Dobot Magician User manual

Shenzhen Yuejiang Technology Co., Ltd
Dobot Magician
User Guide
User Guide
Issue: V1.5.1
Date: 2018-09-11

Dobot Magician User Guide
Issue V1.0 (2018-09-11) User Guide Copyright © Yuejiang Technology Co., Ltd.
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Copyright © ShenZhen Yuejiang Technology Co., Ltd 2018. All rights reserved.
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 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: 3F, Building NO.3, Tongfuyu Industrial Town, Nanshan District, Shenzhen, China
Website: www.dobot.cchttp://cn.dobot.cc/

Dobot Magician User Guide Preface
Issue V1.0 (2018-09-11) User Guide Copyright © Yuejiang Technology Co., Ltd.
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Preface
Purpose
This Document describes the functions, technical specifications, installation guide and system
commissioning of Dobot Magician, making it easy for users to fully understand and use it.
Intended Audience
This document is intended for:
 Customer Engineer
 Sales Engineer
 Installation and Commissioning Engineer
 Technical Support Engineer
Change History
Date
Change Description
2018/09/11
Updated the connection figure between Dobot Magician and sliding rail
2018/06/12
The first release
This release can only be used for Dobot Magician with a 0.0.0 hardware version
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, 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 User Guide Contents
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Contents
Security Precautions ................................................................................................ 1
1.1 General Security................................................................................................................ 1
Precautions ........................................................................................................................ 2
Important Safety Notice ............................................................................ 3
Quick Start ............................................................................................................... 4
Connecting Cables to the Dobot Magician ....................................................................... 4
Installing the DobotStudio ................................................................................................ 5
System Requirements .......................................................................................... 5
Obtaining the DobotStudio Package .................................................................... 6
Installing the DobotStudio ................................................................................... 6
Verifying the Installation ..................................................................................... 8
Powering On/Off the Dobot Magician .............................................................................. 9
Getting Started ................................................................................................................ 10
Introduction ............................................................................................................ 18
Overview ......................................................................................................................... 18
Appearance and Constitute ............................................................................................. 18
Working Principle ........................................................................................................... 18
Workspace ......................................................................................................... 18
Coordinate System ............................................................................................. 20
Motion Function ................................................................................................ 21
Technical Specifications ................................................................................................. 23
Technical Parameters ......................................................................................... 23
Sizes................................................................................................................... 24
Interface Description ............................................................................................. 26
Interface Board ............................................................................................................... 26
LED Indicator ................................................................................................................. 28
Multiplexed I/O Interface Description ............................................................................ 28
Multiplexed Base I/O Interface Description ...................................................... 28
Multiplexed Forearm I/O Interface Description ................................................ 30
Operation ................................................................................................................ 31
Introduction to the DobotStudio ..................................................................................... 31
Function Modules .............................................................................................. 31
Common Areas of DobotStudio Page ................................................................ 33
Performing Teaching & Playback Tasks ......................................................................... 35
Installing a Suction Cup Kit .............................................................................. 35
Installing a Gripper Kit ...................................................................................... 38
Teaching & Playback Page ................................................................................ 40
ARC Motion Mode ............................................................................................ 43
Teaching & Playback Example .......................................................................... 46
Working in Offline Mode ................................................................................................ 52
Writing and Drawing ...................................................................................................... 54

Dobot Magician User Guide Contents
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Installing a Writing Kit ...................................................................................... 54
Connecting the DobotStudio ............................................................................. 55
Importing Image Files and Setting Writing Parameters ..................................... 57
Adjust the Position of the Pen Nib .................................................................... 63
Performing Laser Engraving Tasks ................................................................................. 65
Installing a Laser Kit ......................................................................................... 66
Connecting the DobotStudio ............................................................................. 68
Importing Image Files and Setting Engraving Parameters ................................ 70
Adjust the Laser Focus and Start to Grave ........................................................ 76
Engraving a Grayscale Image ......................................................................................... 81
Installing a Grayscale-engraving Kit ................................................................. 81
Connecting the DobotStudio ............................................................................. 82
Importing Image Files and Setting Engraving Parameters ................................ 84
Adjust the Laser Focus and Start to Engrave ..................................................... 88
Controlling with your Hand Gesture ............................................................................... 92
Installing a Leap Motion Controller .................................................................. 92
Leap Motion Demo ............................................................................................ 93
Controlling with your Mouse .......................................................................................... 96
Operating 3D Printing ................................................................................................... 100
Installing 3D Printing Kit ................................................................................ 101
Operating Repetier Host .................................................................................. 106
Operating Cura ................................................................................................ 120
Calibration .................................................................................................................... 126
Base Calibration .............................................................................................. 126
Sensor Calibration ........................................................................................... 129
Homing ............................................................................................................ 139
Connecting with WIFI Kit ............................................................................................ 140
Connecting with Bluetooth Kit ..................................................................................... 144
Operating Blockly ......................................................................................................... 145
Scripting ........................................................................................................................ 147
Operating Stick Controller Kit ...................................................................................... 148
Operating Sliding Rail .................................................................................................. 151
Installing sliding rail ........................................................................................ 152
Sliding Rail Parameter Description ................................................................. 157
Demo Description ............................................................................................ 157
Multiplexed I/O Demo .................................................................................................. 160
Level Output .................................................................................................... 161
Level Input ...................................................................................................... 164
PWM OUTPUT ............................................................................................... 165

