Hardware ManualSafety Infor mation
This product is an assemble kit. Almost responsibility of use is belonging to user.Please use the kit
recognizing this point.
Precautions are classified into Warning and Caution according to their bearing on safety.
Read the Warning, Cuation and Note thoroughly before attempting to assemble the kit.
Descriptions of Warning, Caution and Note

DangerWarning
CautionDanger: Applied when there s a danger of the user death or severe injury or when there is a severe
damage of property if the approved procedure is not observed.

Warning: Applied when there is a danger of the user death or being injured or when there is adamage of both the user being ijured and the equipment being damaged if the approved procedure is
not observed.
Caution: Applied when there is user being injury or there is equipment being damaged.

Following figure calls attention as each description.

Prohibit: Applied to prohibit action
Compulsory: Applied to compulsory action

DangerAssemble the kit in enough space and in healty condition.
Prohibited When there is a danger of death or severe injury by accident.

Warning
Keep away from small children
Prohibited A l m i n u m

f r a m e s

h a ss h a r p

e d g e .

Unplug NiCd battery in the abnormal case.
The battery is broken, Any liquid is leaked. Flame, smoke, smell or heat up abnormally.

It may occur ﬁre or shock.
Please call or send e-mail to our customer service.

Never break battery charger and cables.
Never scratch, remodeling, or melt the cable. Never use under stressed condition.

It may occur ﬁre or shock.
Prohibited Repair of cables can be supported by custoer service.

goto Index

goto PartsList

2

Remove battery charger from plug not in use.
To avoid short circuit.
Keep plug clean.

Never disassemble remodeling servo motors and boards.
Probihit disassemble and remodeling besides of instructions in this manual.

Wrong remodeling and disassemble may occur ﬁre or shock.
Prohibited Call customer service for repair.

Never use in wet environment
The kit consists of precision instruments.It may be in trouble.

It may occur ﬁre, short circuit or shock.
Prohibited Call customer service if the kit is moistened with water and so on.

Pay attention to robot performance and safety.
Safety of the robot performance is not guaranteed because of assemble kit. Different
perfromance may occur by misoperation. It may occur user being ijured on ﬁnger or being
broken bone.

Pay attention to short circuit of parts.
RCB-1 are made short circuit easily because of no protection. Mis-plug and short circuit
may ﬁre NiCd battery or cables.

CautionThe kit is designed for domestic use in Japan.
Prohibited

Depending on country or region, it requires procedure to use obeying to law.
Out of service for abroad.

Handle connector of battery charger and cables with care.
If the line is pulled, the breaking of a wire and short circuit may occur ﬁre or shock.

Never use the robot unstable place.
The robot may fall down on unbalance. User may be injured by hit the robot.
Prohibited
NiCd battery can be recycle. Please confirm waste of NiCd battery to
your community.Thank you for your cooperation
Ni-Cd

3

goto PartsList

goto Index

I n d e x
S a f e t y

2-3

i n f o r m a t i o n

I n d e x

4-5

I n t r o d u c t i o n

6

A b o u t

7

m a n u a l
About Manual

How to handle NiCd battery?

8-9

F i t t i n g s

10

P a r t s

L i s t11

P a r t s

L i s tI n s t a l l

12-13( f i g u r e )14-16

b r a c k e t
Remove screws from KRS-784ICS
Assemble servo bracket B
Assemble servo bracket C
Left thigh bracket
Right thigh bracket
Assemble servo bracket A
Install servo motor to body frame B

A s s e m b l e

17

b o d yAssemble body frame B
Assemble body frame F

A s s e m b l e

A r m sa n d

L e g s18
19

Assemble cross servo arms

20-21

Get servo axis position
How to attach servo hone to axis?
How to find neutral position?

A s s e m b l e

22

A r m sgoto PartsList

4

I n d e x
Assemble leg and foot parts

23

Assemble soles
Attach cross arm to left and right footA s s e m l b e

K n e ea n d

F o o t24

Attach cross arm to thigh25

A s s e m b l e

26

F i x

l e g

b o a r d s

o n

t h e

r o b o t

27

Attach PCB baseAttach boards on the PCB baseP r e p a r e

t o

28-29

f i n i s hAttach shoulder servo arms
Attach servo motor for head
Confirm assembled parts

30

F i n i s h
S e t t i n g
L i n e s

o f

f o r

R C B - 1 ( I D )s e r v om o t o r

31
32

Connection of RCB-1
Ser v o c able arr angement

C o n f i r m a t i o n

33

T r i m34

f u n c t i o nWhat is trim function?
Operation of trim
Problem of trimO r g a n i z ec a b l e s

A s s e m b l e

c a s eH o m ep o s i t i o n(1)(2)

35-36
37

s e t t i n g

38
39

F A Q

5

goto PartsList

I n t r o d u c t i o n
Thank you for buying our product.
This is reasonable humanoid robot kit for bipedal locomotion.
Please read carefully to make robot for safety.
We recommend to copy this manual harddisks on your PC or to print out to refer,
if you need.

