Dobot Magician lite User manual

User Guide

Shenzhen Yuejiang Technology Co., Ltd.

Dobot Magician Lite

User Guide

(DobotLab-based)

Issue: V1.9.1

Date: 2022-06-08

Dobot Magician Lite User Guide (DobotLab-based)

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 thoroughly read 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 may 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 (DobotLab-based) Preface

Preface

Purpose

This Document describes the working principle, technical specifications, connection and

functions of Dobot Magician Lite, making it easy for users to fully understand and use Magician

Lite.

Intended Audience

This document is intended for:

Customer Engineer

Sales Engineer

Installation and Commissioning Engineer

Technical Support Engineer

Change History

Date

Change Description

2020/06/08

The first release

Symbol Convention

The symbols that may be found 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 (DobotLab-based) Contents 
Issue V1.9.1 (2022-06-08)User Guide Copyright © Yuejiang Technology Co., Ltd. 
 iii 
Contents 
 Security Precautions................................................................................................1 
1.1 General Security................................................................................................................1
 Precautions........................................................................................................................2
 Introduction..............................................................................................................3 
 Overview...........................................................................................................................3
 Appearance .......................................................................................................................3
 Working Principle .............................................................................................................3
 Workspace ...........................................................................................................3
 Coordinate System...............................................................................................4
 Motion Mode.......................................................................................................6
 Technical Specifications ...................................................................................................8
 Technical Parameters...........................................................................................8
 Dimensions..........................................................................................................9
 Robot Connection...................................................................................................11 
 Connecting Cables to Magician Lite...............................................................................11 
 Powering on/off Magician Lite.......................................................................................13 
 Interface Description .............................................................................................15 
 Magician Lite Interface Description ...............................................................................15 
 Magic Box Interface Description....................................................................................16 
 Multiplexed I/O Interface Description............................................................................16 
 Operation................................................................................................................22 
 Introduction on DobotLab...............................................................................................22 
 DobotLink Installation....................................................................................................23 
 Blockly Programming.....................................................................................................24 
 Python Programming ......................................................................................................30 
 Writing and Drawing ......................................................................................................33 
 Installing a Writing and Drawing Kit ................................................................34 
 Installing a Sliding Rail Kit...............................................................................40 
 Drawing Operations (Without Sliding Rail)......................................................35 
 Drawing Operations (with a Sliding Rail).........................................................43 
 Teaching and Playback....................................................................................................52 
 Installing a Suction Cup Kit ..............................................................................52 
 Installing a Gripper Kit......................................................................................54 
 Teaching & Playback Operation........................................................................55 
 Homing ...........................................................................................................................60 
 Working in Offline Mode................................................................................................62 

Dobot Magician Lite User Guide (DobotLab-based)

Security Precautions

This chapter 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 used 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 problem with the robotic arm, 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 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 (DobotLab-based)

Be careful during the robotic arm carrying 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 Magician Lite 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 (DobotLab-based)

Introduction

Overview

Magician Lite is a multifunctional desktop robotic arm for practical training education,

supporting teaching and playback, blockly programming, script programming, writing and drawing,

etc. It also supports secondary development by various extensible I/O interfaces in Magic Box, an

external controller of Magician Lite.

Magic Box separates motion control algorithm and user tasks, allowing more convenience for

programming and creation. Magician Lite supports offline function, and it has 2 controllable power

interfaces with 12V, 2 multi-functional communication interfaces, 6 universal IO interfaces, 2

stepper motor interfaces and several I2C interfaces. You can expand a wide range of sensors and

related accessories to achieve more functions.

Appearance

Magician Lite consists of a base, rear arm, forearm, and end-effector, etc., as shown in Figure

2.1.

Figure 2.1 Appearance of Magician Lite

Working Principle

This section describes the workspace, principle, size and technical specifications of Magician

Lite.

Workspace

Figure 2.2 and Figure 2.3 shows the workspace of Magician Lite.

Dobot Magician Lite User Guide (DobotLab-based)

Figure 2.2 Workspace of Magician Lite (1)

Figure 2.3 Workspace of Magician Lite (2)

Coordinate System

Dobot Magician Lite User Guide (DobotLab-based)

Magician Lite has two types of coordinate systems, the joint one and the Cartesian one, as

shown in Figure 2.4 and Figure 2.5 respectively.

