Dobot Magician lite User manual

User Guide

Shenzhen Yuejiang Technology Co., Ltd

Dobot Magician Lite

User Guide

Issue: V1.9.1

Date: 2020-01-11

Dobot Magician Lite User Guide

No part of this document may be reproduced or transmitted in any form or by any means

without 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 thoroughlyread and understand the contents of this document

and related technical documents that are published online, to ensure that the robotic arm is used on

the premise of fully understanding the robotic arm 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 happen in the using process, Dobot shall not be considered

as a guarantee regarding to 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 robotic arm.

Shenzhen Yuejiang Technology Co., Ltd

Address: Floor 9-10, Building 2, Chongwen Garden, Nanshan iPark, Liuxian Blvd, Nanshan

District, Shenzhen, Guangdong Province, China

Website: www.dobot.cc

Dobot Magician Lite User Guide Preface

Preface

Purpose

This Document describes the functions, technical specifications, installation guide and system

commissioning of Magician Lite, making it easy for users to fully understand and use it.

IntendedAudience

This document is intended for:

Customer Engineer

Sales Engineer

Installation and Commissioning Engineer

Technical Support Engineer

Change History

Date

Change Description

2020/01/11

The first release

Symbol Convention

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, robotic arm damage

NOTICE

Indicates a potentially hazardous situation which, if not

avoided, can result in robotic arm damage, data loss, or

unanticipated result

NOTE

Provides additional information to emphasize or

supplement important points in the main text

Dobot Magician Lite User Guide Contents

iii

Contents

Security Precautions................................................................................................1

1.1 General Security................................................................................................................1

Precautions........................................................................................................................2

Quick Start ...............................................................................................................3

Connecting Cables to Magician Lite.................................................................................3

Installing the DobotStudio................................................................................................6

System Requirements..........................................................................................6

Obtaining the DobotStudio Package....................................................................6

Installing the DobotStudio...................................................................................6

Verifying the Installation.....................................................................................8

Powering On/Off Magician Lite .......................................................................................9

Getting Started................................................................................................................10

Introduction............................................................................................................16

Overview.........................................................................................................................16

Appearance and Constitute .............................................................................................16

Working Principle...........................................................................................................17

Workspace .........................................................................................................17

Coordinate System.............................................................................................18

Motion Mode.....................................................................................................19

Technical Specifications .................................................................................................22

Technical Parameters.........................................................................................22

Sizes...................................................................................................................24

Interface Description .............................................................................................25

Magician Lite Interface Description ...............................................................................25

Magic Box Interface Description....................................................................................26

Power Box Interface .......................................................................................................26

Multiplexed I/O Interface Description............................................................................27

Operation................................................................................................................33

Introduction to the DobotStudio .....................................................................................33

Function Modules..............................................................................................33

Common Areas of DobotStudio Page................................................................34

Homing ...........................................................................................................................36

Performing Teaching & Playback Tasks.........................................................................37

Installing a Suction Cup Kit ..............................................................................37

Installing a Gripper Kit......................................................................................39

Teaching & Playback Page................................................................................40

ARC Motion Mode............................................................................................43

Teaching & Playback Example..........................................................................46

Working in Offline Mode................................................................................................51

Writing and Drawing ......................................................................................................53

Installing a Writing and drawing kit..................................................................53

Connecting the DobotStudio .............................................................................55

Dobot Magician Lite User Guide Contents

Importing Image Files and Setting Writing Parameters.....................................56

Adjust the Position of the Pen Nib ....................................................................61

Operating Blockly...........................................................................................................64

Scripting..........................................................................................................................65

Dobot Magician Lite User Guide 1Security Precautions

Security Precautions

This topic describes the security precautions that should be noticed when using this product.

Please read this document carefully before using the robotic arm for the first time. This product

needs to be carried out in an environment meeting design specifications, 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 robotic arm strictly according to the regulations of

this document strictly.

1.1 General Security

DANGER

The robotic arm is electrical equipment. Non-professional technicians cannot modify the

wire, otherwise, it is vulnerable to injury the device or the person.

The following security rules should be followed when using the robotic arm.

You should comply with local laws and regulations when operating the robotic arm.

