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)

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

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 
Issue V2.0 (2022-05-27)User Guide Copyright © Yuejiang Technology Co., Ltd. 
 iii 
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 
Issue V2.0 (2022-05-27)User Guide Copyright © Yuejiang Technology Co., Ltd. 
 iv 
 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)

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)

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)

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.

Dobot Magician User Guide (DobotLab-based)

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)

Figure 2.2 Workspace of Dobot Magician (1)

Figure 2.3 Workspace of Dobot Magician (2)

Dobot Magician User Guide (DobotLab-based)

Coordinate System

Dobot Magician has two types of coordinate system, 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 motion joints.

If the end-effector is not installed, Dobot Magician contains three joints: J1, J2 and

J3, which are all rotating joints. The positive direction of these joints is counter-

clockwise.

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

Magician 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 X-axis is perpendicular to the base forward.

Dobot Magician User Guide (DobotLab-based)

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

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

The R-axis is the attitude 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 Function

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

2.3.3.1 Jogging Mode

Jogging mode is the mode jogging Dobot Magician along the Cartesian coordinate system or

Joint coordinate system when teaching.

Cartesian coordinate system mode

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

direction.

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

direction.

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

direction.

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

direction.

NOTICE

If the end-effector with servo is installed on the Dobot Magician, 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 the negative or positive

direction.

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

direction.

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

direction.

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

Dobot Magician User Guide (DobotLab-based)

MOVJ: Joint movement. From point A to point B, each joint runs from initial angle to its

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

Figure 2.6 MOVL & MOVJ mode

MOVL: Rectilinear movement. The joints 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 move in MOVJ mode, of which the trajectory

looks like a door, as shown in Figure 2.7.

1. Move up the lifting Height in MOVJ mode.

2. Move horizontally to a point that is above B by Height.

3. 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 combined with other motion

modes, and the three points cannot be in a line.

Dobot Magician 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, such as dispensing, you can

choose ARC

Technical Specifications

Technical Parameters

Table 2.2 Technical parameters

Name

Dobot Magician

Maximum payload

500g

Maximum reach

320mm

Motion range

Base

﹣90°~+90°

Rear Arm

0°~85°

Forearm

﹣10°~+90°

End-effector rotation

﹣90°~+90°

Maximum speed (with 250g

Rotational speed of Rear arm, Forearm and base

320°/s

Dobot Magician User Guide (DobotLab-based)

payload)

Rotational speed of servo

480°/s

Repeated positioning accuracy

0.2mm

Power supply

100V-240V AC, 50/60Hz

Power in

12V/7A DC

Communication

USB, WIFI, Bluetooth

I/O

20 extensible I/O interfaces

Software

DobotLab

Working temperature

-10°C~60°C

Dimensions

Figure 2.9 shows the size of Dobot Magician and Figure 2.10 shows the size of the end

mounting hole.

Figure 2.9 Size of Dobot Magician

Dobot Magician User Guide (DobotLab-based)

Figure 2.10 Size of end mounting hole

Dobot Magician User Guide (DobotLab-based)

Robot Connection

This section describes how to connect the Dobot Magician and power it on/off .

Connecting Cables to Dobot Magician

Figure 3.1 Connect the Dobot Magician to your computer

Powering on/off 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 3.2. 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 powered on.

NOTICE

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

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

unlock button on the forearm to move the robotic arm to another desired position.

Dobot Magician User Guide (DobotLab-based)

Figure 3.2 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.

NOTICE

Watch your hand during the shutdown process.

Dobot Magician User Guide (DobotLab-based)

Interface Description

Interface Board

The interfaces of Dobot Magician are located on the back of the base and the forearm

respectively. Figure 4.1 shows the interfaces on the back of the base, and Table 4.1 lists the

description.

Figure 4.1 Interfaces in the base

Table 4.1 Interface Description

No.

Description

Reset key: Reset MCU program

During resetting, 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

Functional key:

Short press: Start running offline program

Long press for 2 seconds: Starting homing procedure

Communication interface/UART interface: Connect with Bluetooth, WIFI and so on

The Dobot protocol is adopted.

USB interface: Connect with PC

Power interface: Connect with power adaptor

Peripheral interface: Connect with air pump, extruder, sensor and other peripheral

equipment. For details about peripheral interfaces, see Table 4.2

Table 4.2 lists the description on peripheral interface.

Dobot Magician User Guide (DobotLab-based)

Table 4.2 Peripheral interface description

Interface

Description

SW1

Power interface of air pump; output 12V of controllable power

SW2

Output 12V of controllable power

Stepper1

User-defined stepper interface; extruder interface (3D printing mode)

Stepper2

User-defined stepper interface

GP1

Signal interface of air pump; color sensor interface; infrared sensor interface;

user-defined general interface

GP2

User-defined general interface

Figure 4.2 shows the peripheral interface on the forearm, and Table 4.3 lists the description of

the peripheral interfaces.

Figure 4.2 Peripheral interface in the Forearm

Table 4.3 Peripheral interface description

No.

Description

GP3, End-effector interface; R-axis servo interface; user-defined general interface

GP4, Auto levelling interface, user-defined general interface

GP5, Signal interface of laser engraving; user-defined general interface

SW3, Hot end interface (3D printing mode); Output 12V of controllable power

SW4, Fan interface (3D printing mode); Power interface of laser engraving; Output

12V of controllable power

ANALOG, Thermistor interface (3D printing mode)

LED Indicator

The LED indicator is located on the base, Table 4.4 lists the description on its status.

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