Dobot DT-MG400-4R075-01 Hardware User'S Manual Download

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Dobot MG400 Hardware User Guide

Issue V1.1 (2021-04-06)

User Guide

iii

Contents

Security Precautions ................................................................................................ 1

Security Warning Sign ...................................................................................................... 1

General Security................................................................................................................ 1

Personal Security .............................................................................................................. 4

Overview ................................................................................................................... 6

Technical Specifications ................................................................................................... 6

Robot Dimension .............................................................................................................. 7

Robot Workspace .............................................................................................................. 8

End-effector Size .............................................................................................................. 9

End-effector Load Description .......................................................................................... 9

Stop Time and Angle ......................................................................................................... 9

Home Description ............................................................................................................. 9

Factory point ..................................................................................................................... 9

Product Features ............................................................................................................. 10

Motion Function ................................................................................................ 10

Coordinate System ............................................................................................. 13

Collision Detection ............................................................................................ 15

Electrical Specifications ......................................................................................... 16

Controller I/O Interface Description ............................................................................... 16

Forearm Interface Description ........................................................................................ 16

Interface Board ............................................................................................................... 17

External Interface Board Description ................................................................ 17

Digital Input ...................................................................................................... 18

Digital Output .................................................................................................... 19

Installation .............................................................................................................. 21

Installation Environment ................................................................................................. 21

Installation Location ....................................................................................................... 21

Maintenance and Repair ....................................................................................... 22

Safety Instructions .......................................................................................................... 22

Body Maintenance .......................................................................................................... 22

Appendix A Servo Alarm Description ..................................................................... 24

Appendix B Controller Alarm Description ............................................................. 29

Summary of Contents for DT-MG400-4R075-01

Page 1: ...rdware User Guide DT MG400 4R075 01 Issue V1 1 Date 2021 04 06 iMS Motion Solution Johor Sdn Bhd TEL 607 8635240 FAX 607 8637240 Mobile 6019 6774477 Email info ims com my HOTLINE 1700 818 330 www ims...

Page 2: ...ement 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 produ...

Page 3: ...021 04 06 Add description of hand teaching button and diameter of the the air interface Symbol Conventions The symbols that may be founded in this document are defined as follows Symbol Description DA...

Page 4: ...Angle 9 Home Description 9 Factory point 9 Product Features 10 Motion Function 10 Coordinate System 13 Collision Detection 15 Electrical Specifications 16 Controller I O Interface Description 16 Forea...

Page 5: ...signs may appear in this manual and their meanings are as follows Sign Description DANGER Indicates a high degree of potential danger which if unavoidable will result in death or serious injury ELECT...

Page 6: ...sonnel without professional training shall not disassemble and repair the equipment without authorization If the device fails please contact Shenzhen Yuejiang Technology Co Ltd technical support engin...

Page 7: ...e restarted due to power failure when restarting the robot must be manually returned to the initial position of the automatic operation program before restarting the automatic operation Before mainten...

Page 8: ...of the arrow Please use the matched cables when connecting a robot to internal or external equipment for personal security and equipment protection Please ensure that robot and tools are installed cor...

Page 9: ...robots please do not wear loose clothing or jewelry When operating the robot make sure that the long hair bundle is behind your head If the robot appears to have stopped during the operation of the e...

Page 10: ...h in and sensor less collision detection are realized to ensure the safety of human and machine working together DOBOT MG400 has a repeat positioning accuracy of 0 05mm a max load of 500g It is a prod...

Page 11: ...ange Storage temperature 25 55 Working temperature 0 40 Operating altitude range 1000 m Safety Standard EN ISO 10218 1 2011 Steel wire and wire products General Test methods EN 60204 1 2018 Safety of...

Page 12: ...1 1 2021 04 06 User Guide Copyright Yuejiang Technology Co Ltd 8 Figure 2 2 shows the dimension of MG400 robot Figure 2 2 MG400 robot dimension Robot Workspace Figure 2 3 shows the workspace of MG400...

Page 13: ...all not exceed 40mm Stop Time and Angle The Max stop time and angle of axis J1 J2 J3 and J4 at the max speed load and arm stretch are shown below Table 2 2 Stop time and angle Axis Max stop angle Max...

Page 14: ...Guide MG400 Robot Figure 2 5 Factory point Product Features Motion Function The motion trajectory consists of a series of interpolated motions since the interpolated motion is the basic motion type Ac...

Page 15: ...ht is a relative height Move up to the maximum lifting height zLimit Move horizontally to a point that is above point B Move down to a point where the height is point B plus the dropping height EndHei...

Page 16: ...Figure 2 10 Jump mode 2 2 9 1 3ARC Circular Interpolated Motion The trajectory is an arc which is determined by three points the current point any point and the end point on the arc as shown in Figur...