B e f o r e

u s e

1

This product is assemble kit. It is no guarantee of performance of robot. Depending on
accuracy of assemble, it is hardly possible to answer to question of robot performance.

2

This product is made to enjoy humanoid robot for various age.
However, some of parts are hard to assemble for children because this is not a toy.
Please help them to assemble or understanding robot and robot performance.

3

Knowledge to use PC and Windows is a precondition to read this manual. It has a software to
set up and to make performance on PC with RS232C port. The software requres Windows 2000
or latest version. (It is impossible to answer about question of your PC and Windows.)

T o o l s
Please prepare PC and tools to assemble a robot which are shown in following list.

PC
OS: MicroSoft Windows2000 or XP
RS-232C Port( )CD-ROM Drive (for installation software and manual)
Printer (If user want to print out these manuals.)
USB/RS232C adapter can be used if your PC doesn't have RS-232C port. Depending on combination of PC, OS and USB, there is a casenot to work software on the PC. Please refer to software manual for details. (Information to attach USB/RS232C adapter to your PC is out of our
support service.)

Tools
Plus driver: This product has 1.7mm, 2mm and 2.6mm screws.
Nippers or Cutter: To remove unnecessesary projection.
Tweezers: It is useful to pick up a small screw.

goto Index

goto PartsList

6About ManualThis product has three manuals.

1.Kit guidance
Paper manual (1 sheet) about description of kit and introduction of manual in PDF ﬁle.

2. Hardware manualThis manual. It is in PDF.
This is description to assemble robot hardware.

3. Software manual
Software manual is PDF in CD-ROM.
This describes software to set up and to make performance of robot.

Abstract
This manual describes procedure to assemble robot hardware.

1
2
3

Romove servo case screws
Attach bracket to servo motor

This product can be made by screwed
up each parts. Howerver, procedure 5-9
uses boards to find out servo neutral

Assemble body

4 Assemble arms and legs parts
servo hone to servo
5 Attachmotor
6 Attach arms to body
7 Attach legs to body
8 Attach boards to body
9 Setting up
10 Organizing cables
11 Attach board cover to body

position. Therefore, NiCd batter y isrequired to work board. Please charge
battery before assemble.

Each screw is tightened temporary. All
screws are tightened up at the last.
If you tighten up screw at first, theposition of rest screw is not in the rightplace.

7

goto PartsList

goto Index

How to handle NiCd battery?
This product uses NiCd battery for robot power source.
NiCd battery is rechargeable. Please read carefully this manual to use it
safety.

Recharge
Battery charger is for AC100V.

Cable for NiCd battery
It is to link NiCd battery to the battery charger.
Battery Charger
Attention:
Pay attention to the anode. You can know the anode by
the color of cable. Same color cable must be attached1

Connect NiCd batter y to the batter ychargerto the same color of the another cable.

Comﬁrm connection.

5N-600 NiCd battery

2 Connect NiCd battery to cable
Power indicator LED turns on and start to charge.
Depending on remainder, empty NiCd battery
takes 12 hours to be full charge.

Danger

3 Insert the battery charger to AC100V

Warning
Both pins of terminal of connector supplies
electricity. Never ground orshort circuit.
Handle the ends appropriately.

Pay attention to NiCd battery during charge. Stop
charging battery if you found abnormal tempreture,sound or smell.

goto Index

goto PartsList

8

NiCd battery Safety Information
Profhibit
Do not following action because of danger.
Remove connector from cables or boards, replace or remodelingof cables.Do not make a short circuit of NiCd battery.
Causes severe eye injury or injury by short circuit of NiCd battery. Short circuit breaks battery or
ﬂames or leaks. Handle the ends such as pins of connector appropriately.

Keep away from other parts during carrying or in strage.
It may ﬁre or leak from the battery if you keep or bring the battery with connector, cables, and otherconductors. For example, coins, key of house or car ﬁred with the battery. Because of short circuit.

