasion where you arrange wiring lastly you install with M2-8 plate bis.






KHR-1HV page 44


hand L hand R2.6-6 tapping bis (each 2) 2.6-8 tapping bis (each 2) hand L hand R bracket B unit (long) (each 1) arm unit L arm unit RCH 4CH 8CH 3CH 7CH 4CH 8 arm
Assembly and wiring of arm
In hand L and R, bracket B unit (long) 2.6-6 tapping bis (each 2) with you install.
Arm unit (long) inserting 2.6-8 tapping bis (each 2) with it locks in the arm base of bracket B unit. Decare is pasted in the respective servo lead/read.
Arm unit R
Arm unit L
The cable guide is installed with the photograph under the as a reference. Servo lead/read, in order not to obstruct the movable range of the respective servo, locks in the cable guide with some amount to spare.
- Bracket B unit (long) (assembly end)
- Hand L
- Hand R
●2.6-6 tapping bis
●2.6-8 tapping bis
Process
Parts Bag G
2.6-6 tapping bis
Parts Bag H
2.6-8 tapping bis









KHR-1HV page 45

The part which you prepare
The leg unit L leg unit R cable guide installation position [a] it does and leg L leg R2.6-8 tapping bis (each 4) CH12 ③ CH18 (leg unit R) in order for the black line to come outside, it collects servo lead/read. The servo lead/read of CH15 and CH21 (the arrow), making by under the servo arm pass, you pull out outside. Wiring reference example (leg unit L) in order for the white line to come outside, it collects servo lead/read.
Assembly and wiring of leg
- Bracket B unit (assembly end)
- Leg unit L (assembly end)
- Leg unit R (assembly end)
- Foot unit L (assembly end)
- Foot unit R (assembly end)
●2.6-8 tapping bis
It inserts the arm base of bracket unit into the servo arm of ① leg unit, 2.6-8 tapping bis (each 2) with stops.
Process
Procedure of job
Parts Bag H
2.6-8 tapping bis
Servo of the ankle (CH15 and CH21) servo lead/read is pulled out outside the foot.
Decare is pasted in the respective servo lead/read.
Wiring is bundled with the cable guide, (each 3 places) as for wiring when bending the joint, in order not to stretch, being able to give elbowroom a little, please make sure to unite.








KHR-1HV page 46



The part which you prepare
Procedure of job
In accordance with the figure, 2.6-8 with tapping bis (4) you stop arm unit. Arm unit L arm unit R2.6-8 tapping bis 4 these body unit arms & body
Installation of arm
- Body unit (assembly end)
- Arm unit L (assembly end)
- Arm unit R (assembly end)
●2.6-8 tapping bis
Process
Parts Bag H
2.6-8 tapping bis











KHR-1HV page 47



Installation of leg
Process
Installation offset arm B-L low height servo horn M2-4 bis of foot (each 6) leg unit L
- Body unit L (assembly end) 1
- Control unit (the assembly it is completed) 1
- Leg unit L (assembly end) 1
- Leg unit R (assembly end) 1
12 ●M2-4 bis
Starting point setting of servo is done.
(Setting method refers to “the starting point setting of servo”.)
Setting the slide bar of CH1 to” 0”, you connect servo to RCB-3.
In offset arm B-L, leg unit L is installed.
Offset arm B-L and servo horn and free horn are locked with M2-4 bis.
You install also leg unit R in the same way.   
Parts Bag G
M2-4 bis
(Those where the eye is small)
* With this process vis-a-vis the resin part meter bis
You use, but it is not error.










KHR-1HV page 48



Procedure of job
As in the figure control unit is installed with M2-6 bis. Unit M2-6 bis 4 whole control
Installation of control unit
- Body (assembly end)
- Control unit (assembly end)
●M2-6 bis
Process
Parts Bag I
M2-6 bis









KHR-1HV page 49

The part which you prepare
In order not to insert wiring, please note. The sliding direction slit (the notch) with the tub (it comes out and the [tsu] [pa] [ri]) adjusts the part, makes slide and inserts. power source connector (female) power source connector (male) head
Installation of head unit
- Head unit
- Body (assembly end)
As in the figure the head is installed.
Please insert the connector of the power switch in RCB-3.
* Head unit is not locked with bis and the like. Finally it is locked by the fact that the front cowl is installed.
As in the figure you take the connector of the power source harness and, turn.
Process
Procedure of job








KHR-1HV page 50


Wiring to control board
When each servo lead/read is poured in RCB-3, the cable is collected. With the photograph above as a reference, please collect with the nylon strap.