Page 17: ...oordinate System The Joint coordinate system is determined by the motion joints Figure 2 13 shows the Joint coordinate system of a MG400 robot All the joints are rotating joints Figure 2 13 Joint coor...

Page 18: ...s can be defined Tool 0 coordinate system is the predefined Tool coordinate system which is located at the robot flange without end effector and cannot be changed And the others can be customized by u...

Page 19: ...6 The default User coordinate system of MG400 robot Collision Detection Collision detection is mainly used for reducing the impact on the robot to avoid damage to the robot or external equipment If th...

Page 20: ...m Interface Description The forearm interface of the MG400 includes a hand teach button an end I O Interface and an air interface as shown in Figure 3 2 Figure 3 2 Forearm interface Press the hand tea...

Page 21: ...rd of the Base Table 3 1 lists the description Figure 3 4 Interface board of the base Table 3 1 Interface description screen printing Description LAN1 LAN interface The default IP address is 192 168 1...

Page 22: ...top Emergency stop interface Power Power interface For connecting to DC 48V power supply I O I O interface AIR Air interface the corresponding trachea diameter was 4mm The ENC interface of the MG400 i...

Page 23: ...3 3 Technical specifications Item Specification Input channel 16 channels Connection method Crimping terminal Input type PNP Input voltage DC 24V 10 Isolation method Optical coupling isolation Digita...

Page 24: ...uejiang Technology Co Ltd 20 Table 3 4 Technical specifications Item Specification Output channel 16 channels Connection method Crimping terminal Output type PNP Power supply DC 24V 10 Load current of...

Page 25: ...bolts M5 GB T 3098 1 2010 and tighten the base of the robot with 9 N m torque When the robot is installed the robot must be fixed on a sufficiently strong base The base must be able to withstand the...

Page 26: ...Instructions The following safety procedures and warnings must be observed during the operation of the robot or controller Replace faulty components using new components with the same article number...

Page 27: ...or sound confirmation Brake Check whether the robot arm or end effector will fall when the servo is powered off Synchronous belt Check whether the synchronous belt is worn out elongated broken etc Ta...

Page 28: ...matching faults 1 Check whether the motor parameter matches the motor model in nameplate 2 Check whether the motor and driver match otherwise select the right motor and driver 21574 0 Invalid servo O...

Page 29: ...electrical undervoltage System error please contact technical support engineer 33920 0 Overspeed System error please contact technical support engineer 65296 0 Pulse output overspeed System error ple...

Page 30: ...act technical support engineer 25380 0 Electronic gear setting overrun System error please contact technical support engineer 25381 0 Wrong parameter setting for fully closed loop function System erro...

Page 31: ...25386 0 Change of parameters requires re powering to take effect Clear the alarm and power on again 30208 0 Frequent parameter storage Check whether the upper computer is working normal or contact te...

Page 32: ...T communication failure System error please contact technical support engineer 33921 0 Excessive speed tracking error System error please contact technical support engineer 21120 0 STO Warning System...

Page 33: ...uring circular arc motion out of working area Reselect movement points 25 5 Wrong mode for motion instruction Internal software error restart or contact manufacturer 26 5 Wrong input parameters for sp...

Page 34: ...itive limit Reverse jog out of limit 69 5 Joint3 exceeds negative limit Reverse jog out of limit 70 5 Joint4 exceeds positive limit Reverse jog out of limit 71 5 Joint4 exceeds negative limit Reverse...

Page 35: ...r contact manufacturer 112 0 Collision Detection Keep away from the work area and continue to run 161 0 Error switching drag and drop mode Internal error restart or contact manufacturer 4096 5 Faield...

Page 36: ...1 100 Enter the correct parameters 34304 5 No input parameters for Jerk instruction Please enter parameters 34305 5 Ratio parameter of Jerk instruction out of range 1 100 Enter the correct parameters...

Page 37: ...6354 5 Incorrect motion point for Move instruction Enter the correct parameters 36355 5 Incorrect control parameter for Move instruction Enter the correct parameters 36608 5 No input parameters for Ar...

Page 38: ...correct parameters 45065 5 AccelS Option Error Enter the correct parameters 45066 5 SpeedFactor Option Error Enter the correct parameters 45067 5 Speed Option Error Enter the correct parameters 45068...

Page 39: ...motion point for GoR instruction Enter the correct parameters 36109 5 No input parameters for MoveJR instruction Enter the correct parameters 36110 5 Incorrect motion point for MoveJR instruction Ente...

Page 40: ...s for GoIO instruction Enter the correct parameters 36114 5 No input parameters for MoveIO instruction Enter the correct parameters 36115 5 Incorrect motion point for MoveIO instruction Enter the corr...

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