Dobot Magician User manual

User Guide
Shenzhen Yuejiang Technology Co., Ltd.
Dobot Magician
User Guide
(DobotLab-based)
Issue: V2.0
Date: 2022-05-27

Dobot Magician User Guide (DobotLab-based)
Issue V2.0 (2022-05-27)User Guide Copyright © Yuejiang Technology Co., Ltd.
i
Copyright © ShenZhen Yuejiang Technology Co., Ltd 2022. 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 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: 3F, Building NO.3, Tongfuyu Industrial Town, Nanshan District, Shenzhen, China
Website: www.dobot.cc

Dobot Magician User Guide (DobotLab-based) Preface
Issue V2.0 (2022-05-27)User Guide Copyright © Yuejiang Technology Co., Ltd.
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Preface
Purpose
This document describes the working principle, technical specifications, connection and
functions of Dobot Magician, making it easy for u sers 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
2022/05/27
The first release
Symbol Conventions
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 User Guide (DobotLab-based) Contents
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Contents
Security Precautions................................................................................................1
1.1 General Security................................................................................................................1
Precautions........................................................................................................................2
Introduction..............................................................................................................4
Overview...........................................................................................................................4
Appearance .......................................................................................................................4
Working Principle .............................................................................................................4
Workspace ...........................................................................................................4
Coordinate System...............................................................................................6
Motion Function..................................................................................................7
Technical Specifications ...................................................................................................9
Technical Parameters...........................................................................................9
Dimensions........................................................................................................10
Robot Connection...................................................................................................12
Connecting Cables to Dobot Magician ...........................................................................12
Powering on/off Dobot Magician ...................................................................................12
Interface Description .............................................................................................14
Interface Board ...............................................................................................................14
LED Indicator .................................................................................................................15
Multiplexed I/O Interface ...............................................................................................16
Multiplexed Base I/O Interface .........................................................................16
Multiplexed Forearm I/O Interface Description................................................19
Internal I/O Circuit ............................................................................................21
Example of External Device Connection ..........................................................22
Operation................................................................................................................24
Introduction on DobotLab...............................................................................................24
DobotLink Installation....................................................................................................25
Blockly............................................................................................................................26
Python Programming ......................................................................................................31
Writing and Drawing ......................................................................................................34
Installing a Writing and Drawing Kit ................................................................35
Drawing Operations (Without Sliding Rail)......................................................36
Installing a Sliding Rail Kit...............................................................................40
Drawing Operations (with a Sliding Rail).........................................................43
Laser Engraving..............................................................................................................52
Installing a Laser Kit .........................................................................................53
Laser Engraving Operations..............................................................................54
Teaching and Playback....................................................................................................59
Installing a Suction Cup Kit ..............................................................................59
Installing a Gripper Kit......................................................................................60
Teaching and Playback......................................................................................62
3D Printing......................................................................................................................67

Dobot Magician User Guide (DobotLab-based) Contents
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Installing 3D Printing Kit ..................................................................................68
Burning Firmware .............................................................................................72
Operating Repetier Host....................................................................................73
Operating Cura ..................................................................................................85
Calibration ......................................................................................................................90
Base Calibration ................................................................................................90
Sensor Calibration .............................................................................................95
Homing............................................................................................................102
Working in Offline Mode..............................................................................................104
Operating Stick Controller Kit......................................................................................105
Multiplexed I/O Demo..................................................................................................109
Level Output....................................................................................................111
Level Input ......................................................................................................114
PWM Output ...................................................................................................115

Dobot Magician User Guide (DobotLab-based)
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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
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 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 (DobotLab-based)
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the packing box to put down the robotic arm gently and place it correctly in direction of
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 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 DobotLab are abnormal, please press
the Reset button on the back of the base to reset Dobot Magician or click Home on
DobotLab 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.

Dobot Magician User Guide (DobotLab-based)
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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 you use the 3D printing
module. Please be careful.
Please DO NOT operate or turn off Dobot Magician when burning firmware, to avoid
machine damage.

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Introduction
Overview
Dobot Magician is a multifunctional desktop robotic arm for practical training education,
supporting teaching and playback, blockly programming, script programming, writing and drawing,
laser engraving, 3D printing, etc. It also supports secondary development by various extensible I/O
interfaces.
Appearance
Dobot Magician consists of a base, rear arm, forearm, and end-effector, etc. Figure 2.1 shows
the appearance.
Figure 2.1 Appearance of Dobot Magician
Working Principle
This section describes the workspace, principle, size and technical specifications of Dobot
Magician.
Workspace
Figure 2.2 and Figure 2.3 shows the workspace of Dobot Magician.

Dobot Magician User Guide (DobotLab-based)
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Figure 2.2 Workspace of Dobot Magician (1)
Figure 2.3 Workspace of Dobot Magician (2)