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 the robotic arm in the specified environment scope. If not, exceeding the

specifications and load conditions will shorten the service life of the product even damage

the equipment.

Before operating and maintaining the robotic arm, 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 the robotic arm. The anodized

components are not suitable for immersion cleaning.

People cannot repair and disassemble the robotic arm without professional training.

If there is a problemwith the robotic arm, please contactDobot 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 the robotic arm alone. All processes need to be

monitored while running. After processes have finished, please turn off the equipment

promptly.

DO NOT put hands into the workspace of the robotic arm while running, to avoid

bruising or pinching.

Dobot Magician Lite User Guide 1Security Precautions

Be careful during the robotic armcarrying or installing. Please follow the instructions

on the packing box to put down the robotic arm gently and place it correctly in direction

of the arrow.

Commissioning of the incomplete machine is prohibited until it has been installed in

a machine and the whole machine complies with the provisions of the Machinery

Directive (2006/42/EC).

It is prohibited to modify or remove the nameplates, instructions, icons, and marks

on the robotic arm and the related equipment.

Please refer to Magician Lite Quick Start along with the packing box before using it.

Precautions

Magician Lite was calibrated at the factory. By default, the coordinate of J1 axis is 0°

after Magician Lite moving to the default homing point, i.e. The forearm is in the middle

of the front of the base of Magician Lite.

If the LED indicator turns red after starting up, it indicates that the Magician Lite is at a

limited position. Please make the Magician Lite in the workspace.

Magician Lite will move slowly to the specific position when shutdown. DO NOT put

hands into the workspace of Magician Lite while running, to avoid bruising or pinching.

Only once the LED indicator completely turns off, Magician Lite can be powered down.

If the Magician Lite coordinate reading is abnormal during use, please press the forearm

unlock button to correct the reading.

Please turn off MagicianLite completely first before connecting or disconnecting external

equipment, such as infrared sensor, color sensor, etc. Otherwise, it causes damage to your

device.

Dobot Magician Lite User Guide 2Quick Start

Quick Start

This topic briefly describes how to operate the Magician Lite with the software DobotStudio,

allowing you to quickly know and use Magician Lite. Figure 2.1 shows the process ofgetting started

with Magician Lite.

Figure 2.1 The process of getting started with Magician Lite

Connecting Cables to Magician Lite

When not used with Magic Box, connect directly to Magician Lite.

Dobot Magician Lite User Guide 2Quick Start

Figure 2.2 Connect Magician Lite to your computer

Figure 2.3 Connect Magician Lite to the electrical outlet

When used with Magic Box, connect Magic Box and Magician Lite.

Dobot Magician Lite User Guide 2Quick Start

Figure 2.4 Connect Magician Lite and Magic Box

Figure 2.5 Connect Magician Lite to the electrical outlet

Dobot Magician Lite User Guide 2Quick Start

Figure 2.6 Connect power adaptor

Installing the DobotStudio

You can control Magician Lite and Magic Box by DobotStudio（V1.9.1 and above）to

implement functions such as Teaching & Playback, fully programmable applications. This topic

introduces Teaching & Playback.

System Requirements

The DobotStudio supports the following Windows versions:

Windows 7, Windows 8, and Windows 10 (This manual is explained based on this version)

Obtaining the DobotStudio Package

Before using Magician Lite, download the Windows DobotStudio package from

https://www.dobot.cc/downloadcenter/dobot-magician-lite.html#most-download.

Installing the DobotStudio

Prerequisites

The DobotStudio package has been obtained.

Procedure

Unpack the DobotStudio package to a destination directory.

For example, this directory is Installation Directory\DobotStudio. You can install

the DobotStudio to another location based on site requirements.

In the installation directory double-click DobotStudioSetup.exe. The Select Setup

Language dialog box is displayed, as shown in Figure 2.7.

Dobot Magician Lite User Guide 2Quick Start

Figure 2.7 The Select Setup Language dialog box

Figure 2.8 Select English

During the installation, the Driver Installation dialog box is displayed, two drivers

need to be installed, as shown in Figure 2.9.

Figure 2.9 The Device Driver Installation Wizard dialog box

Dobot Magician Lite User Guide 2Quick Start

When the drivers are installed successfully, the Completing the Device Driver

Installation Wizard dialog box is displayed. Click Finish, as shown in Figure 2.10.

