B3M Series

Reliability polished in the real world
Through the realization of top-end functionality from the earliest bipedal robots, KONDO has won the trust of a great many robot builders.
Carrying the pride of our brand on its shoulders, the KRS series features servos which are indispensable in the enhancement and developmentof the lineup.

Simple control

Almost all programming can be done easily
with a mouse. Equipped with a full range offunctions such as the “teaching function”
that enables programming from poses, andalso comes equipped with a large range ofsample motions.

command control via serial communication and a wide range of settings to suit the usage location and objectives, our products are also
equipped with safety functions using temperature and current limiters, providing strong support to owners.

＜Extensive Lineup＞

KRS Servo : Feature

Can be selected to match the conditions of use＜Wide Range of Options＞＜Reliable Japanese Production＞

All products are manufactured in Japan to ensure the high quality you deserve.

The wide range of optional parts ensures usability in a broad range of settings.

＜Removable Cables＞＜Change servo attributes freely using ICS＞

Replaceable cables make it easy to change cable lengths

Enjoy complete control of servos using the control board, and change servo
settings via your PC.
Torque Type

KRS-4034HV ICS

4000

No.03030 6set No.03031●Torque:41.7kg-cm●Speed:0.17sec/60°●Weight:61.2g●Size:43×32×32.5mm●Aluminum Gear

seriesSimple kit contents
This kit features the minimum requiredparts to ensure the best possible price.

Brushless servo motors equipped with non-contact magnetic encoders

Speed Type

Hi-Speed Type

Light Type

KRS-4033HV ICS

KRS-4032HV ICS

KRS-4031HV ICSNo.03028 6set No.03029●Torque:30.6kg-cm●Speed:0.12sec/60°●Weight:61.4g●Size:43×32×32.5mm●Aluminum Gear

No.03041 6set No.03042●Torque:19.8kg-cm●Speed:0.08sec/60°●Weight:60.2g●Size:43×32×32.5mm●Aluminum Gear

No.03048 6set No.03049●Torque:13.0kg-cm●Speed:0.16sec/60°●Weight:55.2g●Size:43×32×32.5mm●Aluminum Gear

Combination of brushless motors and non-contact magnetic encoders provides
unparalleled durability.
RS-485 compliant communication is adopted for even greater reliability.
When designing the B3M-SB-1040-A, the ﬁrst model of the B3M series, our aim wasto realize the ideal of maintaining powerful, elaborate motion over long periods oftime. The pride of the KONDO brand, this product is crammed with an abundanceof our know-how and experience. Providing outstanding performance in a broad
range of ﬁelds, the B3M series draws out an entirely new scope of possibility.

B3M-SB-1040-A

No.03072 5set No.03073＜Highly Reliable, Long Life Brushless Motor＞

By omitting the brush & commutator, the motor is noSerration

longer restricted by contact resistance and wear,
enabling enhanced performance to be maintainedDiﬀerential signals ensure resistance to noise, and 3Mbps
communication speed is possible. A maximum of 255 units
can be connected via the Daisy Chain serial protocol(theoretical value).

＜High Precision 12-bit Magnetic Encoder＞＜Simple Construction through Reduced
Commands＞

section. Furthermore, the 12-bitresolution promisescommand. Memory mapped IO is used to enable

over long periods.
Prolonged life is achieved because there is no contact
Connector
insertion hole

＜Reliable RS-485 Standards＞

minute control through a minimum resolution of just
0.088０ (0-4095).

Servos can be controlled with just six types ofpractical level control simply with reading and writing
data to the memory.

9.5
M2.6×13

27.0

28.8

21.0

series.0

R2

18.5

8.5

27.0
8.5

43.0

No.03083 6set No.03084 18set No.03085●Torque:67.0kg-cm●Speed:0.22sec/60°●Weight:103g●Size:51×32×39.5mm●Aluminum Gear + Stainless Gear

No.03010 6set No.03011 18set No.03012●Torque:67kg-cm●Speed:0.22sec/60°●Weight:100.8g●Size:51×32×39.5mm●Aluminum Gear

Bottom case set for double servo

Connector forconnection cable

Pack of one: No.02029
Pack of six: No.02030●Bottom case for the KRS-600 series.
Double servo for increased torque! Simple
connection set contains all necessary parts.