You must operate following tasks if it may occur.
A liquid leak has been found. You must wash your hands
if the liquid stuck to your skin. In the case of eye, wash
your eye carefully. After wash, you must consult a doctor.
The liquid is a toxic substance. It is not only human body but also house and furnitures.
In the case of eye injured, the person may lose his/her eyesight in the accident.

You must remove the battery from board or the battery
charger if you leave from the battery or not in use.
Do not leave it alone. It can't be handled appropriately for ﬁre or ﬂame.

NiCd battery is a toxic waste. According to the articleof your local region, recycle or waste the battery. If you
dump garbate unlawfully, it may occur fire or severe
accident or environmental pollution.

Charactoristics
NiCd has less electrical resistance comparing with other batteries. Therefore, NiCd battey can supply high electric
current. When NiCd battery is repeatedly recharged without fully discharging, it progressively loses its ability to run atfull capacity. To avoid the memory effect, we recommend fully discharging a battery before recharging it.

9

goto PartsList

goto Index

Fittings
KRS-784ICS
KRS-784ICS is the digital FET servo motor. It has been developed to drive joint of robot.
It is the basic robot servo which is inherited know-how of the servo motors for a radio control car and KRS-2346 servo
motor.

Characteristic change and position capture
It can set parameters from outside using ICS.
The motor can be ﬁxed from both side of axises.

Speciﬁcations
Size 41x35x21(mm) excluded projections
Weight 45g
Torque 8.7kg/cm (using 5N600 power cell)
Speed 0.17sec/60degree (using 5N600 power cell)
Reasonable Voltage 6V

RCB-1
RCB-1 has been developed for this robot kit as the robot control board. A board can control 12 servo
motors. It can control using all functions of our robot servo motors as KRS-784ICS (included this robot kit)
and all red versions.

Speciﬁcations
Size: 45x35(mm)Weight: 12g (1 board)
Possible number of servo motors: 12 (2 boards can be linked to control 24 servo motors.)
Reasonable Voltage: DC6V (Booster circuit keeps voltage if NiCd battery would stop discharging by low voltage.)
Scenario memory of 4 bank: You can replay 1 scenario as 200 motion replay from combination of 40 kinds ofmotion in maximum 100 poses.
Fully supported Red Version functions: Our robot servo motor "Red Version" can be fully controled such as
characteristic change, position capture and power reduction.
Teaching function: You can make performance by teaching function using Red Version.
You must use software on PC to use all functions.

goto Index

goto PartsList

10

P a r t s L i s t
Product parts list
Please refer part name to ﬁgures of parts in next pages.
P a r t s / I t e m N u m b e r
Servo motor

KRS-784ICS

Battery Charger
NiCd battery

5N600AE

CD-ROM

CD-ROM (Software and manuals)

Servo honefor KRS-784

Free honefor KRS-784

WasherM3

RCB-1 main board
Link cable RED(attached to both boards)

RCB-001 PCB baseScrew for RCB-1

Nickel 2-4 pan screw

Screw for PCB base

2-5 chrome pan screw

Screw for RCB-002 (Board case)

2.6-6 BH Nickel tapping screw

RCB-002 Board caseHR-001 Top cover
HR-002 M3-6 thumb screw
HR-003 body frame F
HR-004 body frame B
HR-005 shoulder frame
HR-006 servo bracket A
HR-007 body frame L
HR-008 hand R
HR-009 hand L
HR-010 servo bracket B
HR-011 servo arm
HR-012 foot R
HR-013 foot L
HR-014 Servo bracket C
HR-015 foot sole
Screw for hone

2.6-6BH Nickel tapping screw

Screw for body

2-4 Nickel pan screw

Nyron clip

AB-3N

Screw for Nyron crip

2-6 BH black tapping screw

Washer for Nyron crip

M2 Nickel

Expanding cable(200mm)
Expanding cable(100mm)
Link Cable (gray)Battery link cable
Extend cable for AC adaptor
Adaptor for battery charger
Interface cable ICS-PC Interface II
Nyron band

SKB-80M

KHR-1 sticker

11

bag
PartsBag G
PartsBag H
PartsBag H
PartsBag A
PartsBag B
PartsBag C
PartsBag C
PartsBag C
PartsBag D
PartsBag D
PartsBag D
PartsBag E
PartsBag E
PartsBag E
PartsBag F-

goto PartsList

amount
17
1
1
1
17
17
34
2
1
1
8
5
4
1
1
1
1
1
2
2
1
1
1
6
14
1
1
2
2
35
130
14
14
14
2
6
1
1
1
1
1
5
1

goto Index

2-6 BH Black tapping screw

P a r t s

L i s tM2 washer
2.6-6 BH Nickel tapping screw

These parts consists of the product.
Please conﬁrm number of each part.

