Dobot Magician Go DT-AC-GO4WD-01E User manual

Shenzhen Yuejiang Technology Co., Ltd.
Dobot Magician Go
User Guide
User Guide
Issue: V1.0
Date: 2021-09-14

Dobot Magician Go User Guide
Issue V1.0 (2021-09-14)User Guide Copyright © Yuejiang Technology Co., Ltd.
i
Copyright © Shenzhen Yuejiang Technology Co., Ltd. 2021. All rights reserved.
No part of this document may be reproduced or transmitted in any form or by any means
without the prior written consent of Yuejiang Technology Co., Ltd..
Disclaimer
To the maximum extent permitted by applicable law, the products described (including its
hardware, software, and firmware, etc.) in this document are provided AS IS, which may have flaws,
errors or faults. Yuejiang makes no warranties of any kind, express or implied, including but not
limited to, merchantability, satisfaction of quality, fitness for a particular purpose and non-
infringement of third party rights. In no event will Yuejiang be liable for any special, incidental,
consequential or indirect damages resulting from the use of our products and documents.
Before using our product, please thoroughly read and understand the contents of this document
and related technical documents that are published online, to ensure that the robot is used on the
premise of fully understanding the robot and related knowledge. Please use this document with
technical guidance from professionals. Even if follow this document or any other related
instructions, Damages or losses will be happening in the using process, Dobot shall not be
considered as a guarantee regarding all security information contained in this document.
The user has the responsibility to make sure following the relevant practical laws and
regulations of the country, in order that there is no significant danger in the use of the robot.
Shenzhen Yuejiang Technology Co., Ltd.
Address: Address: Floor 9-10, Building 2, Chongwen Garden, Nanshan iPark, Liuxian Blvd,
Nanshan District, Shenzhen, Guangdong Province, China
Website: www.dobot.cc

Dobot Magician Go User Guide
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Preface
Purpose
This manual introduces the functions, technical specifications and operation of Dobot Magician
Go (Hereinafter referred to as Magician Go), which is convenient for users to understand and use
Magician Go.
Intended Audience
This document is intended for:
Customer
Sales Engineer
Installation and Commissioning Engineer
Technical Support Engineer
Change History
Date
Change Description
2021/09/14
The First release
Symbol Conventions
The symbols that may be founded in this document are defined as follows.
Symbol
Description
DANGER
Indicates a hazard with a high level of risk which, if not avoided, could result in death or
serious injury
WARNING
Indicates a hazard with a medium level or low level of risk which, if not avoided, could
result in minor or moderate injury, robot damage
NOTICE
Indicates a potentially hazardous situation which, if not avoided, can result in equipment
damage, data loss, or unanticipated result
NOTE
Provides additional information to emphasize or supplement important points in the main
text

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Contents
Safety Precautions....................................................................................................1
General security ................................................................................................................1
Power Box security...........................................................................................................2
Introduction..............................................................................................................3
Overview...........................................................................................................................3
Description on parts of Magician Go................................................................................3
Magic Box ...........................................................................................................5
Power Box ...........................................................................................................7
Mecanum wheels .................................................................................................8
Status indicator LEDs..........................................................................................9
AI camera ..........................................................................................................10
Technical specifications ..................................................................................................12
Technical parameters .........................................................................................12
Dimensions........................................................................................................13
Wiring .....................................................................................................................15
Wiring of Magic Box ......................................................................................................15
Wiring of Magician Lite..................................................................................................17
Wiring of arm AI camera ................................................................................................18
Operation................................................................................................................21
Control mode ..................................................................................................................21
Remote control mode ........................................................................................21
Bluetooth control mode .....................................................................................24
Wired control mode ...........................................................................................26
Script control mode ...........................................................................................27
DobotLab operation ........................................................................................................28
Introduction on DobotLab .................................................................................28
Instruction on DobotBlock Lab .........................................................................29
Instruction on Python Lab .................................................................................34
Arm camera calibration .....................................................................................39
About Map..............................................................................................................45
Introduction on map and accessories ..............................................................................45
Reset................................................................................................................................51
Demo...............................................................................................................................52