KHR-1HV page 51


The secret destruction note main point verification which recommends point theory idea contest solution explanatory job well
The part which you prepare
Procedure of job
The wrapping front cowl (the figure which was seen from neck side) (the figure which was seen from torso side) the board cover the stub
Processing [hurontokauru] [bodokaba]
The scissors and the cutter knife are used. Please pay attention to handling.
It cuts off the cowl with the figure as a reference. It is the stub the part where color becomes dense in the figure. 
The hole is bored through 4 places of the board cover.
- Front cowl
- Board cover
Scissors [katsutanaihu] file
To finish section cleanly, it is good to finish with the file, probably will be.
Process
Using tapping bis and the point of the driver, you can bore the hole.








KHR-1HV page 52


The secret destruction note main point verification which recommends point theory idea contest solution explanatory job well
The part which you prepare
Procedure of job
2.6-6 tapping bis (4) wrapping
Installation of board cover







KHR-1HV page 53



The part which you prepare
Procedure of job power source
Loading the battery
Like the photograph the battery and the connector are stored to the holder.
The front cowl is installed in the body post.
In order not to put the battery and the cable etc of the power source switch harness, please note.
The body pin the inserting front cowl is locked in the body post.
- Front cowl
- Body pin
●HV battery
Process
The battery is connected to the power source switch harness.









KHR-1HV page 54


The setting of ICS
Internal setting of 19 servo-motors which have been used for KHR-1HV is designated as optimum ones vis-a-vis each joint of the entire body. Because effect is produced on operation of the robot, as for this job please be sure to go.
ICS (the interactive communication system) main function is as follows.
1, 1 to you connect various equipment and PC such as servo-motor with 1, modify the parameter of internal setting.(Example: Modification and gain adjustment of operational direction of gyro such as modification, KRG-2 and KRG-1 of holding power and operational speed etc of servo)
2, various equipment such as servo-motor and the control board for the robot (RCB) you connect, exhaustion of servo (free), acquisition of parameter (instruction function) and change of setting (characteristic change) do with order from the control board.
With this kit function below among those is used.“Parameter modification”
The servo-motor which is used for this kit (KRS-788HV/KRS-4024SHV) we have the specification which relates to the operation of some type inside, the control board (RCB-3) from we are possible to rewrite that value with operation.
- Pulse stretch: The power which holding power of servo (it tries to stand still) it is setting. The extent power whose numerical value is large becomes strong.
- Speed: It is setting of maximum operational speed of servo. The extent speed whose numerical value is large becomes fast.
- Punch: It is the function which improves the early response of servo. The extent response whose numerical value is large becomes fast.
- Dead band: It is setting of neutral zone. The extent blind sector whose numerical value is large becomes wide.
- Damping: Setting of brake quality when operating of servo can be selected from 2 types.
      After reaching to parameter 1 = target position, you use the brake.
      Before reaching to parameter 2 = target position, the brake is used.
- Reverse: Reciprocity of direction of rotation rotation direction of servo can be set.
- Pulse operation timer: When there is no input of the signal, until control of operation is opened, time is set.
- Protection timer: When servo locks, it is function in order to protect servo from damage. Fixed time
 Elapsing, when servo has locked, 25% it makes the power of servo knock down.
- Limit: Largest operational angle on left and right of servo can be set.
 With KRS-788HV 1.5 degrees, with KRS-4024SHV it becomes correspondence of 2.16 degrees concerning parameter 1.
“Free”
 The control board (RCB-3) from with order, even while operating the servo-motor of each joint it can designate the robot as exhaustion state. When the robot is entwined to the obstacle and the like, you use with the instruction function which is explained to the prevention and next of destruction.
“Instruction function”
 When the movement of the robot (or less motion) like animation individual scene (more or less pause) we consist gathering, instruction function drawing up the pause it is the function which is used.
 Until recently, the case where the pause of the robot is drawn up numerical order is transmitted from PC and the like, the system that was main current the joint of the robot is moved to like the.
But, when instruction function is used, the user takes the joint of the robot which is put in Free State in the hand and attaches the pause acquires that on PC side and can make the pause freely. Because of this, also compilation of the complicated kind of pause which moves the plural joints simultaneously has become easy." Characteristic" change”
The character combination of setting inside the equipment such as servo-motor is shown.
Inside pulse stretch and combination of speed (SET) to house it is possible with the servo-motor which is used for this kit up to three, changes those while playing back the motion and can use.





