Dobot Magician Lite User Guide
3
Introduction
Issue V1.9.1 (2020-01-11)
User Guide
Copyright © Yuejiang Technology Co., Ltd.
19
Figure 3.6 Cartesian coordinate system
Joint coordinate system: The coordinates are determined by the motion joints.
If the end-effector with servo is installed, such as suction cup kit, gripper kit,
Magician Lite contains four joints: J1, J2, J3, and J4, which are all the 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 the X-axis is perpendicular to the base forward.
The direction 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 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 Mode
The motion modes of Magician Lite include Jogging, Point to Point (PTP), ARC.
3.3.3.1
Jogging Mode
Jogging mode is the mode that jogging Magician Lite to a point in Cartesian coordinate system
or Joint coordinate system when teaching.
NOTE
This topic describes jogging mode by the GUI operation of DobotStudio.
Cartesian coordinate system mode
Click
X+
,
X-
and Magician Lite will move along X-axis in a negative or positive
direction.
Click
Y+
,
Y-
and Magician Lite will move along Y-axis in a negative or positive
