6pcs set  No.03118  Open


 Max Torque: 14.0kg・cm
 Max Speed: 0.14s/60deg.

 Size: 41×21×30.5mm
            (Excluding protrusions)
 Weight: 41.5g
 Maximum operating angle: 270°(±135°)
 Gear:  Metal gear
 Case:  Plastic
 Gear ratio: 312.4:1
 Power-supply voltage: HV(9-12V)
 Cable: Detachable
 Connector: Servo connector

 Communication standard: ICS3.5 (Serial/PWM)
 Baud rate: 115200/625000/1250000bps
 Initial setting: ID0 / BR115200
 Signal level: TTL
 Rotation mode: Possible

<Supported control board>

 Dual USB Adapter HS
 ICS USB Adapter HS

   ZH connection cable A (300mm)  1pcs
   ZH connection cable B (300mm)  1pcs
   M3-8 Low head screw for servo horn  1pcs

   6pcs set
   ZH connection cable A (300mm)  6pcs
   ZH connection cable B (300mm)  6pcs
   M3-8 Low head screw for servo horn  6pcs


Made in Japan

Product Description

KHR-3HV Ver.2 standard servo motor. All the gears are metal and the final gear uses bearings, so it is highly rigid for smooth walking movements and operations with loads.



[Product Specifications]

Gears: Metal gears
All the gears are metal for stable robot operations. The shaft is supported by bearings, which also helps to stabilize operations.


Case: KRS 2500 Series
Compact KRS-2500 Series case is used for a sharp, clean robot silhouette. Also, surface variations are minimal, so the frame design is simplified. Connectors are mounted in two places on the bottom case side.


Communication specifications: ICS3.5
Communication uses ICS3.5, which allows you to select between serial and PWM. Servo motor communication can be changed based on the microcomputer board used for control.
Also, in serial mode, with serial and PWM, IDs can be assigned to the servo motors, so multi-drop connection in which the servo motors are connected is possible. A red LED light indicating the communication status is mounted on the main unit. ICS3.5 allows you to change various items like the servo motor’s operating speed and retention characteristics. For details, refer to the following.
* Servo motor settings require Dual USB Adaptor HS or ICS USB Adaptor HS.





[Control method]

Control from the control board "RCB-4HV"

You can easily control the servo by combining RCB-4 HV with Motion Creation Software HeartToHeart 4.

RCB-4HV has 2 lines for servo control, 10 ports for analog sensor and 10 ports for digital I/O terminal are prepared.

Using HeartToHeart4, you can create motion and adjust the robot. Motion can be created by arranging controls (panels) with various functions. You can create a simple "greeting" motion, etc. You can also create complex motions such as sensors and wireless controller buttons.

01 05 03

By assigning ID numbers to each servo and making multi-drop connection, devices are connected and communicate.


  Dual USB Adapter HS
  HV Power Switch Cable


Control from PC


By using the Dual USB adapter HS you can control the servo directly from the PC.Please send the command referring to the published "Software manual (command reference)".Communication methods and samples are also published, so please see the following article for details.

 『シリアルサーボ制御方法(4) PCから直接制御編(その1)』

 『シリアルサーボ制御方法(5) PCから直接制御編(その2)』



  Dual USB Adapter HS



Control from Microcomputer board or PC board


ICS devices such as KRS servo can be controlled from the UART terminal of the commercial board. ICS has the Tx (transmit) and Rx (receive) signal lines of the ICS device are integrated, it was necessary to prepare the circuit when connecting to the UART terminal. Circuits necessary for communication are prepared on this conversion board. You can communicate with the ICS device simply by connecting each terminal to the board. Please refer to "Software manual (command reference)" about communication method and command.

 『シリアルサーボ制御方法(2) ICS編』

 『シリアルサーボ制御方法(3) ソフト編』




  ICS conversion board shield
  HV Power Switch Cable

*When using with Arduino UNO
  KSB Shield 2


 We released a library for Arduino. Please download it from the link below.

 『ICS Library for Arduino ver.2』


 For detailed usage of the Arduino library, please see this article.

 『ICS変換基板の使用方法(1) 準備編』

 『ICS変換基板の使用方法(2) サーボ制御編』

 『ICS Library for Arduino のver.1.0とver2.0の違いについて』



Serial Manager

You can set the servo ID and communication speed by using the ICS 3.5 / 3.6 Manager software. Various parameters such as "stretch" and "speed" can be changed.

  ICS3.5/3.6 Manager software R1.1.0.0



[Power supply]

For HV servo, please use 3 cell (9.9 V) Lithium Ferrite battery(Li-Fe).


  ROBO Power Cell F3-850 type (Li-Fe)

  ROBO Power Cell F3-1450 type (Li-Fe)

  ROBO Power Cell F3-2100 type (Li-Fe)

*Handling the battery requires caution.Please read this article before using.




  BX-20LF(only for Li-Fe) 


AC Adapter

For robots with fewer servos mounted like arm type, you can use the following AC adapter. Be careful of the current capacity when using it.

  AC Adapter(12V5A)


Information on KRS servo is prepared collectively in "ICS · KRS Servo Development Material". In addition, we also have various information on robots in "Technical Guide", so please refer to it.