M3 washer
2-4 Nickel pan screw
2-5 Chrome pan screw

some of screws are added in bags forspare.

HR-011 servo arm

M3-6 thumb screw

Nyron crip
Nyron band

HR-005 shoulder frame

HR-003 body frame F
HR-006 servo bracket A
HR-010 servo bracket B
HR-004 body frame B

CD-ROM

HR-012 foot R

HR-013 foot L

KHR-1 sticker

Servo motor
KRS-784ICS
Link cable(red)Link cable (gray)

ICS-PC Interface II

It is attached to boards.

Battery link cable

RCB-1 main boards

goto Index

goto PartsList

12

Battery Charger

Adapter forbattery charger

Expanded
cable forbattery

Board case
PCB base

NiCd(5N600AE)

HR-008 Hand R

HR-009 Hand L

HR-001 Top cover
HR-015 foot sole

HR-007 body frame L
HR-014Servo bracket C

Expanded cable forservo motor (100mm) 6

Free hone
Servo hone

Expanded cable for servo
motor (200mm)
2

13

goto PartsList

goto Index

Install bracket

First of all, servo motors are attached to brackets.

Remove screws from KRS-784ICS
Bracket is ﬁxed to a servo motor by these removed
screws. Screws are removed from 16 servo motors.

Servo motor
KRS-784ICS
16

1.7-32 black screw

64 screws are removed from servo
motor cases.

Assemble ser vo bracket B
Attach bracket B to KRS-784ICS with removed screws.

Servo motor
KRS-784ICS
6

HR-010 servo bracket B

Caution: screws are tightened
appropriately to avoid broken cases.

6

1.7-32 black screw

6 units are made in left ﬁgure.

24

Assemble ser vo bracket C
Each different direction servo
bracket C is attached to each servo
motor.

Servo motor
KRS-784ICS
2

Cable from the servo motor ispassed the bracket through thehole.

HR-014 servo bracket C
2Left

1.7-32 black screw
8

goto Index

goto PartsList

14

Right

Attach bracket

These two parts are used for thigh.

Left thigh bracket
Servo motor
KRS-784ICS
2

2-4 Nickel pan screw

HR-012 Foot R
1
2-4 Nickel pan screw

At first, all screws are tightened
temporary for plural screws on
the part. All screws are tightened
up after each screw hole placedwith screw.

2-4 Nickel pan screw2
1.7-32 black screw
8

Right thigh bracket
Servo motor
KRS-784ICS
2

HR-013 Foot L
1

2-4 Nickel pan screw

2-4 Nickel pan screw2
1.7-3 black screw
2-4 Nickel pan screw

8

15

goto PartsList

goto Index

Assemble brackets
A s s e m b l e s e r vo b r a c ke t A
Servo motor
KRS-784ICS
2

Remove projection of servo case to attach
to servo bracket A.If it remains, the robot
can't have battery in the body.

HR-006 Servo bracket A

Servo bracket A are installed to body. 2 same units are
made in this procedure.

2

1.7-32 black screw

8

Install ser vo motor to body frame B
Two servo motors are installed to body frame B.

Servo motor
KRS-784ICS
2

It is difficult to recognize suface of body frame B. Because of a symmetricalshape.Please select smooth surface for front.

HR-004 body frame B
1

1.7-32 black screw

1.7-32 black screw
8

goto Index

goto PartsList

16

Assemble body

Body (torso) parts.
Body frame and part units are attached each other.

Assemble body frame B
Bracket A unit
2

Servo motor units which are attached to brackets
are installed to body frame B.

HR-005 shoulder frame2

HR-007 body frame L
1
At first, all screws are tightened
temporary for plural screws on
the part. All screws are tightened
up after each screw hole placedwith screw.

2-4 Nickel pan screw
10

Assemble body frame F
Cover body frame B unit with body frame F.

HR-003 body frame F
1

Surface with projection of this holeis reverse side of body frame F.

2-4 Nickel pan screw
10

17

goto PartsList

goto Index

Assemble Arms and Legs
Install hand parts
Hand parts are installed to KRS-784ICS and servo bracket B unit.
These parts are left and right hand.