KHR-1HV page 55


Setting procedure
The battery is connected to KHR-1HV, power is turned on. PC is started, HTH3 is started. The high-speed serial terminal of control board RCB-3 (COM) the interface cable is connected from PC. The option button of HTH3 is clicked, the option window is opened. The power of RCB-3 has been turned on, if PC it is not just connected, you do not open the option window. The figure is referred and with item of “ICS function”, check is acquired to the channel of servo presently it is connected to RCB-3. It reaches the point where it can do the parameter modification of servo on RCB-3 by doing this job. The option window is closed.
The ICS setting button is clicked and the ICS setting window is opened.
When the setting picture opens, the mode of RCB-3 is changed to ICS communicate mode.
First, to turn power source once to OFF, again ON.
If at the time of RCB-3 starting LED of red lights up, it has started RCB-3 with ICS mode.
(Red LED does not light up usual, when starting after lighting up, it goes out.)
The reading button of the ICS setting window is clicked; parameter of servo it is connected to RCB-3 is read.
Setting
The setting of ICS
The option setting of ●RCB-3
Setting in the option window becomes effective by closing the window. Because the setting which does here is retained on RCB-3, after the next time it is not necessary to do.
Parameter modification of servo with ●ICS
When the error message as in the figure is made, repeatedly the above-mentioned procedure. In addition if the option setting of ICS is not done with procedure ahead, parameter of servo is not read.





KHR-1HV page 56


Double it clicks line of, CH1 opens the parameter setting picture of servo.
The stretch of SET1 3, the stretch of SET2 is set to 1 in the setting picture.
After the completing the setting, the ICS setting window is closed.
You close the window, power source reenter and cancel ICS communicate mode.
Setting
The meaning of SET1~SET3
SET pulse stretch of servo (holding power) with combination of setting of speed, you call the alias character, by the fact that the signal of specification is sent changing these inside motion, you can use. (Characteristic change) the servo-motor which has been used with this kit has been housed three characters inside.
The setting of ICS is written to servo at the point in time when the parameter setting screen is closed.
To close the setting screen of CH1, other CH in the same way following the chart below
Parameter setting of each servo is done.
Effect of parameter modification
Stretch of servo (holding power) when setting high value, the power which it tries to keep the position vis-a-vis load becomes large.
On the other hand, when this load is light, when trying to keep the position when “it returns, there are going too far” times when they are repeated at the period when this is high, becoming the vibration which is made the bull, it appears, (hunting)
Because of that, with KHR-1HV try to lower the stretch of servo with the upper body which hunting is easy to occur. CH number ICS parameter specification (value of stretch)*







KHR-1HV page 57


Setting of trim position
Other than moving the slide bar, also it is possible to input numerical value into the numerical window directly. Input in the numerical window numerical value after the inputting by the fact that the entering key is pushed becomes effective.
It sets the pause when it becomes the standard of KHR-1HV.
Before entering into this process, please verify that the setting of ICS is completed.
Process with after this there are times when the joint of the robot operates suddenly.
In order not to bring close the face, not to put the finger please consider and note sufficiently and work.
Setting procedure
The battery is connected to KHR-1HV, power is turned on.
PC is started, HTH3 is started.
The high-speed serial terminal of control board RCB-3 (COM) the interface cable is connected from PC.
Check is acquired to “SYNC” with respect to the HTH3 picture right.
- Compilation of trim position
POS object is arranged after the data seat, double click is done and the POS window is opened.
The channel where servo is connected to RCB-3 the right is clicked and the menu is opened, SERVO is selected. Operation of servo becomes effective this time, the slide bar by touching. The slide bar touches just a little with, suddenly please makes sure not to move.
When the at channel everything which is used “SERVO” becomes effective, all numerical values are designated as “0”







KHR-1HV page 58


Continuously, each joint is set to the position where it becomes standard (trim adjustment)
It clicks the trim button which is on the HTH3 picture and TrimDlg (trim dialogue) opens.







