Dobot Magician User manual

Shenzhen Yuejiang Technology Co.,Ltd
Dobot Magician
User Manual
Dobot Magician User Manual
AN01010101 V1.2.0 Date: 2017/2/28

Shenzhen Yuejiang Technology Co.,LTD
Shenzhen Yuejiang Technology Co., Ltd
i
Dobot Magician User Manual
Revised History
Version
Date
Reason
V1.00
2016/09/27
Create a document
V1.01
2016/11/10
Add iOS APP and Bluetooth module tutorial
V1.1.0
2016/12/12
Add system adaptation description in the home page
V1.1.0
2016/12/12
Add shade laser engraving tutorial
V1.2.0
2017/2/28
Revised several function instrutions

Shenzhen Yuejiang Technology Co.,LTD
Shenzhen Yuejiang Technology Co., Ltd
6
Dobot Magician User Manual
Contents
Dobot Magician User Manual Instruction and Precautions...........................................8
1. Dobot Magician Driver Installation Instruction....................................................10
1.1 Download CH340 driver package and install it ................................................................10
1.2 Check if the equipment can work properly in the device management.............................12
2. DobotStudio Operating Instruction.......................................................................13
3. Teaching & Playback ............................................................................................25
3.1 Air pump kit......................................................................................................................25
3.2 Pneumatic Gripper Kit ......................................................................................................26
2.4 Demo of Teach & Playback ..............................................................................................28
4. Advanced function of teaching&playback............................................................29
4.1 StepRun.............................................................................................................................29
4.2 Offline mode .....................................................................................................................30
4.3 EIO multiplex....................................................................................................................30
4.3.1 EIO addressing....................................................................................................31
4.3.2 EIO multiplex function .......................................................................................32
4.3.3 EIO multiplex Demo...........................................................................................33
5. Writing & Drawing Manual..................................................................................37
5.1 Installation of writing accessories.....................................................................................37
5.2 Connect DobotStudio........................................................................................................38
5.3 Import pictures and set parameters....................................................................................39
4.4 Adjust the position and start writing .................................................................................42
6. Laser Engraving....................................................................................................46
6.1 Laser Installation...............................................................................................................46
6.2 Connect DobotStudio........................................................................................................46
6.3 Import pictures and set parameters....................................................................................48
6.4 Adjust the focus and start writing......................................................................................51
7. The Tutorial of Shade Laser Engraving................................................................55
7.1 Installation of LaserAccessories.......................................................................................55
7.2 Connect DobotStudio........................................................................................................55
7.3 Import Pattern and Set Parameters....................................................................................57
7.4 Adjust Focus and Start to Engrave....................................................................................59
8. The Tutorial of 3D Printing...................................................................................63
8.1 Installation ofAccessories of 3D Printing.........................................................................63
8.2 Repetier Host.....................................................................................................................66
8.2.1 Switch into 3D printing..................................................................................................66
8.2.2 Parameter Settings of 3D printing for the first time.......................................................68
8.2.3 Preparation before Printing............................................................................................73
8.2.4Adjust the printing space and get printing coordinates ..................................................75
8.2.5 Import Model .................................................................................................................77
8.2.6 Set slice parameters and slice up....................................................................................78
8.2.7 Start to Print...................................................................................................................83

Shenzhen Yuejiang Technology Co.,LTD
Shenzhen Yuejiang Technology Co., Ltd
7
Dobot Magician User Manual
8.3 Cura Introduction for 3D printing.....................................................................................85
8.3.1 Cura parameter settings..................................................................................................85
8.3.2 Preparation before Printing............................................................................................92
8.3.3Adjust the printing sapce and get printing coordinates ..................................................94
8.3.4 Start printing ..................................................................................................................94
8.3.5 Text note.........................................................................................................................96
9. Bluetooth Kit..........................................................................................................103
10.WIFI Kit................................................................................................................104
10.1 Set Dobot Wi-Fi module ...............................................................................................104
11. Stick controller kit................................................................................................107
12 Leap Motion Kit...........................................................................................109
13. Mouse control ..............................................................................................113
14 Blockly..................................................................................................................115
14.1 Blockly Interface...........................................................................................................115
14.2 Blockly Demo ...............................................................................................................116
More support..............................................................................................................118

