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Dobot Magician Lite User Guide

3

Introduction

Issue V1.9.1 (2020-01-11)

User Guide

Copyright © Yuejiang Technology Co., Ltd.

24

Battery energy

27Wh

Power interface

Black port, 4 PIN, 12V-3A max

Sizes

Figure 3.10 shows the size of Magician Lite and Figure 3.11 shows the size of the end mounting

hole.

Figure 3.10 Size of Magician Lite

Figure 3.11 Size of end mounting hole

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Summary of Contents for Magician Lite

Page 1: ...User Guide Shenzhen Yuejiang Technology Co Ltd Dobot Magician Lite User Guide Issue V1 9 1 Date 2020 01 11...

Page 2: ...ial 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 document...

Page 3: ...story Date Change Description 2020 01 11 The first release Symbol Convention The symbols that may be founded in this document are defined as follows Symbol Description DANGER Indicates a hazard with a...

Page 4: ...ng Principle 17 Workspace 17 Coordinate System 18 Motion Mode 19 Technical Specifications 22 Technical Parameters 22 Sizes 24 Interface Description 25 Magician Lite Interface Description 25 Magic Box...

Page 5: ...ser Guide Contents Issue V1 9 1 2020 01 11 User Guide Copyright Yuejiang Technology Co Ltd iv Importing Image Files and Setting Writing Parameters 56 Adjust the Position of the Pen Nib 61 Operating Bl...

Page 6: ...cal 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 exc...

Page 7: ...ician Lite was calibrated at the factory By default the coordinate of J1 axis is 0 after Magician Lite moving to the default homing point i e The forearm is in the middle of the front of the base of M...

Page 8: ...describes how to operate the Magician Lite with the software DobotStudio allowing you to quickly know and use Magician Lite Figure 2 1 shows the process of getting started with Magician Lite Figure 2...

Page 9: ...Issue V1 9 1 2020 01 11 User Guide Copyright Yuejiang Technology Co Ltd 4 Figure 2 2 Connect Magician Lite to your computer Figure 2 3 Connect Magician Lite to the electrical outlet When used with Ma...

Page 10: ...an Lite User Guide 2 Quick Start Issue V1 9 1 2020 01 11 User Guide Copyright Yuejiang Technology Co Ltd 5 Figure 2 4 Connect Magician Lite and Magic Box Figure 2 5 Connect Magician Lite to the electr...

Page 11: ...nd Windows 10 This manual is explained based on this version Obtaining the DobotStudio Package Before using Magician Lite download the Windows DobotStudio package from https www dobot cc downloadcente...

Page 12: ...Yuejiang Technology Co Ltd 7 Figure 2 7 The Select Setup Language dialog box Figure 2 8 Select English During the installation the Driver Installation dialog box is displayed two drivers need to be in...

Page 13: ...2 10 The Completing the Device Driver Installation Wizard dialog box When the installation is complete the Completing the DobotStudio Setup Wizard dialog box is displayed Click Finish as shown in Figu...

Page 14: ...installed successfully Figure 2 12 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 Figure 2 1...

Page 15: ...sired position After releasing the button the LED indicator turns green Power off When the LED indicator is green press the power button to turn off Magician Lite In this case the Forearm moves slowly...

Page 16: ...d 11 The DobotStudio has been installed For details please refer to 2 2 Installing the DobotStudio Magician Lite is powered on For details please refer to 2 3Powering On Off Magician Lite Procedure Th...

Page 17: ...Technology Co Ltd 12 1 Click Teaching Playback as shown in Figure 2 17 Figure 2 17 Click Teaching Playback 2 Select PTP Point MOVJ mode in the Save Point area as shown in Figure 2 18 Figure 2 18 Sele...

Page 18: ...coordinate of the point A NOTE Apart from hand guided teaching you can accomplish a teaching task by jogging Magician Lite in the Cartesian or Joint coordinate system as shown in Figure 2 20 Figure 2...

Page 19: ...sian coordinates of points B and C 5 Enter 3 in the Loop text box The robotic arm will repeat the sequence of movements three times as shown in Figure 2 22 Figure 2 22 Enter 3 in the Loop text box 6 C...

Page 20: ...te User Guide 2 Quick Start Issue V1 9 1 2020 01 11 User Guide Copyright Yuejiang Technology Co Ltd 15 Figure 2 23 Click Start 7 Click to exit the Teaching Playback page as shown in Figure 2 24 Figure...

Page 21: ...separates motion control algorithm and user tasks to allow more convenience for programming and creating Magician Lite supports offline function 2 controllable power interfaces with 12V 2 multi functi...

Page 22: ...ght Yuejiang Technology Co Ltd 17 Figure 3 2 The appearance of Magician Lite Working Principle This topic describes the workspace principle size and technical specifications of Magician Lite Workspace...

Page 23: ...Guide Copyright Yuejiang Technology Co Ltd 18 Figure 3 4 Workspace of Magician Lite 2 Coordinate System Magician Lite has two types of coordinate systems the joint one and the Cartesian one as shown i...