Dobot Magician User Guide 1 Security Precautions
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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 need
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 of the
robotic arm must read this document carefully and use the robotic arm strictly according to the
regulations of this document strictly.
1.1 General Security
DANGER
Robotic arm is an 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.
 Be careful during the robotic arm carrying or installing. Please follow the instructions on

Dobot Magician User Guide 1 Security Precautions
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the packing box to put down the robotic arm gently and place it correctly in direction of
arrow.
 It is prohibited to modify or remove the nameplates, instructions, icons and marks on the
robotic arm and the related equipment.
 Please refer to Dobot Magician User Guide along with the packing box before using.
Precautions
 Please make the Dobot Magician in the workspace with a 45° angle between the Forearm
and Rear Arm (as shown in Figure 1.1) before starting up. If the LED indicator turns red
after starting up, it indicates that the Dobot Magician is at a limited position. Please make
the Dobot Magician in the workspace.
Figure 1.1 The Forearm and Rear Arm position
 Dobot Magician will move slowly to the specific position when shutdown. DO NOT put
hands into the workspace of the Dobot while running, to avoid bruising or pinching. Only
once the LED indicator completely turns off, the Dobot Magician can be powered down.
 If the coordinates of the Dobot Magician shown on the DobotStudio are abnormal, please
press the Reset button on the back of the base to reset Dobot Magician or click Home on
the DobotStudio page to perform homing.
 During resetting, Dobot Magician will disconnect from the PC automatically and the
LED indicator on the base turns yellow. About 5 seconds later, if the LED indicator
turns green, it indicates that the reset is successful.
 During homing, Dobot Magician will rotate clockwise to the limited position and
then return to the homing point automatically, and the LED indicator on the base
turns blue and is blinking. After homing, if there is a beep sound and the LED
indicator turns green, it indicates that the homing is successful.
 Please turn off the Dobot Magician completely first before connecting or disconnecting
external equipment, such as Bluetooth, WIFI, stick controller, infrared sensor, color
sensor, etc. Or, it causes damage to your device.
 Please wear the lasing protective eyeglass when using the laser module. Please protect
your eyes and skin from the laser.
 The heating rod will produce high temperature up to 250℃ when using the 3D printing

Dobot Magician User Guide 1 Security Precautions
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module, please be careful.
 Please DO NOT operate or turn off Dobot Magician when burning firmware, to avoid
machine damage.
Important Safety Notice
 Small spare parts are included, so please keep them away from children, as they are a
choking hazard.
 DO NOT let children play with the Dobot alone. All processes need to be monitored while
running. After processes have finished, please turn off the equipment promptly.
 While using the laser module, please wear protective glasses. Avoid eye or skin exposure
to direct radiation. Keep a safe distance from the laser to avoid accidental injury.
 When using the 3D printing module, the heating rod will produce temperatures up to
250℃, please be careful!
 DO NOT put hands into the operating zone while the Dobot is running. Not doing so runs
the risk of bruising and/or pinching.
 Only trained and trained personnel may commission and set up Dobot.
 Dobot may only be operated with the associated standard equipment. Any other use of
tools is deemed to be inaccurate use.
 Only authorized personnel who are instructed in work safety must work on the machine.
 Suitable personal protective equipment wear protective clothing (gloves, safety shoes …).
 General work safety must be observed.
 Only trained and trained personnel may carry out maintenance work on Dobot.

Dobot Magician User Guide 2 Quick Start
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Quick Start
This topic briefly describes how to operate the Dobot Magician with the software DobotStudio,
allowing you to quickly know and use the robotic arm. Figure 2.1 shows the process of getting
started with the Dobot Magician.
Figure 2.1 The process of getting started with the Dobot Magician
Connecting Cables to the Dobot Magician
Connect the Dobot Magician to your computer with the supplied USB cable, as
shown in Figure 2.2.

Dobot Magician User Guide 2 Quick Start
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Figure 2.2 Connect the Dobot Magician to your computer
Connect the Dobot Magician to the electrical outlet with the supplied power adapter,
as shown in Figure 2.3.
Figure 2.3 Connect the Dobot Magician to the electrical outlet
Installing the DobotStudio
With the DobotStudio, you can control Dobot Magician to implement functions such as
Teaching & Playback, fully programmable applications, and 3D printing. This topic introduces
Teaching & Playback.
System Requirements
The DobotStudio supports the following Windows and macOS versions.
 Windows 7, Windows 8, and Windows 10 (This manual is explained based on this version)
 macOS 10.10, macOS 10.11, and macOS 10.12