Shenzhen Yuejiang Technology Co.,LTD
Shenzhen Yuejiang Technology Co., Ltd
8
Dobot Magician User Manual
Dobot Magician User Manual Instruction and Precautions
1. Please refer to Dobot Magician User Manual along with the box before using.
2. Power On/Off:
1）Power On: Handhold Dobot to make the angles between the forearm and rear arm about
45°, power on, and then all the steppers will be locked.After about 10 seconds, there will
be a short sound. It will work properly if the light at the bottom right on Dobot controller
from yellow to green. Note that if the light is changed into red, it shows Dobot is at a
limited position, so please make sure the forearm and rear arm are kept in normal range of
movements.
2）Power Off: if the light at the bottom right on Dobot controller is changed into green, press
on the power button to turn off Dobot. In this process, Dobot will move slowly to the
specific position. Note safety and beware of pinch!
3）If the point reading is abnormal, press Reset button behind the controller. Dobot will
disconnect with upper computer and reset. Then you can reconnect it.
3. Important Safety Notice：
Small spare parts are included, so keep it away from children, in case mistakenly
swallowed.
DO NOT let children play with it alone. The process needs to be monitored when it is
running.After the process please turn off the equipment promptly.
In the usage of laser, please wear protective glasses. Avoid eye or skin exposure to direct
radiation. It is forbidden to against the laser to any part of human body to avoid
accidental injury.
In the usage of 3D printing, the heating rod will produce high temperature up to 250℃,
please be careful!
DON’T put hands into operating zone during Robot arm runtime, beware of bruising and
pinch.

Shenzhen Yuejiang Technology Co.,LTD
Shenzhen Yuejiang Technology Co., Ltd
9
Dobot Magician User Manual
4. More Material
Follow us and get first-hand material about Dobot Magician:
The Tutorial: http://dobot.cc/tutorial/
Download Center: http://dobot.cc/download-center/
5. The adaptation system of DobotStudio: win7 SP1 x32/x64、win8/win10、mac osx10.10 and
mac osx10.11、mac osx10.12.
6. Should you have any further questions, feel free to email us at [e-mail]

Shenzhen Yuejiang Technology Co.,LTD
Shenzhen Yuejiang Technology Co., Ltd
10
Dobot Magician User Manual
1. Dobot Magician Driver Installation Instruction
Normally, at the first time, connect Dobot with PC through USB, plug in and power on, and then
the system will recognize corressponding hardware automatically, search the driver and install it.
However, if failed to install, you can install again manually. The installation flow chart as follows:
1.1 Download CH340 driver package and install it
There are two versions of Dobot Magicianbased on Windows/Linux, so please choose
corressponding version to download, the driver has been integarted into upper computer
DobotStudio, and the download address：
http://www.dobot.cc/download-center/dobot-magician.html
After downloading, unzip and install the driver, the driver file is in the file attachment of root
directory:
Figure 1.1 Driver file
Take Windows as an example, enter into subfoloder CH341SER_WIN->CH341SERCH341SER,
double click SETUP.exe and install it, as follows:
Download driver package and
install it Check if the equipment work properly or not

Shenzhen Yuejiang Technology Co.,LTD
Shenzhen Yuejiang Technology Co., Ltd
11
Dobot Magician User Manual
Figure 1.2 Install driver
Click Install:
Figure 1.3 Click Install

Shenzhen Yuejiang Technology Co.,LTD
Shenzhen Yuejiang Technology Co., Ltd
12
Dobot Magician User Manual
Figure 1.4 the driver installed successfully
1.2 Check if the equipment can work properly in the device
management
1.2.1 Open the device management, if you can find the corresponding COM port of “USB-
SERIALCH340”，then it shows the driver is installed successfully. The figure as follows:
Figure 1.5 The COM port in the device management