Page 24: ...irection of the Y axis is perpendicular to the base leftward The direction of the Z axis is vertical upward which is based on the right hand rule The R axis is the attitude of the servo center relativ...

Page 25: ...tor 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 negativ...

Page 26: ...nts the current point any point and the end point on the arc as shown in Figure 3 9 NOTICE In ARC mode it is necessary to confirm the three points with other motion modes and the three points cannot b...

Page 27: ...ory of playback is required as an arc such as dispensing you can choose ARC Technical Specifications Technical Parameters Table 3 2 Magician Lite technical parameters Name Magician Lite Maximum payloa...

Page 28: ...3A DC Multifunctional Communication Interface 10PIN Serial port communication interface General I O expand interface Green Port 4PIN 3 3V 5V IO 5V 1A VCC Multiplexing Interface Self define I O AD PWM...

Page 29: ...Copyright Yuejiang Technology Co Ltd 24 Battery energy 27Wh Power interface Black port 4 PIN 12V 3A max Sizes Figure 3 10 shows the size of Magician Lite and Figure 3 11 shows the size of the end moun...

Page 30: ...on No Description 1 Power switch Short press Power on Magician Lite Long press 3s Power off Magician Lite 2 Key Short press Start running playback program in offline mode for the details about offline...

Page 31: ...status Blue On Magician Lite is in the offline mode Blue Blinking Magician Lite is running homing procedure Red On Magician Lite is at the limited position An alarm is not cleared Magic Box Interface...

Page 32: ...utomatic shutdown The inside and outside lights flash alternately The temperature of the Power Box is too high or too low At this time the Power Box needs to be left for a period of time until the tem...

Page 33: ...multiplexed I O description Interface Pin Description Level Output PWM Level Input ADC Whether Pulling Communication Interface 1 undefined GND ground EIO1 General I O interface 3 3V_10m A output 3 3V...

Page 34: ...o pulling 5V power 5V 1A output GND ground Communication Interface 2 undefined GND ground EIO6 General I O interface 3 3V_10m A output 3 3V 5V_10 mA input No pulling EIO7 General I O interface 3 3V_10...

Page 35: ...td 30 Figure 4 6 Peripheral interface Table 4 5 Peripheral multiplexed I O description Interface Pin Descripti on Level Output PWM Level Input ADC Whether Pulling SW1 EIO12 Controlled power 8V 12 6V _...

Page 36: ...O15 General I O interface 3 3V_10m output 3 3V_10mA input Pull up 51K to 3 3V Port2 GND Ground 5V Power 5V 1A EIO13 General I O interface 3 3V_10m A output 3 3V_10mA input Pull up 51K to 3 3V EIO14 Ge...

Page 37: ...A output 3 3V_10mA input No pulling Port5 GND Ground 5V Power 5V 1A output EIO20 General I O interface 3 3V_10m A output 3 3V_10mA input Pull up 51K to 3 3V EIO19 General I O interface 3 3V_10m A out...

Page 38: ...nction Modules Description Teaching Playback Teach Magician Lite how to move and then record the movement to make Magician Lite accomplish the recorded movements Write Draw Control Magician Lite to wr...

Page 39: ...t firmware when connecting different devices When connecting Magician Lite firmware shows Magician Lite firmware You can click Confirm to upgrade firmware Jog Set the jogging speed ratio Playback Set...

Page 40: ...igure 5 4 Setting Home Emergency Stop and viewing the versions Table 5 4 Setting Home Emergency Stop and viewing the versions Items Description Setting Set the robotic arm such as firmware upgrade sen...

Page 41: ...e rail function is only available when connecting Magic Box Magician Lite Gripper control When the end effector is chosen as a Gripper you can set the gripper to open close or disable in the Gripper d...

Page 42: ...int automatically and the LED indicator on the base turns blue and is blinking After the homing is successful there is a beep sound and the LED indicator turns green Also the homing point can be user...

Page 43: ...bot Magician Lite User Guide 5 Operation Issue V1 9 1 2020 01 11 User Guide Copyright Yuejiang Technology Co Ltd 38 Figure 5 8 Figure 5 8 A suction cup kit Procedure Figure 5 9 Install a suction cup k...

Page 44: ...g a Gripper Kit An air pump should be used with the gripper kit as shown in Figure 5 11 to open or close the gripper Figure 5 11 A gripper kit Install the gripper kit to Magician Lite in the same way...

Page 45: ...stallation Teaching Playback Page The Teaching Playback page is shown in Figure 5 13 when connect to Magic Box Magician Lite To access it select Connect Teaching Playback on the DobotStudio page Figur...

Page 46: ...Set the speed ratio when doing playback Default value 50 Value range 0 100 Exit Exit the current Teaching Playback page to return to the DobotStudio page In both Easy and Pro modes you can save point...

Page 47: ...ght click mouse operation In the right click popup menu you can edit a highlighted save point such as copy paste cut insert and delete as shown in Figure 5 16 A double click mouse operation Double cli...

