R Kelly was released on bail on Monday, after having spent the weekend in custody as confidants tried to raise $100,000 bail to get him released.

Earlier on Monday, Kelly appeared in a Chicago courtroom wearing an orange jail jumpsuit for a hearing in his sexual abuse case.

Kelly was arrested late on Friday on 10 counts of aggravated sexual abuse involving four victims, three of whom were minors. A judge on Saturday set bond at $1m, requiring the Grammy-winning singer to pay 10%.

At Monday’s hearing, Kelly’s case was assigned to the judge who will preside over the trial, the Cook county associate judge Lawrence Flood. Kelly’s attorney entered a not-guilty plea on behalf of his client.

The attorney, Steve Greenberg, said confidants were making arrangements to pay the $100,000 bail needed to free Kelly as he awaits trial. Among the conditions of release is that Kelly have no contact with females younger than 18.

The attorney Michael Avenatti said his legal team would give prosecutors a second video on Monday that he alleges shows Kelly sexually assaulting a minor. Avenatti has said he recently gave prosecutors video evidence of the singer having sex with an underage girl.

Meanwhile, one woman who says Kelly sexually abused her, beginning when she was 17 years old, blasted statements by the singer’s attorney that Kelly’s accusers are lying.

Lizette Martinez, who was featured in the documentary Surviving R Kelly, said at a news conference on Monday in Los Angeles that Kelly was a “predator” who “must be held accountable for the lives he’s ruined”.

Martinez said it was “irresponsible” for Greenberg to call Kelly’s accusers liars. She said the only person lying was Kelly and that he had done so “for more than 20 years”.

Records on the Cook county sheriff’s website said Kelly was being held in division eight of the 7,000-inmate county jail, where the medical unit is located but also where inmates considered at risk from the general inmate population are held.

In arguing for bail within the singer’s ability to pay, Greenberg told the judge Kelly was not wealthy despite decades of success creating hit songs.

Kelly was charged in a grand jury indictment unsealed on Friday with 10 counts of aggravated sexual abuse involving four victims, three of whom were minors. Greenberg said a judge will assign a trial judge to the case at a brief Monday morning court session which Kelly is expected to attend.

Details of the allegations against Kelly emerged Saturday when the prosecution released four detailed documents – one for each accuser – outlining the basis for the charges. The allegations date back as far as 1998 and span more than a decade.

At the bond hearing, Greenberg said his client was not a flight risk. He told the judge: “Contrary to the song, Mr Kelly doesn’t like to fly.” One of Kelly’s best-known hits is I Believe I Can Fly.

After the hearing, Greenberg told reporters Kelly did not force anyone to have sex. “He’s a rock star. He doesn’t have to have nonconsensual sex,” Greenberg said.

The judge ordered Kelly to surrender his passport. Kelly scheduled concerts in Germany and the Netherlands in April despite the legal issues looming over him but Greenberg denied any tour was planned.

The singer, whose legal name is Robert Kelly, has been trailed for decades by allegations that he violated underage girls and women and held some as virtual slaves. Kelly has consistently denied any sexual misconduct.

In 2008, a jury acquitted Kelly of charges over child abuse images that centered on a video prosecutors said showed him having sex with a girl as young as 13.

He and the young woman allegedly seen with him denied they were in the 27-minute video, even though the picture quality was good and witnesses testified it was them. She did not take the stand. Kelly could have been sentenced to 15 years in prison.

Charging Kelly now for actions that occurred in the same time frame as the allegations from the 2008 trial suggests accusers are willing to testify.

Each count of the new charges carries up to seven years in prison and the sentences could be served consecutively, making it possible for Kelly to receive up to 70 years. Probation is also an option.