［Communication & Parameter Speciﬁcations］●Communication interface: RS-485 ●Communication protocol: HDX asynchronous communication, data length 8bit/start 1 bit/stop 1 bit/no parity ●Main parameters: Approx. 60 types including ID number, various control items,
various gains for PID control, etc. ●No. of ﬁxed IDs: 0 ‒ 254 (255 reserved for broadcast ID) ●Communicationspeed: Max 3Mbps, standard 1.5Mbps (guard time approx. 200us)

5.5
32.5

KRS-6003HV ICS

1.8

KRS-6003RHV ICS●Nominal voltage: 12V ●Maximum torque: 4.1Nm (42kgf/cm)] ●Maximum continuous torque: 2.5Nm ●No load
speed: 45rpm (0.22 [s/60o]) ●Reduction ratio: 362.88:1 ●Operating voltage: 6V ‒ 12V with stable power supply ●Standby current: 80mA ●Operating environment temperature: 0 ‒ 40 oC ●Weight: 88g ●Dimensions: 32 x 32 x
51mm ●Maximum operating angle: +- 320 degrees (+ 32.767 degrees) in potion control mode ●Control
resolution: 12 bit/ 1 round (0 ‒ 4095) ●Operating method: Position control, speed control

9.0

Servo horn(installed)

1.0
5.0

［Specs］

12.2

High rigidity, high accuracy and highpower servos to used as the joints toenablehuman-likewalking.
Stability is not aﬀected even whenequipped with various sensors oroptions.

17.0

φ

C1.2

Stable bipedal walking

6000

PCDφ

11.6

The broad range of options supports a wide
range of ideas, enabling you to enjoy adding
your own programming and functions.
Continue customizing your KHR series longafter purchase.

0.0

φ10.2

Expandability

6-Ｍ2.6

5.5

Simple Assembly

Assembly just takes a couple of days
and a screwdriver!

Achieving excellent evaluation in speed, power and durability, our products appear most often in bipedal robot events in Japan. In addition toOutstanding product quality and performanceprovide stability and reassurance.0

The 3rd generation KHR series - evolved for all users

KRS Series

R16

Build it, move it! Live your dreams!

B3M series optional accessory products
KRS-2572HV ICS

2500
KHR-3HV Ver.2No.03087 6set No.03088●Torque:25.0kg-cm●Speed:0.13sec/60°●Weight:47.7g●Size:41×21×30.5mm●Metal Gearseries

No.03070* 17 KRS-2552RHV ICS servo motors * Dual USB adapter HS- Lightweight aluminum alloy frame (alumite ﬁnished) - Reinforced resin molded servo arm- S-02 Bathtub sole - RCB-4HV control board- ROBO power cell HV D-type 10.8V ‒ 800mAh nickel-hydride battery- MX-201 100V AC dedicated fast-charge recharger - Manuals + software CD-ROM- Resin parts, screws and other parts.

KHR-3HVStandard assembly servo
KRS-2552R HV ICS

KRS-2552R HV ICS

KRS-2542HV ICS

No.03067 10set No.03068●Torque:14.0kg-cm●Speed:0.14sec/60°●Weight:41.5g●Size:41×21×30.5mm●Metal Gear

No.03057 10set No.03058●Torque:11kg-cm●Speed:0.12sec/60°●Weight:30.5g●Size:41×21×30.5mm●Plastic Gear

RS485USB
Serial conversion adapter

Connector set for XH cable(contains 30)●Serial conversion adapter forconnecting the B3M to a PC or
microcomputer board.

●Connector set for adapting to B3M
connectors. Recommended forself-made cables.

No.02133

Set of 4 servo cables (3m)Type A hub for XH connectors●Set of XH connection cables. Can
be cut to the required length.

●Hub for B3M compatible XH
connectors. Equipped with 5 hub
terminals and power switch.

No.02135

Connector forconnection cable

No.02134

No.02136

400mm XH connection cable
No.02144●B3M series compatible connection
cable. Twist pair cable specs forgood noise resistance.

Aluminum free horn with bearings(for B3M/KRS6000 series)
No.02137 6Set No.02138●Free horn for attaching to the bottomcase of the B3M series and KRS-6000
series. Equipped with bearing forsmooth dual-axis support.Aluminum
construction for high precision anddurability. *Bearing unit is same asKRS-6000.

Robot World!!
Birth of the KHR-1
5pcs Servos for KHR-3HV Conversion set Ver.2
No.03069●Replace dummy servos with this extension pack to enable
movements such as hip twisting, opening and closing of legs andtwisting arms that are possible with the 22-axis extended specs!
［Set Contents］ ●KRS-2552RHV x 5 ●ZH connection cable A (ZH to2004

The KHR-1 realized a price that made the dream of owninga humanoid robot a reality. In addition to the outstanding

performance, ease of assembly and easy handling, the fullrange of support oﬀered online ensured the KHR-1 launch
was nothing short of revolutionary.