Figure 2.4 Joint coordinate system

Figure 2.5 Cartesian coordinate system

Joint coordinate system: The coordinates are determined by the motion joints.

If the end-effector with servo is installed, such as suction cup kit, gripper kit,

Magician Lite contains four joints: J1, J2, J3, and J4, which are all rotating joints.

The positive direction of these joints is counter-clockwise.

Cartesian coordinate system: The coordinates are determined by the base.

The origin is the center of the three motors (rear arm, forearm, base).

The direction of the X-axis is perpendicular to the base forward.

The direction of the Y-axis is perpendicular to the base leftward.

Dobot Magician Lite User Guide (DobotLab-based)

The direction of the Z-axis is vertical upward, which is based on the right-hand rule.

The R-axis is the posture of the servo center relative to the origin of the robotic arm,

of which the positive direction is counter-clockwise. The R-axis only exists once the

end-effector with servo is installed.

Motion Mode

The motion modes of Magician Lite include Jogging, Point to Point (PTP) and ARC.

2.3.3.1 Jogging Mode

Jogging mode is jogging Magician Lite to a point in Cartesian coordinate system or Joint

coordinate system when teaching.

Cartesian coordinate system mode:

Click X+, X- and Magician Lite will move along X-axis in a positive or negative

direction.

Click Y+, Y- and Magician Lite will move along Y-axis in a positive or negative

direction.

Click Z+, Z- and Magician Lite will move along Z-axis in a positive or negative

direction.

Click R+, R- and Magician Lite will rotate along R-axis in a positive or negative

direction.

NOTICE

If the end-effector with servo is installed on the Magician Lite, the R-axis will move

together with Y-axis to make sure that the terminal posture relative to the origin stays

constant.

Joint coordinate system mode:

Click J1+, J1- and control the base motor to rotate in a positive or negative direction.

Click J2+, J2- and control the Rear Arm motor to rotate in a positive or negative

direction.

Click J3+, J3- and control the Forearm motor to rotate in a positive or negative

direction.

Click J4+, J4- and control the servo to rotate in a positive or negative direction.

2.3.3.2 Point to Point (PTP)

PTP mode, which means point to point movement, supports MOVJ, MOVL and JUMP. The

trajectory of playback depends on the motion mode.

MOVJ: Joint movement. From point A to point B, each joint will run from an initial angle

to its target angle, regardless of the trajectory, as shown in Figure 2.6.

Dobot Magician Lite User Guide (DobotLab-based)

Figure 2.6 MOVL/MOVJ mode

MOVL: Rectilinear movement. The joints will perform a straight line trajectory from

point A to point B, as shown in Figure 2.6.

JUMP: From point A to point B, the joints will move in MOVJ mode, of which the

trajectory looks like a door, as shown in Figure 2.7.

Move up to the lifting Height in MOVJ mode.

Move horizontally to a point above B by Height.

Move down to point B.

Figure 2.7 JUMP mode

2.3.3.3 ARC

The trajectory of ARC mode is an arc, which is determined by three points (the current point,

any point on the arc and the end point), as shown in Figure 2.8.

NOTICE

In ARC mode, it is necessary to confirm the three points with other motion modes, and

the three points cannot be in a line.

Dobot Magician Lite User Guide (DobotLab-based)

Figure 2.8 ARC mode

2.3.3.4 Application Scenarios

The application scenario depends on the trajectory in a motion mode, as shown in Table 2.1.

Table 2.1 Application scenario

Motion mode

Application scenario

MOVL

If the trajectory of playback is required as a straight line, you can choose MOVL

MOVJ

If the trajectory of playback is not required but high speed is required, you can

choose MOVJ

JUMP

If the movement of two points is required to lift upwards by amount of height,

such as sucking up, grabbing, you can choose JUMP

ARC

If the trajectory of playback is required as an arc, you can choose ARC

Technical Specifications

Technical Parameters

Table 2.2 Magician Lite technical parameters

Name

Magician Lite

Maximum payload

250g

Maximum reach

340mm

Motion range

-135°~135°

-5°~80°

-10°~85°

-145°~145°

Repeated positioning accuracy

±0.2 mm

Power supply

100V~240V AC, 50/60Hz

Dobot Magician Lite User Guide (DobotLab-based)