Dobot Magician Go User Guide
Issue V1.0 (2021-09-14)User Guide Copyright © Yuejiang Technology Co., Ltd.
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Safety Precautions
This section describes the security precautions that should be noticed when you use this
product. Please read this document carefully before using the robot arm for the first time. This
product needs to be used in an environment meeting design specification. You cannot remold the
product without authorization, otherwise, it could lead to product failure, and even personal injury,
electric shock, fire, etc. The installation personnel, operators, teaching personnel, and programmers
must read this document carefully and use the robot arm strictly according to the regulations of this
document.
General security
DANGER
The robot arm is electrical equipment. Non-professional technicians cannot modify the
wire, otherwise, it may cause equipment damage or personal injury.
Please follow the following security rules when using Magician Go.
You should comply with local laws and regulations when operating Magician Go.
The security precautions in this document are only supplemental to local laws and
regulations.
The DANGER, WARNING, and NOTICE marks in this document are only
supplemental to the security precautions.
Please use Magician Go within the specified environment scope. Exceeding the
specifications and load conditions will shorten the service life of the product and even
damage the equipment.
Before operating and maintaining Magician Go, the personnel responsible for the
installation, operation, and maintenance must be trained to understand the various security
precautions and to master the correct methods of operation and maintenance.
Highly corrosive cleaning is not suited to cleaning Magician Go. The anodized
components are not suitable for immersion cleaning.
People cannot repair and disassemble Magician Go without professional training. If
there is a problem with the product, please contact Dobot technical support engineer in
time.
Please comply with the relevant laws to deal with the product which is scrapped, and
protect the environment.
There are small parts in the packing box, Please keep them away from children to
avoid any accidents.
DO NOT let children play with Magician Go alone. All processes need to be
monitored while running. After processes have finished, please turn off the equipment
promptly.
DO NOT touch the workspace of Magician Go while it is running to avoid bruising

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or pinching.
It is prohibited to modify or remove the nameplates, instructions, icons, and marks
on Magician Go and the related equipment.
Be careful when carrying or installing Magician Go. Please follow the instructions
on the packing box to put down Magician Go gently and place it correctly in direction of
the arrow.
Please refer to Magician Go Quick Start along with the packing box before using it.
Please disconnect or connect external devices (such as AI camera kit, etc.) when
Magician Go is completely powered off, otherwise it may cause damage on Magician Go.
Power Box security
The following basic precautions should be followed when using this product.
Magician Go has built-in Power Box. Do not use or place Power Box under high
temperature. Do not make Power Box short circuited, disassembled or soaked.
Use of a power supply or charger not recommended or sold by power pack
manufacturer may result in a risk of fire or injury to persons.
Do not use Power Box in excess of its output rating. Overload outputs above rating
may result in a risk of fire or injury to persons.
Do not use Power Box that is damaged or modified. Damaged or modified batteries
may exhibit unpredictable behavior resulting in fire, explosion or risk of injury.
Do not disassemble Power Box. Incorrect reassembly may result in a risk of fire or
injury to persons.
Do not expose Power Box to fire or excessive temperature. Exposure to fire or
temperature above 100°C (212°F) may cause explosion.
Switch off the power when it is not in use.
Do not use Power Box in a place with strong static electricity or magnetic field.
Otherwise, the safety protection device of Power Box may be damaged, resulting in
potential safety risks.
If the Power Box is deformed or there is any abnormality in the process of use,
storage or charging, please stop using it immediately and ask professional personnel for
detection.

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Introduction
Overview
Magician Go is an omnidirectional intelligent mobile chassis designed for Magician Lite robot
arm (hereinafter referred to as Magician Lite). You can make Magician Lite move by operating
Magician Go.
⚫With Mecanum wheels, Magician Go can move omnidirectionally and freely.
⚫With abundant sensor modules, Magician Go can realize interesting functions such as line
patrol and obstacle avoidance.
⚫With arm AI camera and built-in chassis AI camera, Magician Go can be used in various
scenes.
⚫With multiple control modes, Magician Go can be operated easily and flexibly.
Figure 2.1 Magician Go
Description on parts of Magician Go