ZH) 50mm, 200mm, 300mm sizes ●ZH cable B (ZH to servoconnector), 350mm, 550mm sizes ●Manual CD, etc.

KHR-2HV ReleasedAwarded the Ministry of Economy, Trade and2006

Leg Frame set type B for KHR-3HV
No.03032●This frame set provides a vastly increased range of movementfor the KHR-3HV hip joint.
[Set Contents] ●Frame set ●ZH connection cable A (ZH to ZH)

Industry Robot of the Year Award!

The KHR-2HV featured many improvements from theKHR-1 series in addition to achieving a further reduction incost, and became a familiar name in the hobby robot world.

The power was increased to 9 ‒ 12V from the conventional

200mm x 2 ●ZH connection cable B (ZH to servo connector)
300mm x 2, 500mm x 2 ●Screws ●Manual CD

6V, drawing in even more fans than its predecessor.

新 撮影KHR
History

Leg Strengthening Unit Servo(2 pcs) for KHR-3HV
No.03089

They are 2 sets which are optimum to the exchange the leg
section servo of the KHR-3HV.
It is necessary to exchange the leg sections to convert the servos
to high power.
●KRS-2572HV×2

KHR-1HV Released2007

All of our know-how acquired through the KHR-2HV waspoured into this high-voltage KHR-1 mode. Additionally, the17 axis (17 servo) joint construction of the KHR-1 andKHR-2HV was increased to a 19-axis construction. ThisHumanoid Robots Catalog 2014

improvement increased the freedom of movement, further
extending the possibilities of the hobby robot.

KHR-3HV Special Option Parts

KHR-3HV Released
This newest type combines our experience gained from the2009
KRG-4 Gyro Sensor No.03003●This sensor detects the posture of the robot
during walking and provides automatic correction
to ensure more stable walking. Two sensors are
required to detect forwards/backwards andsideways motion.
●Weight: 1.4g ●Dimensions: 22.0 x 9.0 x 9.0mm●Current consumption: Approx. 2mA ●Powervoltage: 3 ‒ 5V2mA

RAS-2C Acceleration sensorKHR-1, KHR-2HV and KHR-1HV models with cutting-edge

technology. It comprises a newly designed frame and all
servos upgraded to all-level metal gear servos, providing
new levels of powerful movement, position retention

strength and durability. Equipped with a wide range ofNo.03045

sensors and optional parts available as for conventional●2-axis acceleration sensor ●Sensor automaticallydetects whether the robot is facing up or downwhen it is getting up.
●Small, lightweight design: 22 x 13 x 11mm, 2.0g

models enables even further evolution of this superb robot.

KMR-M6 Released
The MKR-M6 contains all of the know-how from our KHR

2011
KRC-4GP

No.03074

The KRC-4GP adapter enables operation of the robot
using a compatible game controller. Bands are set
automatically which means there is no need tomanage bands using crystals.
●Accessories: ZH connection cable B (ZH to servoconnector), 100mm x 1, two-way cable II x 1 ●Compatible models: RCB-4HV, RCB-3HV, RCB-3J. The
KRI-3 is also required for use with the RCB-4HVmodel. [Important] Wireless control is not availableusing just the KRC-4GP. It must be used together
with a compatible game controller.

series humanoid robots in this new concept multi-legged
robot. Its outstanding stability demonstrates superb
walking ability even over rough terrain. A creative linkmechanism is incorporated for legs enabling complex

movements that are commonly inconceivable for legs thathave two servos. This model provides a whole new realm of
possibilities for hobby robots.

KCB-4WL No.03078●Wireless LAN control board for robots equippedwith Lantronix® PremierWaveEN. In addition toproviding communication with the RCB-4HV control
board on the KHR-3HV or the RCH-3HV control board
on the KHR-2HV/1HV, you can also enable UART
communication with existing microcomputer boards
by incorporating additional programming.

Black parts set for KHR-3HVNo.02101

Grey resin parts used on the KHR-3HV are now alsoavailable in black. Simple swap the parts to add anew sense of style to your KHR-3HV!

KONDO KAGAKU CO.,LTD.

Address:4-17-7 Higashi-Nippori. Arakawa-ku, Tokyo Japan 116-0014 / Phone:+81-3-3807-7751 / Fax:+81-3-3807-8155 / E-mail:infow@kopropo.co.jp
201408-2T