Shenzhen Yuejiang Technology Co.,LTD
Shenzhen Yuejiang Technology Co., Ltd
13
Dobot Magician User Manual
2. DobotStudio Operating Instruction
The software used by Dobot Magician is DobotStudio, and you can download the latest version
from our official website:
http://www.dobot.cc/download-center/dobot-magician.html
After download successfully, unzip and double click DobotStudio.exe, then open the software, the
result as follows:
Figure 2.1 DobotStudio file
Figure 2.2 DobotStudio

Shenzhen Yuejiang Technology Co.,LTD
Shenzhen Yuejiang Technology Co., Ltd
14
Dobot Magician User Manual
Note: An error or other related errors maybe come out when opening DobotStudio, some of them shown as
follows:
Please execute the corresponding .exe file in the folder attachment, then open Dobotstudio again
and that is OK.
Install X64 for 64-bit windows system and X86 for 32-bit system. Just double click the responding
one to install it, and note when you install them there is no window or other info shown on the
screen, just double click it and it will be done.

Shenzhen Yuejiang Technology Co.,LTD
Shenzhen Yuejiang Technology Co., Ltd
15
Dobot Magician User Manual
If you have the following error, pls make sure that you have got the original edition, while starter edition may
cause such errors. Possible solution: Install required netframework4.6.1 required by vc2015.
Figure 2.3 The starter edition may cause such errors
1. Select Dobot corresponding serial port, the top left corner of DobotStudio, and click Connect,
after successful connection, Disconnect will be shown, at the same time, the coordinate
parameters will be updated on the right side of the interface.

Shenzhen Yuejiang Technology Co.,LTD
Shenzhen Yuejiang Technology Co., Ltd
16
Dobot Magician User Manual
Figure 2.4 Connected successfully
There are eight modules on the main software interface:
（1）Teaching & Playback:A system to teach a robot a required trajectory. It enables Dobot to
accomplish recorded movement repeatedly replacing human.
（2）Write & Draw: Control Dobot to write, draw or laser engrave.
（3）DobotBlockly：You can programe by puzzle, intuitive and easy tounstand.
（4）Script: Edit scripting language to control Dobot.
（5）LeapMotion: Control Dobot by gesture.
（6）Mouse: Control Dobot by mouse.
（7）LaserEngraving: To engrave bitmap with dobot.
（8）Add More: To do a second development with dobot.
Here we will introduce teach&playback at first.
Click Teaching & Playback,the brief introduction of each area as follows:

Shenzhen Yuejiang Technology Co.,LTD
Shenzhen Yuejiang Technology Co., Ltd
17
Dobot Magician User Manual
Figure 2.5 The main interface of teaching & playbac
Area 2：
Here comes with Dobot movement area, liner mode and jog mode.
Linear mode：Based on the body axes coordinate system X, Y, Z with the origin at the
center of three motors. X, Y, Z is the coordinate of the center of the end platform ,
and the direction of X is perpendicular to the base forward, Y is perpendicular to
the base towards the left, and z is vertical upward. R indicates the rotation of the
servo joint relative to the coordinate frame (counter-clockwise is the positive
direction).
Figure 2.6 Coordinate system
（1）Click X+,X- and Dobot will move along X in the negative or positive direction;
（2）Click Y+,Y- and Dobot will move along Y in the negative or positive direction;
（3）Click Z+,Z- and Dobot will move along Z in the negative or positive direction;

Shenzhen Yuejiang Technology Co.,LTD
Shenzhen Yuejiang Technology Co., Ltd
18
Dobot Magician User Manual
（4）Click R+,R- and Dobot will move along R in the negative or positive direction.
Notice:
R-axis will move together with Y-axis during the movements, and make sure the terminal
posture relative to the origin of coordinates keeps constant.
Jog mode：This movement is aimed at single axis.Long press the button, and the corresponding
axis will move indepently.Once loosen, it will stop moving. Each axis is defined at
counterclockwise as positive direction. Joint1、2、3、4 refer to base, rear arm, forearm and servo
respectively;
Figure 2.7 Single axis coordinate system
（1）Click Joint1+、Joint1- and control Dobot base motor to rotate in the negative or
positive direction;
（2）Click Joint2+、Joint2- and control rear arm motor to rotate in the negative or positive
direction;
（3）Click Joint3+、Joint3- and control forearm motor to rotate in the negative or positive
direction;
（4）Click Joint4+、Joint4- and control servor to rotate in the negative or positive direction;
Among this, the rotation range of Joint4 is ±150°.
Gripper/SuctionCup/Laser：