Figure 2.10 The Completing the Device Driver Installation Wizard dialog box

When the installation is complete, the Completing the DobotStudio Setup Wizard

dialog box is displayed. Click Finish, as shown in Figure 2.11.

Figure 2.11 The Completing the DobotStudio Setup Wizard dialog box

Verifying the Installation

2.2.4.1 Verifying the DobotStudio

If the DobotStudio is launched and runs properly by double-clicking the desktop shortcut to

this program, it means that it is installed successfully.

Dobot Magician Lite User Guide 2Quick Start

2.2.4.2 Verifying the Dobot Driver

If an available COM port is displayed on the upper left corner of the DobotStudio page after

the robotic arm is powered on, as shown in Figure 2.12, the robotic arm driver is installed

successfully.

Figure 2.12 An available COM port is displayed

If no COM port is available, check whether the robotic arm driver is successfully installed by

following the steps below.

Figure 2.13 The robotic arm driver in the Device Manager window

Powering On/Off Magician Lite

Power on: Press power button on Magician Lite or Magic Box, as shown in Figure

2.14. Once Magician Lite is powered on, all the stepper motors lock, and a shortbeep

sound will be heard, the LED indicator turns green. Now Magician Lite is ready to

use.

Dobot Magician Lite User Guide 2Quick Start

Figure 2.14 Power on Magician Lite

NOTICE

If the LED indicator is red after powering on Magician Lite, it means that Magician Lite

reaches its limited position. To go back to the workspace, press and hold the unlock

button on the Forearm to move Magician Lite to another desired position After releasing

the button the LED indicator turns green.

Power off: When the LED indicator is green, press the power button to turn off

Magician Lite. In this case, the Forearm moves slowly to the Rear Arm while the

angle between them becomes small. Finally, the two arms reach a specific position.

WARNING

Watch your hand during the shutdown process.

Getting Started

This topic describes how to use Magician Lite to complete the teaching & playback function

by saving three points in the MOVJ mode, allowing you to get the basic knowledge of the usage of

the robotic arm.

Prerequisites

Dobot Magician Lite User Guide 2Quick Start

The DobotStudio has been installed. For details, please refer to 2.2 Installing the

DobotStudio.

Magician Lite is powered on. For details, please refer to 2.3Powering On/Off Magician

Lite.

Procedure

The DobotStudio page is displayed as shown in Figure 2.15.

Figure 2.15 The DobotStudio page

Figure 2.16 Click Connect

Dobot Magician Lite User Guide 2Quick Start

1. Click Teaching & Playback, as shown in Figure 2.17.

Figure 2.17 Click Teaching & Playback

2. Select PTP Point > MOVJ mode in the Save Point area, as shown in Figure

2.18.

Figure 2.18 Select MOVJ motion mode

3. Press and hold the unlock button on the Forearm to move the robotic arm to a

Dobot Magician Lite User Guide 2Quick Start

position such as a point A, and then release the button.

In this case, the DobotStudio will save the Cartesian coordinate of point A, as

shown in Figure 2.19.

Figure 2.19 The Cartesian coordinate of the point A

NOTE:

Apart from hand-guided teaching, you can accomplish a teaching task by jogging

Magician Lite in the Cartesian or Joint coordinate system, as shown in Figure 2.20.

Figure 2.20 Jog Magician Lite in the Cartesian or Joint coordinate system

4. Move the robotic arm to the other two locations such as points B and C by

referring to the method of creating pointAabove, as shown in Figure 2.21. The

robotic arm will save the Cartesian coordinates corresponding to these two

points.

Dobot Magician Lite User Guide 2Quick Start

Figure 2.21 The Cartesian coordinates of points B and C

5. Enter 3in the Loop text box.

The robotic arm will repeat the sequence of movements three times, as shown

in Figure 2.22.

Figure 2.22 Enter 3 in the Loop text box

6. Click Start to perform the motions taught above, as shown in Figure 2.23.

The robotic arm will stop after playing back the steps for three times.

Dobot Magician Lite User Guide 2Quick Start

Figure 2.23 Click Start

7. Click to exit the Teaching & Playback page, as shown in Figure 2.24.

Figure 2.24 Click Exit

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