KHR-1HV page 59


When taking the pause other than trim position, when the trim position button of the trim position button and the POS window of the tool is pushed, it returns to trim position.
* When the button is pushed, after entering into instant exhaustion mode, it returns to trim position with SPEED100.
* As for the trim position button, foam/home position (as for details the following page) by the fact that it sets for the first time it becomes enabled.
Return to trim position
Trim position button
As for each servo of the foot when seeing from side, the output axis of servo, tries to line up into the straight line.
The mark which is called neutral gauge (the hole) is provided in each frame. By this mark and the fact that the projection part of the arm is adjusted, it is possible to make standard of neutral position.
Importance of foam/home position
This upright state is called “foam/home position”.
 Because foam/home position when executing motion, is the pause when it becomes standard, unless this is just set, hindrance is caused to the execution. In addition, when it continues to move the robot, because there are times when foam/home position gradually slips with the consumption and the like of the part, it is necessary to adjust periodically.







KHR-1HV page 60


Setting of foam/home position
 Foam/home position it is the position which can set the user optionally. If we assume that it was set as upright state because trim position ahead does trim adjustment with two pair walking robots you stoop lightly vis-a-vis that, bend the arm and/or you can set with the user standard of motion compilation (when starting the motion and the pause when ending) with as the position which is done.
Setting procedure
Difference of trim position and foam/home position
Trim position “when order value to servo 0 being from RCB-3, the position where each servo becomes standard (upright state) it means the thing of a state where it is”.
The foam/home position “at the pause when you take relatively from trim position, means the thing of those which become standard of pause compilation”, trim position there is no relationship.
For example, this time trim position (standing upright) it registered as foam/home position, but another pause (a state and the like where it squats), as foam/home position it is possible also to register.
When the foam/home position button of the tool and the POS window is pushed, taking the other pause, it returns to foam/home position.
* The trim position button of the front page by the fact that foam/home position is set for the first time becomes enabled.
The double clicking POS1 which is arranged, you open the POS window.
This time the data of each CH everything “0” verifies that is.
On POS window the right click,
You open the menu and “it sets to foam/home position” select. Now, parameter of each channel state “of 0”, is registered as foam/home position.
The POS window is closed.
The foam/home position button is pushed.






KHR-1HV page 61


Setting of startup motion
It completed the setting of the foam/home position of KHR-1HV itself with process to ahead, but if only power was turned on, the operation which returns to foam/home position cannot be done.
The operation, the register of “startup motion” and it is necessary to set execution.
The motion data as in the figure after the data seat of HTH3 is indicated.
Setting procedure
Power of KHR-1HV is turned off once, again power source is thrown.
This time, as for each joint of KHR-1HV there is an exhaustion state, but this is not abnormal.
Furthermore, it starts HTH3, acquires check to SYNC.
When there is other object after the data seat, it deletes.
When (“all selection” of the right click menu is used, it can make clearing after the data seat easy)
The load button of HTH3 is clicked, “the dialogue which opens the file” is opened.
It copied in CD or the hard disk of attachment to select “the SampleMotion” folder,
It selects 1HV000_[sutatoatsupu] motion, “opens” it clicks.
(Place CD→KHR1-HV folder →SampleMotion folder of SampleMotion folder
- Reading the motion data and verifying the setting
Process with after this there are times when the joint of the robot operates suddenly.
In order not to bring close the face, not to put the finger please consider and note sufficiently and work.