Power input

12V/5A DC

Communication

USB virtual serial /serial

Software

DobotLab

Working temperature

-5°C~+45°C

Table 2.3 Magic Box technical parameters

Name

Magic Box

Control chip

ARM 32-bit Cortex-M4

Frequency

168 MHz

Power supply

100V~240V AC, 50/60Hz

Power in

12V/5A DC

Working Temperature

-5°C - 45°C

Capacity

60W Max

Communication mode

USB virtual serial/serial/Bluetooth

Program language

MicroPython

Software

DobotLab

Weight

98g

Size

95 mm×80 mm×21.5 mm

Power interface

4 PIN, 12V/3A DC

Multifunctional

Communication Interface

10PIN, serial port communication interface

General I/O expand

interface

Green port, 4PIN, 3.3V/5V-IO, 5V/1A-VCC, multiplexing interface

Self-define I/O, AD, PWM output, I2C etc.

Stepper motor expand

Interface

Yellow port, 4PIN, 12V 1A

12V power interface

Red port, 2PIN, 12V, 3A max

PWM

Value range: 20Hz~100KHz

ADC

Value range: 0V~5V

Accuracy: 12bit

Dimensions

Figure 2.9 shows the size of Magician Lite and Figure 2.10 shows the size of the end mounting

Dobot Magician Lite User Guide (DobotLab-based)

hole.

Figure 2.9 Size of Magician Lite

Figure 2.10 Size of end mounting hole

Dobot Magician Lite User Guide (DobotLab-based)

Robot Connection

This section describes how to connect Magician Lite, and power it on/off.

Connecting Cables to Magician Lite

When using Magician Lite without Magic Box, connect Magician Lite as below.

Figure 3.1 Connect Magician Lite to your computer

Figure 3.2 Connect Magician Lite to the electrical outlet

When using Magician Lite with Magic Box, connect the devices as below.

Dobot Magician Lite User Guide (DobotLab-based)

Figure 3.3 Connect Magician Lite to Magic Box

Figure 3.4 Connect Magician Lite to electrical outlet

Dobot Magician Lite User Guide (DobotLab-based)

Figure 3.5 Connect power adapter

Powering on/off Magician Lite

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

3.6. Once Magician Lite is powered on, all the stepper motors will be locked. You will

hear a short beep sound, and the LED indicator turns green. Now Magician Lite is powered

on.

Figure 3.6 Power on Magician Lite

Dobot Magician Lite User Guide (DobotLab-based)

NOTICE

If the LED indicator is red after you power 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.

Dobot Magician Lite User Guide (DobotLab-based)

Interface Description

Magician Lite Interface Description

The interfaces of Magician Lite are located on the back of the base. Figure 4.1 shows the

interfaces on the back of the base, and Table 4.1 lists the description on the interfaces.

Figure 4.1 Interfaces in the base

Table 4.1 Interface description

No.

Description

Power switch

Short press: Power on Magician Lite

Long press (>3s): Power off Magician Lite

Key

Short press: Start running playback program in offline mode. For details about offline

mode, refer to 5.8Working in Offline Mode

Long press (>2s): Start homing procedure. For details about homing, refer to 5.7Homing

Power interface: Connect to power adaptor

12V power interface: Supply power to Magician Lite

USB: Connect Magician Lite and PC

10PIN communication interface: Serial communication

The LED indicator is located on the base, Table 4.2 lists the description on its status.

Dobot Magician Lite User Guide (DobotLab-based)

Table 4.2 LED indicator description

State

Description

Green on

Magician Lite works normally

Yellow on

Magician Lite is in the starting status

Blue on

Magician Lite is in the offline mode

Blue flashing

Magician Lite is running homing procedure

Red on

Magician Lite is at the limited position

An alarm is not cleared

Magic Box Interface Description

The Magic Box interface consists of 24 I/O multiplexing interfaces as well as communication

interfaces that connect sliding rail, conveyor belts, joystick, sensors, etc., as shown in the figure

below.

Figure 4.2 Magic Box interfaces

Multiplexed I/O Interface Description

The addresses of the I/O interfaces in Magic Box are unified. Most of I/O interfaces have

multiple functions to control the peripheral equipment.

Figure 4.3 shows the communication interface of Magic Box, and Table 4.3 lists the description

on multiplexed I/O.

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