HR-008 hand L
1

HR-008 hand R
1

Servo bracket unit B
2

2-4 Nickel pan screw
6

Assemble ser vo ar ms
Servo arm is attached to KRS-784ICS and servo bracket B unit.
Four same units are made for arms and legs.

HR-011 Servo arm
4Servo bracket unit B
42-4 nickel pan screw

Pay attention to right direction of
servo arm and servo bracket unit.

16

goto Index

goto PartsList

18

Assemble cross servo arms
Assemble ser vo ar ms
Two different direction units are assembled here. Twosets of two kinds of parts are made here.
HR-011 servo arm

For left leg

8Assemble two sets
2-4 Nickel pan screw
16

Pay attention: watch screw hole to attach two
servo arms.
Wrong assembled parts effect to locomotion.

At first, all screws are tightened
temporary for plural screws on
the part. All screws are tightened
up after each screw hole placedwith screw.

For right leg

Assemble two sets

19

goto PartsList

goto IndexGet servo axis position
How to attach servo hone to axis?
Servo motor axis and other parts are ﬁxed by a servo hone. Servo motor rotates limited
degree (about 180 degree.) It is important to make robot performance that it is foundout better axis position on the servo case. Control board RCB-1 output neutral position
signal at initial setting. Using this function, we can found neutral axis position easily.

If RCB-1 is used once, it is set up another position settings. In thiscase, please initialize RCB-1 using PC software. If RCB-1 output
different output, it is difﬁcult to make performance with the robot.

How to set axis position?
Servo hone must be attached after servo axis setting on neutral position. And also, thesame procedure is required to ﬁx servo hone and servo arm.
Procedure of board and servo motor connection is described here.
In this step, it is not required that board is on the robot. servo motors, NiCd battery
and RCB-1 are prepared.
put RCB-1 on an insulator such as vinyl to avoid
short circuit.

All swiches on two
boar ds must be set toturn off (down direction)

Don't remove link cable. This cable is attached to two board
from shipment.

1 Attach servo motor cable to RCB-1
In this example, ser vo motor cable will be
attached to connector on the right side of theboard. Please pay attention connector position.
Because other side connector output different
anode.

goto Index

goto PartsList

20

Put black cableon the outsideof the board.

How to ﬁnd neutral position?
Plug NiCd battery to RCB-1

2 NiCd battery has already charged.

Switch position "POWER ON"

3 Turn on switch on RCB-1 which is plugged NiCd battery.
Servo axis rotates to neutral position. (Initialized position)

4
2.6-6 tapping screw

Put servo hone to axis to find place to horizontal/verticaldegree such as left ﬁgure.
Servo axis and servo hone have gear. Rotation of servo hone can be shown better
place to up to gear. If best position can not be found, servo hone can be put to better
position.
All (17) servo axises must be attached servo hone. After servo hone attached to axis, ﬁx
both of them using 2.6-6 tapping screw with M3 washer.

M3 washer

The play in the gear and servo hone is least. If the better place is found, servo honemust be put to gear strongly.
Tapping screw tightened up servo hone and axis. However, servo axis
may break if screw tightened up too much.

5 Free hone attached to other side of the servo motor.
14 servo motors requires to put free hone.
Pay attention to surface of free hone. There isdirection.

2.6-6 tapping screw
M3 washer

Top surface of free hone has step in thecenter hole. Free hone is also fixed with
2.6-6 tapping screw with M3 washer.

21

goto PartsList

goto Index

Assemble Arms
Assemble Arms
Hand L unit

2-4 screw are used to fix
servo hone.

1

Hand R unit

1

Bracket B+servo arm unit
(already assembled)2

2-4 Nickel pan screw

Already assembled hand units andser vo ar ms are installed in thisprocedure.In this procedure, servo
axis must be to set up neutral
position using RCB-1 boar d.
A t t a ch e d a r m s e t t i n g c o r r e c t
neutral position shows a streightarm following ﬁgure.
1 screw is used to fix frew hone. Anotherscrew hole is used to ﬁx with nyron crip toorganize lines.(but we recommend to put
screw temporary.)

Assemble right arm as same as left hand.

6

goto Index

goto PartsList

22

Assemble leg and foot parts
Assemble soles
Right bracket C unit
1

L e f t f i g u r e s h ow s r i g h t s o l eassemble procedure. Left is thesame procedure, but symmetory.
HR-015 foot sole is attached
to ser vo bracket C unit forleft or right foot.

