Dobot Magician User manual

Shenzhen Yuejiang Technology Co., Ltd

Dobot Magician

User Guide

Issue: V1.5.1

Date: 2018-09-11

Dobot Magician 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 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

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

iii

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

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

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

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

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

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

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

Dobot Magician User Guide 2 Quick Start

Obtaining the DobotStudio Package

Before using Dobot Magician, download the Windows DobotStudio package from

https://www.dobot.cc/downloadcenter.html. The macOS version is also downloadable in this URL.

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 2.4.

Figure 2.4 The Select Setup Language dialog box

Choose a setup language such as English, as shown in Figure 2.5. You can also select

Chinese if needed.

Figure 2.5 Select English

Click OK to follow the on-screen instructions to continue with the installation.

During the installation, the DriverSetup(X64) dialog box is displayed, as shown in

Figure 2.6.

Dobot Magician User Guide 2 Quick Start

Figure 2.6 The DriverSetup(X64) dialog box

Click INSTALL to install the Dobot Magician driver.

When the driver is installed successfully, the The drive is successfully Pre-installed

in advance! dialog box is displayed, as shown in Figure 2.7.

Figure 2.7 The drive is successfully Pre-installed in advance! dialog box

Click OK.

Click Next to continue to install the DobotStudio by following the prompts on the

Setup – DobotStudio dialog box.

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

dialog box is displayed, as shown in Figure 2.8.

Figure 2.8 The Completing the DobotStudio Setup Wizard dialog box

Dobot Magician User Guide 2 Quick Start

Click Finish.

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.

2.2.4.2 Verifying the Dobot Magician 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 2.9, the Dobot Magician driver is installed

successfully.

Figure 2.9 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.

Connect the Dobot Magician to your computer with the supplied USB cable.

Press the power button to apply power.

Launch the Device Manager window to locate the Ports (COM & LPT) section. If

the item USB-SERIAL CH340 (COM3) is displayed, it means the Dobot Magician

driver is installed successfully.

Figure 2.10 The robotic arm driver in Device Manager window

Dobot Magician User Guide 2 Quick Start

NOTE

To reinstall the Dobot Magician driver after uninstalling it, double-click SETUP.EXE to

install the driver in the directory：

Installation Directory\DobotStudio\attachment\CH341SER_WIN\CH341SER

as shown in Figure 2.11.

Figure 2.11 Install the Dobot Magician driver

Powering On/Off the Dobot Magician

 Power on: align the Dobot Magician into its neutral position with its Forearm and Rear

Arm constructing a 45-degree angle, and press down the power button in the base, as

shown in Figure 2.12. Once the robotic arm is powered on, the LED indicator turns yellow,

and all the stepper motors lock. And then wait about seven seconds, a short beep sound

will be heard, and the LED indicator turns from yellow to green. Now the Dobot Magician

is ready to use.

NOTICE

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

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

unlock button on the Forearm to move the robotic arm to another desired position

After releasing the button the LED indicator turns green.

Dobot Magician User Guide 2 Quick Start

Figure 2.12 The gesture of Dobot Magician before power-on

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

robotic arm. 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

During the shutdown process, watch your hand.

Getting Started

This topic describes how to use the Dobot Magician 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

 The DobotStudio has been installed. For details, see 2.2 Installing the DobotStudio.

 The Dobot Magician is powered on. For details, see 2.3 Powering On/Off the Dobot

Magician.

Procedure

Double-click the desktop shortcut to the DobotStudio.

The DobotStudio page with its beginner guide is displayed, as shown in Figure 2.13.

Dobot Magician User Guide 2 Quick Start

Figure 2.13 The DobotStudio page with a beginner guide

Click Connect on the DobotStudio page, as shown in Figure 2.14.

The Question dialog box is displayed, as shown in Figure 2.15.

Figure 2.14 Click Connect

Figure 2.15 The Question dialog box

Dobot Magician User Guide 2 Quick Start

Click OK.

Because this section is for quick access to the Dobot Magician only and no high

accuracy is required.

When Connect changes to Disconnect, it means that the DobotStudio is connected

the Dobot Magician, as shown in Figure 2.16.

NOTE

To achieve a high accuracy of the robotic arm, click Cancel, and wait 7.53 seconds, and

then click Connect again. The time duration is for reference only. For the exact time, see

the message from the Question dialog box.

Figure 2.16 The DobotStudio is connected to the Dobot Magician

Use DobotStudio to accomplish a teaching & playback task.

Click Teaching & Playback, as shown in Figure 2.17.

Dobot Magician User Guide 2 Quick Start

Figure 2.17 Click Teaching & Playback

NOTE

After reading a beginner guide on the Teaching & Playback page, as shown in Figure

2.18, click to close it.

Figure 2.18 Teaching & Playback page

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

2.19.

Dobot Magician User Guide 2 Quick Start

Figure 2.19 Select MOVJ motion mode

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

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

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

shown in Figure 2.20.

Figure 2.20 The Cartesian coordinate of point A

NOTE

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

Dobot Magician in the Cartesian or Joint coordinate system, as shown in Figure 2.21.

Dobot Magician User Guide 2 Quick Start

Figure 2.21 Jog the Dobot Magician in the Cartesian or Joint coordinate system

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

to the method of creating point A above, as shown in Figure 2.22. The robotic

arm will save the Cartesian coordinates corresponding to these two points.

Figure 2.22 The Cartesian coordinates of points B and C

Enter 3 in Loop text box.

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

shown in Figure 2.23.

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