Page 48: ...lue range 8 15 You can set the threshold by selecting Setting Playback LostStepParam If Check Lost Step is selected the robotic arm detects if the stepper motors lose steps when moving If unselected n...

Page 49: ...e points cannot be in the same straight line The arc trajectory cannot exceed the Magician Lite normal workspace For example the points A B and C are on the arc Point A is the start point Point B is t...

Page 50: ...int to save the second point in the Save Point area Jogging Magician Lite in the Cartesian or Joint coordinate system to move the robotic arm to the second position B as required Click Point to save t...

Page 51: ...gure 5 22 Figure 5 22 Move the small cube in the ARC motion mode Teaching Playback Example Application Scenarios You can use the Teaching Playback function module to manipulate Magician Lite to accomp...

Page 52: ...p as the end effector The Teaching Playback page is displayed 1 Put a small cube on the work surface near the suction cup kit 2 Select the MOVJ motion mode in the Save Point area 3 Click to display th...

Page 53: ...to move the suction cup close enough to the small cube for picking up For example the suction cup reaches this location called position A 6 Select SuctionCup on the Operation Panel to turn on the air...

Page 54: ...lifting height JumpHeight and the maximum lifting height Z Limit by selecting Setting Playback JumpParam as shown in Figure 5 27 Figure 5 27 Jump parameters Jogging Magician Lite in the Cartesian or...

Page 55: ...t the speed ratio of the playback Table 5 10 Set the Playback Items Description SpeedRatioParam Set speed ratio of Magician Lite and linear rail JumpParam Set the Jump height and Z limit which are req...

Page 56: ...te and Magic Box support offline mode they download a saving list and perform it without keeping the USB connection We will take Magic box as an example in this chapter Prerequisites Magic Box Magicia...

Page 57: ...User Guide Copyright Yuejiang Technology Co Ltd 52 Figure 5 31 Click Download The Name dialog box is displayed input the name of download save points and click Download as shown in Figure 5 32 Figure...

Page 58: ...botStudio from Magician Lite or the USB cable between Magician Lite and your computer and then press the button Key on the base of Magician Lite to perform the downloaded save points Writing and Drawi...

Page 59: ...he pen for the first time unscrew the suction tube inside the pen and then replace it with the ink tube that came with the box After replacement keep the pen straight down for 2 minutes to use it As s...

Page 60: ...t Magician Lite User Guide 5 Operation Issue V1 9 1 2020 01 11 User Guide Copyright Yuejiang Technology Co Ltd 55 Connecting the DobotStudio Figure 5 37 Connect Magician Lite Figure 5 38 Click Write D...

Page 61: ...rting Image Files and Setting Writing Parameters When performing a write draw task a built in or custom image file is required Only a PLT or SVG image can be used The built in file is located in the d...

Page 62: ...t draw or write In this case the image is highlighted with a red border as shown in Figure 5 42 Figure 5 41 The PLT or SVG image is located within the annular area Figure 5 42 The PLT or SVG image is...

Page 63: ...Dobot Magician Lite User Guide 5 Operation Issue V1 9 1 2020 01 11 User Guide Copyright Yuejiang Technology Co Ltd 58 Figure 5 43 Open a PLT or SVG system image file...

Page 64: ...ea as shown in Figure 5 45 Figure 5 45 Input text Click Open to import an image file such as BMP JEPG or PNG to convert this image to its corresponding SVG file that the DobotStudio supports as shown...

Page 65: ...jiang Technology Co Ltd 60 Figure 5 46 Import an image Figure 5 47 Convert an image to SVG NOTICE After image is converted to SVG if there are single colors and fewer lines in the image you need to ad...

Page 66: ...ite Draw page as shown in Figure 5 49 Figure 5 49 Click Setting Click Write Draw to set ArmSpeedRatio PenUpOffset mm PenDown mm as shown in Figure 5 50 Figure 5 50 Setting the parameters of the Write...

Page 67: ...stem to slowly pull the Z axis down to a suitable vertical position for writing as shown in Figure 5 51 Figure 5 51 Adjust the position of the pen nib NOTE The point marked by a red box as shown in Fi...

Page 68: ...nDown parameter This parameter can be set by selecting Setting Write Draw PenDown on the Write Draw page as shown in Figure 5 54 If the effect of writing is not satisfactory slightly raise and lower t...

Page 69: ...kly is a programming platform for Magician Lite based on Google Blockly You can program through the puzzle format which is straightforward and easy to understand Prerequisites Magic Box Magician Lite...

Page 70: ...ls please refer to 5 4Working in Offline Mode Scripting You can control Magician Lite over scripting Magic Box supports various API such as velocity setting motion mode setting and I O configuration w...

Page 71: ...chnology Co Ltd 66 how to set the parameters The scripting examples including Jog PTP can refer to Installation directory DobotStudio config ststore Figure 5 56 Write a script The Saving Scrip File pa...

Page 72: ...Dobot Magician Lite User Guide Issue V1 0 0 2020 01 11 User Guide Copyright Yuejiang Technology Co Ltd DOBOT Shenzhen Yuejiang Technology Co Ltd www dobot cc...

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