Left bracket C unit
1

foot sole2

2-4 Nickel pan screw
8

Finished left foot.

Attach cross arm to left and right footCross arm parts are attached to footunits.RCB-1 is used to get neutr al
position of servo axis in this procedure.

Right foot unit
1 screw is used to fix ser vo hone.
Another screw hole is used to ﬁx withnyron crip to organize lines.(but werecommend to put screw temporary.)

Left foot unit
Three holes canbe seen (correct
position)

Left

This is the position to fix servo
hone and cross arm. (From view
point of servo hone)

Cross arm
1 for left

A s s e m b l e r i g h t fo o t a s s a m e
procedure

1 for right

Pay attention to cross ar m
direction. Free hone is set infront of this ﬁgure.

2-4 Nickel pan screw
623

goto PartsList

goto Index

Assemble Knee and Foot
Assemble Knee and Foot
Right foot unit

1

These parts are used for knee and foot.
Please get neutral position using
RCB-1 in this procedure.

Left foot unit

1

2 screws are used to fix freehone. A screw is used to fix
servo hone. Other holes ofservo hone are used to ﬁx withnyron crip.(We recommend toﬁx them temporary.)

Bracket B + Servo arm(already assembled)2

2-4 Nickel pan screw

Pay attention to direction to
attach ser vo hone and free
hone.

6

goto Index

goto PartsList

24

Attach cross arm to thigh
Cross arm

Right

1 for left

Attach cross arm to thigh unit.
Pay attention to direction of cross arm.

1 for right

RCB-1 is used to get neutral
position of servo axis.

2 screws are used for free hone. Servohone is fixed with 1 screw but otherholes used for screw with nyron crip. We
recommend to put two screws on servo
hone temporary.

Left thigh unit

Left
Right thigh unit

Correct direction of cross arm shows
screw cap on the cross arm such as
following ﬁgure.Perpendicular side is forfree hone.
screw cap
This is the correct position.

2-4 Nickel pan screw
6

Parpendicular side is forfree hone.

25

goto PartsList

goto Index

Assemble leg
F i n i s h e dl e gThighs and knees are jointed.

Right leg
Using RCB-1, servo axis must be neutral
position to ﬁx servo hone.

Left thigh2 screws are used to fix free hone. A
screw is used to fix servo hone. Other
holes of servo hone are used to ﬁx withnyron crip.(But we recommend to fix
them temporary.)

Left knee

Right thighRight knee

Left leg

2-4 Nickel pan screw
6

goto Index

goto PartsList

26

Fix boards on the robot
Attach PCB base
2-5 chrome pan screw is used to fix this part. Pay attention toscrew.

2-5 chrome pan screw isyellowish screw. 2-4 screw
which is used for otherassemble is silver. They are
different length and color.

RCB base
1

Body (torso)

2-5 chrome pan screw
5

Attach boards on the PCB base
Body with PCB base

RCB-1 (two for 1 set)

2-4 Nickel pan screw
8

27

goto PartsList

goto Index

Prepare to ﬁnish
Attach shoulder ser vo ar ms
Assembled body

Using RCB-1, servo axis must
be on neutral position. Servo
arm is installed to the servo
hone at neutral position.

HR-011 servo arm
2

Make left side as same procedure.

2-4 Nickel pan screw
8

Attach ser vo motor for head
Servo motor
KRS-784ICS

Servo motor

1

This is the last servo motor
which screws are notremoved at ﬁrst procedure

Using RCB-1, servo axis must
be on neutral position. Servo
arm is installed to the servo
hone at neutral position.

HR-001 top cover1

2-4 Nickel pan screw
4

goto Index

goto PartsList

28

Prepare to ﬁnish
Confirm assembled parts

Before ﬁnish, conﬁrm direction and posture of all parts which are assembled.
Especially, posture and direction of legs and arms are important to make locomotion.

Pay attention to direction andassembled position of crossarms and servo arms.

29

goto PartsList

goto Index

FinishF i n i s h
2-4 Nickel pan screw
12

Arms and legs are installed toassembled torso.Ser vo axises
are set up neutral position using
RCB-1.

A screw is used to fix free hone. Other holes ofservo hone are used to ﬁx with nyron crip.(But werecommend to ﬁx them temporary.)

A screw is used to fix free hone. Other holes ofservo hone are used to ﬁx with nyron crip.(But werecommend to ﬁx them temporary.)

