KRS-4032HV ICS

Code:03041e.

Price：Open

6pcs set  No.03042  Open

<Spec>

　[11.1V]
　Max Torque: 19.8kg･cm
　Max Speed: 0.08s/60deg.

　Size: 43×32×32.5mm
            (Excluding protrusions)
            (Dimension)
　Weight: 61.2g
　Maximum operating angle: 270°(±135°)
　Gear:  Aluminum gear
　Case:  Plastic
　Gear ratio: 167.2:1
　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>
　RCB-4mini
　RCB-4HV
　RCB-3HV
　KCB-5

<Interface>
　Dual USB Adapter HS
　ICS USB Adapter HS

<Accessories>
　Connection cable G Black (400mm)  1pcs
　M3-8 Low head horn screw 1pcs

   6pcs set

　Connection cable G Black (400mm)  6pcs
　M3-8 Low head horn screw 6pcs

 

Made in Japan

Product Description

Cube-shaped 4000 Series torque type. Extensive options make for easy embedding in the robot. Special aluminum gears, ball bearings and other parts provide a high level of rigidity.

 

 

[Product Specifications]

Gears: Special aluminum gears
Comes standard with special aluminum gears that are light and extremely strong. Approximately 2 times stronger and 3 times more wear resistance than conventional gears. Also, the shaft is supported by bearings for stable operations. High Speed-type gears are embedded in KRS 4032 HV for maximum speed output of 0.08sec/60deg.

 

Case: KRS 4030 Series
The case is cube-shaped, so it is easy to embed in the robot. The robot’s silhouette looks good no matter which direction the case is oriented. The dimensions have not changed from the previous KRS-4013/4014, so they can be replaced with the new model without changing the frame. Extensive lineup of options for connecting the servo motor. Combinations of options can make it simple to embed the motor in the robot. Also, the case has been reinforced for stronger shock resistance.

 

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.

●テクニカルガイド『ICS3.5解説』

 

 

 

[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.

Items:

  RCB-4HV
  Dual USB Adapter HS
  HV Power Switch Cable

 

Control from PC

02116

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）』

 

Items:

  Dual USB Adapter HS

 

 

Control from Microcomputer board or PC board

03121_1

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』

 

 

Items:

  ICS conversion board shield
  HV Power Switch Cable

*When using with Arduino UNO
  KSB Shield 2

03149_1

　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.

 

Charger

51202

  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.

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