KHR-1HV page 62
“HomePos”
Double it clicks and opens the POS window.
(As for HomePos POS object it is something which changes name.)
When the foam/home button is pushed, the fuselage moves to the foam/home position on the software.
POS window
“Foam/home button”
It clicks.
If setting of foam/home position is done just with process ahead, as for numerical value “0” the empty it is the expectation which does not change.
The POS window is closed.
- Explanation of each object
“Free (All servos)”: The signal of exhaustion is sent to each servo, (POS object)
“The parameter which is measured in the instruction is set”
: Presently of the output axis of servo there is an exhaustion state position is acquired (SET object)
“HomePos”: Foam/home position on software
      (POS object)
As for this motion,
“Free (All servos)” with it puts servo in instruction possible state,
Presently you acquire position “the parameter which is measured in the instruction is set” making use of instruction function, with “HomePos” return to foam/home position slowly from present position
With we are drawn up with the flow which is said.
Because it is connected to damage and the wound etc, note.
When temporarily, “HomePos” only is played back, each joint comes to the point of with operating suddenly,
Concerning explanation and the compilation method etc of motion each object being detailed please refer to the “RCB-3 operation instruction manual”.
Because this motion data is not registered to RCB-3 yet, it is not possible to play back.
Consequently motion is registered to RCB-3.
●POS window
When POS object () double clicking such as HomePos, it is the picture which is indicated.








KHR-1HV page 63


M80 to the last is example.
Writing in whichever position, there is no problem in playback of motion, but in explanation after this book you explain with M80.
- Register of motion data
Entry button of HTH3
It clicks and opens data entry dialogue.
The place where motion is written from the pull-down menu is selected.
This time M80 is selected.
OK is clicked. If RCB-3 and PC are connected just, message of “entry success” is indicated.
The data was registered to RCB-3 now.
Consequently motion that tries is played back at the time of power source throwing.
- Setting of startup
The option button is pushed, the option window is opened.
At the time of power source throwing motion scenario is played back,
The motion which is registered first with the pull-down menu is selected. This time M80 is selected.
The option window is closed.
The value which it sets is retained in RCB-3 by closing the option window, becomes effective.
It reenters the power source of, KHR-1HV it verifies that it returns to foam/home position.






KHR-1HV page 64


When the data table button is clicked, like the right the window being indicated, it is possible to indicate the summary of all motions inside the board.
When the playback button is pushed, like the right playback number designated dialogue opens. It is possible really to execute the motion which by the fact that it appoints here, was written. When the halt button is pushed, it is possible to stop the motion which is in the midst of playing back at one time. By the fact that the stop switch is pushed, it is possible to stop the motion which is in the midst of playing back.
Execution of sample motion. The register of one “startup motion” of sample motion completed with process to ahead. Consequently it registers other sample motions and it executes.
Setting procedure
After data seat all eliminations
With HTH3 the load of motion is not superscription when it does and addition be sure to have become the specification which is read. Because of that, when only the motion where we would like to register in RCB-3 it loads, it is necessary in advance to make the data seat clear. Sample motion is read
The load button is pushed and the file is selected, or reading the motion is possible with the drug & drop of the file data.
Transferring motion to the board
You push the entry button and write in motion to optional motion number of the data table.
If motion is written just to RCB-3, message “of completion of entry” is indicated in the status bar.
Verifying motion playback with the playback button
It plays back the motion which was written to RCB-3.
It registers sample motion and it executes like the chart below.
After data seat all eliminations (*)
Sample motion is read
Transferring motion to the board
Verifying motion with the playback button
After the data seat, selecting everything with the right click all selection, with each item for the second time the right click deletion (or, in all the selective states it deletes with the DEL key of the keyboard.
Verifying the file name which by his uses, besides the fact that you open, the file which it makes indicate on the window eddy the drug & it is possible after the data seat to open by the fact that drop it does.
* Immediately after starting HTH3, as for information of motion name and the like it is not indicated in the data table. Because, those items of information increase being retained in RCB-3, it can acquire information by the fact that you push the reading button of data table dialogue. We recommend that it does when the check similar of SYNC and the starting of HTH3.
Concerning the operation of other HTH3 and RCB-3
The “RCB-3 operation instruction manual” reference.













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