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Figure 2.2 Parts of Magician Go
Table 2.1 Description on parts of Magician Go
No.
Description
1
Magic Box
External controller, which has been assembled to Magician Go before delivery. It is used for
logical control of Magician Go. For details, please see 2.2.1Magic Box.
2
Pallet
Used to place objects, such as props, express boxes, etc.
3
Function key
It is used to turn on or off the ultrasonic sensor (safety switch), thus realizing the obstacle
avoidance. Obstacle avoidance means that when an obstacle is detected within the detection range,
Magician Go stops moving to the direction of the obstacle.
4
Mecanum wheels
Please see 2.2.3Mecanum wheels for details
5
Emergency stop switch (Stop button)
In case there is an emergency when Magician Go is running, press the emergency stop switch to
make Magician Go stop and lock motor movement.
6
Status indicator LEDs (two LEDs)
The color, on/off status and blink reflect the current running state of Magician Go. Please see
2.2.4Status indicator LEDs for details.

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No.
Description
7
Ultrasonic sensors (four in total)
It is used to detect whether there are obstacles within the detection range. The detection range is
30cm and the scanning sector is 60°.
8
Programmable LEDs (four in total)
⚫You can customize the status of the Programmable LEDs when writing programs
⚫In other scenarios, the status of the programmable LEDs is the same as that of status
indicator LEDs
9
12 holes for installing extended equipment on top cover, 8 holes for installing extended equipment
on bottom cover
Used to install extended equipment. The size of extension hole is M3.
10
USB interface
For user extension
11
4Pin extension interface
For user extension
12
12V power interface
For user extension
13
Installation slot of robot arm
When Magician Go is used in conjunction with Magician Lite, the installation slot of robot arm
is used to place Magician Lite.
14
AI camera of Magician Go (chassis AI camera)
When Magician Go is running, chassis AI camera collects and recognizes image within its field
of view
15
Type C interface
It is used to connect the computer and upgrade the firmware of chassis AI camera.
16
MicroSD card slot
After the SD card is inserted, it can store the pictures controlled by the chassis AI camera and the
trained models.
Magic Box
The interfaces of Magic Box are shown in Figure 2.3. Magic Box includes two 4Pin 12V power
interfaces, two 10Pin communication interfaces, six 4Pin peripherals, USB interface and Type-C
interface, which can expand a variety of sensor components and related accessories. Please See
Table 2.2 for details.

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Figure 2.3 Magic Box interface
Table 2.2 Description on Magic Box interface
No.
Description
1
Peripheral: Port1~Port6. Please see Table 2.3 for details
2
DC motor/stepper motor interface
3
12V output interface
4
Communication interface, for communicating with Magician Go or Magician Lite
5
12V power interface, for providing power for Magician Lite or Magic Box
6
USB interface, for connecting joystick USB connector
7
Type C interface, to connect PC for wired control and data transmission
8
Power button, for controlling the on/off status of the system
9
Back button/Reset button
10
Function button (Up button or down button)
11
OK button or Delete button (press more than 5 seconds to delete files)
12
Power adapter interface

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Table 2.3 Description on peripherals
Interface.
Description
Port 1
Connect communication cable of Magician Go camera
Port 2
Connect communication cable of Magician Lite camera
Port 3/Port 4
Used as an I2C interface, I/O interface, AD interface, PWM interface to connect AI sensor kit:
knob potentiometer, light sensor, sound sensor, OLED screen, color sensor, photoelectric sensor,
humiture sensor, LED module, etc.
Port 5/Port 6
Used as an I2C interface, I/O interface, or PWM interface to connect AI sensor kit: OLED
screen, color sensor, photoelectric sensor, humiture sensor, and LED module
Power Box
Power Box is built into Magician Go, used to provide power for Magician Go, Magician Lite
and Magic Box. You can know the remaining power of Power Box in the following ways. When
Power Box is in low battery, please charge it in time.
1. Check through Magic Box
⚫Press the Power button of Magic Box to start up, as shown in Figure 2.4. Select Script in
Magic Box, and press OK. You can check the percentage of remaining power in Script
page, as shown in Figure 2.5.
Figure 2.4 Power Magic Box
Figure 2.5 Query on Script page
⚫Select Draw in Magic Box, and press OK button. You can check the percentage of
remaining power in Draw page, as shown in Figure 2.6.