M3-6 Thumb screwThis space is for NiCd battery.

goto Index

goto PartsList

30

Setting of RCB-1 (ID) ID means identiﬁer of board.
ID setting to RCB-1

Two RCB-1 are used for this kit. Therefore, different ID isrequired to distinguish each board. At shipment, both of them
are set ID 0. One of boards must be set ID 1.

Cables are plugged shown in right ﬁgure.

ICS-PC Interface IIplug NiCd battery

Pay attention to short circuitwith the boards. Because
power is supplied to boards inthis procedure.

Connect to RS-232C
port on PC

plug ICS-PC interface
II to the right bottom
connector on theboard.

Start software on PC. Then turn on the board.

Set ID on software.
Cliick this icon (option
setting)

Set COM por t numberof your PC. Initial port
number is "OFF".

"Power ON" position of switches

Target board is the ICS-PC
interface II cable plugged board.
Because two RCB-1 are linked
with only red cable.
In the software, it describesthat "PC and RCB-1 must beconnected 1 on 1 to set ID." This
description is for the boards on the
robot linked with other cables.

Get ID

Write ID

SET Write ID 1
Change ValueAt last, ID setting is sent to RCB-1 when thisbutton is pushed.(write button)
After setting, close software and remove NiCd battery from board.

31

goto PartsList

goto Index

Lines for servo motor
Connection of RCB-1

Attach expanding
cable for battery.
Connect them using link cable.

Never make wrong insert connector
position and direction.
white
Warining:
red
It may occur to ﬁre or to break boards b l a c k
if you mistake to install ca bles.
Please conﬁrm carefully before poweron.

Pay attention:
The direction of three lines toinstallto the board, black line mustbe put on the outside of the board.
Left and right side would be asymmetrical arrangement.

white
red
black

white
red
black

Do not r emove this ca blefrom boards.
Gray ends cable is used here.

These switch and connector will be
used for option controller.

Servo cable arrangement

Insert ICS-PC Interface II to connect PC.

ID 0

ID 1

CH1
CH2
CH3
CH4
CH5
CH6

CH means channel.

white
red
black

CH7
CH8
CH9
CH10
CH11
CH12

CH13
CH14
CH15
CH16
CH17
CH18

CH19
CH20
CH21
CH22
CH23
CH24

RCB-1 can control upto 12 servo motors. This
product uses 17 servo motors. Connectors not to
use are shown by gray.
Pay attention:
CH number and robot servo motor number
must be refered using following ﬁgure.

Length of ser vo motor ca ble is the same.
Extended cable are used for far servo motors.
CH3,9,15,21 use 10cm extended cable, CH17,23
use 20cm extended cable.

CH6

CH9

CH8

Please switch turn on after confirmation of cables. In
this step, pay attention short length of cable.(In thisconﬁrmation, it is not required to connect with PC.)
It is right initial posture if the robot shows posture in theprevious page.
Please handle robot in air to confirm all servo motor position.
Because robot joints must be free from force from floor andweight of itself.

CH7

CH1

CH19

CH13

CH20

CH14

CH21

CH15

CH22

CH16

You can adjust little gap of degree of axis using trim function. Trim function is
described later. But large gap must be ﬁxed in this step.

Hint!
This product includes sticker to put number (1-24).
They are useful to display the servo motor number.

goto Index

goto PartsList

32

CH23

CH17

CH2

CH3

C o n f i r m a t i o n
Conﬁrmation of RCB-1 RCB-1 and channel of servo motor can be conﬁrmed using software on PC.
1

Plug ICS-PC interface II to RCB-1 and PC. Start software.

2

Turn on the board and Set "SYNC" to ON in the software.

3

Conﬁrm channel and servo motor position using slider of channel on the software.
The slider controls the same channel number of servo motor appropriately if thesetting is completed.

Warning:
Servo motor can be controlled by slider directly. It may harmor injury if big value is applied to servo motor. Because therobot moves rapidly.

Conﬁrm channel of servo motor and position.
33

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T r i m

f u n c t i o nWhat is trim function?
Servo motor axis is ﬁxed by a servo hone using RCB-1 function to getneutral position. In this step, little gap of degree may occur.
Espcially, it causes large gap by difference degree of servo motors on
the groin. Therefore, RCB-1 and software on PC can adjest little gap.
This function is called "trim".

Operation of trim

Start software and connect to RCB-1. Then RCB-1 are turned on.