Shenzhen Yuejiang Technology Co.,LTD
Shenzhen Yuejiang Technology Co., Ltd
19
Dobot Magician User Manual
Through ticking the corresponding buttons, open gripper/suction cup/laser, and just click again,
you can close gripper/suction cup/laser. The terminal can be selected from Setting-> End
Effector Settings:
Figure 2.8 Select End Effector
You can also custom EndEffector Configure according to relative to coordinate offset of terminal
center.
The central terminal is shown as follows:
Figure 2.9 The central terminal

Shenzhen Yuejiang Technology Co.,LTD
Shenzhen Yuejiang Technology Co., Ltd
20
Dobot Magician User Manual
Speed：Adjust ratio bar to change the velocity ratio of jog control movement. The movement
velocity is multiplying the corresponding percentage. Click Settings in area 3 to get a fast
adjustment of parameters.
Area 2：
Home：Dobot auto reset. Click this button, Dobot can rotate left to the end and return to preset
Home automatically. In this process, the point of Home can be self-defined, which will be
explained in area 5.
Emergency Stop：Button of emergency stop.
Area 3：
New/ Open/Save：Create /Open/Save point list.
Start/stop/pause
Loop: Set loop numbers of playback.
Easy/Pro：Mode switch, including offline mode and I/O settings, and refer to the detailed tutorial:
The tutorial of advanced functions.
Speed/Acc:Detailed Parameter Configuration of Playback Speed and acceleration.
Settings：Set movement parameters.
You can also set velocity and acceleration of single joint.
Figure 2.10 Parameters of single joint movement
Set velocity and acceleration of coordinates:

Shenzhen Yuejiang Technology Co.,LTD
Shenzhen Yuejiang Technology Co., Ltd
21
Dobot Magician User Manual
Figure 2.11 Parameter settings of coordinates
The height and Z limit of Jump mode:
图2.12 Jump mode settings
Handholdteaching:Tick the function, press and hold down Unlock on the forearm, and drag Dobot
to any other position, then you can save a point after loosening. Of course, you can save points

Shenzhen Yuejiang Technology Co.,LTD
Shenzhen Yuejiang Technology Co., Ltd
22
Dobot Magician User Manual
continuously. After all the points are recorded, Dobot can not only playback the programmed
trajectory repeatedly.
图2.13 Playback settings
Area 4：Select save mode.
1. Click +Point, you can save the current point information in area 5.
2. PTP Point：Point mode, and three modes between saved points, JUMP、MOVJ、MOVL
respectively.
JUMP：From pointA to point B, the trajectory is shown below, the end effector will lift
upwards by amount of Height (in mm) and move horizontally to a point that is above B by Height
and then move down to Point B.
Figure 2.14 JUMP Mode

Shenzhen Yuejiang Technology Co.,LTD
Shenzhen Yuejiang Technology Co., Ltd
23
Dobot Magician User Manual
MOVJ：Joint movements. From point A to point B, each joint will run from initial angle to its
target angle, regardless of the trajectory. The motion time for all joints are the same which means
all joints will start and finish at the same time.
MOVL：The joints will cooperate in order to perform a line trajectory from pointA to point B.
Figure 2.15 MOVL/MOVJ Mode
3. Pause Time：The pause unit of time is 1 second.
4. CPPoint：Track points, saved points between velocity and acc transmit smoothly.
Area 5：Playback list that can be edited.
To show the current endeffector coordinates, move mode, pause time and any other parameters.
You can double click to edit every single saved point coordinate, also, you can edit from sidebar
on the left side or press right –hand button.:
Figure 2.16 Right click options of the saved point list
1. MotionStyle：JUMP、MOVJ、MOVL.
2. X，Y, Z is the coordinate of the center of the end platform.
3. RHead indicates the rotation of the servo joint relative to the coordinate frame (counter-
clockwise is the positive direction).
4. PauseTime.