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Figure 2.6 Query on Draw page
⚫Select Playback in Magic Box, and press OK button. You can check the percentage of
remaining power in Playback page, as shown in Figure 2.7.
Figure 2.7 Query on Playback page
2. Check through DobotLab
⚫Enter in the browser to enter the Python Lab. Choose the
corresponding equipment to connect, and the battery will display in the current page.
⚫Or when writing a program, execute “go.get_power_voltage()” command. You can query
the remaining power.
3. Observe the status indicator
The red color of the status LEDs indicates low power. You should charge it in time.
⚫Solid on: the power supply is lower than 5%, and the device is about to be off
automatically
⚫Blink: low battery (lower than 10%)
Mecanum wheels
Magician Go is equipped with Mecanum wheels. Mecanum wheels are in compact structure
and can move flexibly, combining forward, horizontal, diagonal and rotation movement. The
Mecanum wheels are divided into two parts: two left-rotated wheels and two right-rotated wheels.
The four wheels are shown in Figure 2.8.
NOTICE
The Mecanum wheels need to be used in pairs and must be installed in accordance with
the specified direction in Figure 2.8 (two left-rotated wheels installed diagonally, and two
right-rotated wheels installed diagonally), otherwise Magician Go will move in an
abnormal direction.

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Figure 2.8 Distribution of Mecanum wheels
Status indicator LEDs
Magician Go has two status indicators, as shown in Figure 2.9. The color, on/off status and
blink can reflect the status of Magician Go, as specifically described in Table 2.4.
Figure 2.9 Status indicator LEDs
Table 2.4 Description on status indicator LEDs
Color
Status description
Green
Green on: wired control mode (with four beeps)
Green blink: Magician Go is charging
Blue
Blue on: Bluetooth control mode (with four beeps)
Purple
Purple on: remote control mode (with four beeps)
White
White breath: idle/script control mode
Pink
Pink on/off: Ultrasonic sensors are on/off (with two beeps)

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Color
Status description
Yellow
Yellow on: emergency switch is pressed, and Magician Go is locked
Yellow blink: obstacle detected or motor blockage (with two beeps)
Red
Red on: power below 5% (with beeps), Magician Go stops moving
Red blink: power below 10% (with beeps)
When Magician Go enters alarm status, the color of status LED is yellow or red. You need to
deal with alarms timely when using Magician Go. Table 2.5 lists some solutions.
Table 2.5 Alarm list
Status
Alarm description
Solutions
Yellow on
Emergency stop alarm, triggered when
you press the emergency stop button.
Press the emergency stop button again.
Yellow blink
Alarm for detecting the obstacle or motor
block. Magician Go will stop moving.
The motor block alarm will
automatically release after 1s..
1. Confirm whether there are obstacles
30cm away from Magician Goon four sides.
If there are obstacles, control Magician Go
away from the obstacles. If the alarm
persists, go to Step 2.
2. Check whether Magician Go' s motor
shaft fixed screw is loose; check whether the
motor is blocked due to external factors.
Motor shaft fixed screws can be seen
through the hole shown in Figure 2.10.
Red on/blink
Low power
Charge Magician Go in time
Figure 2.10 Position of motor shaft fixed screw
AI camera

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The chassis AI camera is designed for and built into Magician Go, as shown in Figure 2.11.
The target detection algorithm is used to train the model, which is embedded in the chassis AI
camera to realize road sign detection and line patrol.
⚫Road sign detection: automatically identify guide signs in map accessories, and give
feedback on the results, which is convenient for you to simulate automatic driving scenes.
⚫Line patrol: automatically recognize the road line on the map
Figure 2.11 chassis AI camera
The arm AI camera is shown in Figure 2.12, which needs to be installed on Magician Lite. The
target detection algorithm is used to train the model, which is embedded in the arm AI camera to
realize fresh express detection, block detection and Apriltag code detection.
⚫Fresh express detection: automatically identify express boxes and props among map
accessories, and give feedback on the results, which is convenient for you to simulate the
sorting, handling and delivery.
⚫Block detection: automatically identify the blocks of Magician Lite.
⚫Apriltag detection: identify the Apriltag code and give feedback on the ID and coordinates
of Apriltag code for target positioning.
Figure 2.12 Arm AI camera
NOTE
About description on accessories of map, please see 5.1Introduction on map and
accessories for details.