1

Open "Ootion setting"
Click this icon to open "Option setting"2

Click "get" button to get trim value from
RCB-1 if they are set before. Each value
can be controlled to each servo motor aixs
on the channel.

"get" operation must be operated at once.
Trim value must be less value (within from -10 to 10.)
If greater value must be input here, you must take the robot apart andassemble again.
"Initialize" button set all channels to be initialized value "0".

3

After adjustment, close option setting window.
All trim values are sent to RCB-1 at window closing.

Problem of trim

At ﬁrst glance,trim function seems to be useful. However, it has effectto limit degree of rotation of servo motor axis if large value was set.
Refer to left ﬁgure. The range of servo motor axis rotates 180
degree.The range shows each 90 degree from center position.
Trim value is minus from this degree which is adjusted.
Therefore, maximum degree is limited if bigger value is set totrim.

goto Index

goto PartsList

34

O r g a n i z ec a b l e s ( 1 )Each cable of servo motor sometimes hold servo motor performance. We recommend toorganize cables with nyron crip or nyron band.

2-6 BH black tapping
14
M2 washer

14

Nyron crip
14

Hint
Appropriate length of cable should be remained if
robot sits or stretches.

Nyron band
535

goto PartsList

goto Index

O r g a n i z ec a b l e s ( 2 )This is the example of organizing cables.
Nyron crip which bands cables is ﬁxed to servo hone or free hone with M2 washer and 2-6
tapping screw. Nyron crip can be attached anywhere if you want.

The product include sticker. "Number" sticker is useful to know
servo motor number to put each joint. Other sticker can be put
anywhere on the robot.

goto Index

goto PartsList

36

Assemble of caseC u t t i n go f

b o a r dc a s eBoard case covers boards and cables.

Board case requires cut to put to the robot for cable holes.

Using cutter or scissors to remove these regions.

Cutting regions are gray zone.

remove sheet to protect scratch
from the board case.

Attach board case

2.6-6 BH tapping screws are used toattach the board case to the robot withfour holes. Holes can be opened by adrill.

Servo motor cables
are passed fromthis hole.

Warning:
To avoid short circuit, the board casemust be attached when the robot
works.
37

goto PartsList

goto Index

H o m ep o s i t i o n

s e t t i n g

In this step, robot can stand alone if power is supplied.
However, the robot is just standing.
At ﬁrst, we set basement posture to the robot called "home position."

What is home position?
Home position is the basement posture. The posture is standing position. This posture is the fundamental form
for stable performance. It is very important to set home position correctly.
It is important that the center of gravity must be put correct place. If the center of gravity is on left or right side,
servo motor keeps position using larger torque. The electricity of battery is being waste.

How to set up home position?
RCB-1 has function to keep home position. Home position can be set up using software on PC.
Please refer details to software manual.

Initial posutre is shown in right figure. On the other hand, following
posture shows home position setting. Difference between initial postureand home position are
1. position of shoulders,
2. position of thighs(other servo axis must be adjusted.) At initial posture, the center ofgravity is put on back side.But home position set the center of gravity
to be center of body. It realizes minimum load for servo motors to saveelectricity.

Initial postureHome position

goto Index

goto PartsList

38

FAQ
Q Servo motors make noise if power is supplied.
It is normal performance. In the case of robot, each servo motor works to keep position even if the robot is just standing.

Q How long the robot works with NiCd battery?
Depending on charge level of NiCd battery and performance, full charge battery can work the robot 20-30 minutes. Of
cause, various performance need much electricity.

Q Servo motor doesn't work but RCB-1 LED turned on.
It shows less NiCd battery
RCB-1 can work in less electricity because it has a booster on the board. RCB-1 can work at less electricity if the servo
motor can't work.

Q Can other battery use for the robot?
Servo motor KRS-784ICS and RCB-1 requires DC 6V. The dry cell battery can't supply enough electricity to servo motor.
The robot performance requires to use the NiCd battery in precondition.

Q Can the robot perform with DC power source?
If the power source can supply DC 6V, it can perform on seveal A. But pay attention to followings:●Servo motor heat up if the robot works for long time. We recommend to work the robot within 30 mins. Stop servo motors
which is heat up the robot even if the time is less than 30 mins.
●Blance of the robot is different from "including NiCd battery". Motion data sometimes requires to adjust weight and blanceof NiCd battery.

39

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Sep.2004 © KONDO KAGAKU CO.,LTD.

Ver1.0