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Technical specifications
Technical parameters
Table 2.6 Magician Go technical specifications
Specification
Description
Model
DT-AC-GO4WD-01E
Weight
5 kg
Maximum load
5 kg
Dimensions
463 mm × 289 mm × 124 mm, for details please see 2.3.2Dimensions
Control mode
Remote control mode, Bluetooth control mode, wired control mode, script control
mode, as specifically described in 4.1Control mode
Power supply
100 V~240 V AC，50/60 Hz
Power in
12 V/5 A DC
Control software
DobotLab (Blockly/Python programming)
Sensor
Ultrasonic sensor, gyroscope
AI camera
Chasis AI camera (built-in), arm AI camera
Wheels
Mecanum
External controller
Magic Box
Working
Temperature
0°C~35°C
Main materials
ABS, PC, Aluminum alloy
Table 2.7 Magic Box technical specifications
Specification
Description
Model
DT-MB-CTR01-01E
Control chip
ARM 32-bit Cortex-M4
Main frequency
168 MHz
voltage
100 V~240 V AC, 50/60 Hz
input
12 V/5 A DC
Maximum power
60 W
Communication
USB/serial/Bluetooth

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Weight
98 g
Dimensions
95 mm × 80 mm × 21.5 mm
Table 2.8 Power Box technical specifications
Specification
Description
Maximum charging voltage
12 V / 1 A DC
Input voltage/current
12 V / 5 A DC
Output voltage/maximum current
12 V / 3 A DC
Nominal capacity
2500 mAh
Rated output
27 Wh
Minimum capacity
2400 mAh
Environment temperature
0 ℃ ~ 35 ℃
Dimensions
95 mm × 80 mm × 28.5 mm
Charging time
About 110 mins
Table 2.9 Bluetooth dongle technical specifications
Specification
Description
Dimensions
72 mm × 27.8 mm × 12.3 mm
Weight
20 g
Communication mode
USB/Bluetooth
Transmission distance
15 m (open field)
Table 2.10 Joystick technical specifications
Specification
Description
Dimensions
156 mm × 102 mm × 60 mm
Weight
190 g
Battery capacity
500 mAh
Dimensions
The dimension of Magician Go is shown in Figure 2.13, unit: mm.

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Figure 2.13 Dimensions of Magician Go

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Wiring
Wiring of Magic Box
Magic Box has been assembled to Magician Go before delivery, and the 10Pin communications
cable, 4Pin power cord and 4Pin camera communication cable have been assembled to Magician
Go before delivery, as shown in Figure 3.1.
Figure 3.1 Position of Magic Box
NOTICE
Please connect cables when the device is completely powered off.
1. Wiring of Magic Box top interface
The top interface of Magic Box includes two communication interfaces: and , and a
12V power interface , as shown in Figure 3.2.
⚫Connect of Magic Box to 10Pin communication cable for the communication
between Magic Box and Magician Lite.
⚫Connect of Magic Box to 10Pin communication cable for the communication
between Magic Box and Magician Go.
⚫Connect of Magic Box to 4Pin power cable for providing power for Magician
Lite.

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Figure 3.2 Magic Box top wiring
2. Wiring of Magic Box bottom interface
The bottom interface of Magic Box includes a 12V power interface : as shown in Figure
3.3. Connect of Magic Box to 4 Pin communication cable to provide power for Magician
Lite. The other end of has been connected to Magic Box.
Figure 3.3 Magic box bottom wiring
3. Wiring of Magic Box side interface
The side of Magic Box includes six peripherals: Port1~Port 6, as shown in Figure 3.4. The
specific description is listed in Table 2.3.
⚫Connect Port1 of Magic Box to 4Pin camera communication cable for the
communication between Magic Box and chassis AI camera.
⚫Connect Port2 of Magic Box to 4Pin camera communication cable for the