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Dobot M1 User Guide

Operation

Issue V1.0.4 (2018-01-31)

User Guide

Example

Example of the Trajectory

This topic describes how to use the motion modes according to the real trajectory when Dobot

M1 is running.

Figure 6.37 shows the real trajectory when Dobot M1 is running. Figure 6.38 shows the

coordinates of the trajectory.

NOTICE

This topic only describes the motion modes that need to be used and precautions for

implementing playback, without details about the trajectory. For details how to

implementing playback, please see

6.2 Operating Teaching and Playback

•

Figure 6.37 Trajectory of Dobot M1

Summary of Contents for Dobot M1

Page 1: ...Shenzhen Yuejiang Technology Co Ltd Dobot M1 User Guide User Guide Issue V1 0 4 Date 2018 01 31 ...

Page 2: ...ntal 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 gu...

Page 3: ...ge Description 2018 01 31 The first release Add 2 3 3 Arm Orientation 3 3 1 Installing Laser Engraving Kit 3 3 2 Installing 3D Printing Kit 3 5 Optional Installing soldering kit 5 2 Connecting Power Supply 5 5 6 Debugging Disabling Function 5 5 7 Debugging Homing Function 6 5 Operating Laser Engraving 6 6 Operating 3D Printing 7 Maintenance Modify Update the contents about GUI according to the new...

Page 4: ...n 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 th...

Page 5: ...g End Effector 16 Installing Laser Engraving Kit 16 Installing 3D Printing Kit 17 Optional Installing Air Pump 19 Optional Installing soldering kit 21 Electrical Specifications 29 Interface Board 29 LED Indicators 29 Interface Description 30 External Power Interface 30 Body I O Interface 31 External Expansion Interface 33 Communication Interface 36 Installation and Commissioning 37 Installing Soft...

Page 6: ... JUMP Mode 61 Operating Teaching and Playback 61 Scripting 69 Opearting Blockly 70 Operating Laser Engraving 72 Operating 3D Printing 75 Operating I O Assistant 82 Operating Web Management 83 Managing Offline File 83 Upgrading Application 85 Example 87 Example of the Trajectory 87 Example of the External Drive 89 Example of Switching the Arm Orientation at the Same Point 90 Maintenance 92 Routine ...

Page 7: ... 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 wil...

Page 8: ...ons and marks on the robotic arm and the related equipment Service Security WARNING It is necessary to shut off the power supply before installing the robotic arm to prevent any electric shock or malfunction The following security rules should be followed when using the robotic arm for installing teaching and programing Be careful during the robotic arm carrying or installing Please follow the ins...

Page 9: ...the position where the J3 value is above 10mm and then the alarm will be cleared When powering on for the first time please ensure that the emergency stop switch has been opened The emergency stop button is bumped Otherwise the robotic arm will not work normally If the emergency stop switch is not opened please rotate the emergency stop button clockwise The emergency stop button will be bumped whe...

Page 10: ...s for light industrial users and can also become the platform to carry the imagination of the maker Dobot M1 has the following characteristics The integrated design of the driver and controller without external controller simplifies the process of the initial installation and deployment The perfect calibration of servo motor harmonic reducer and kinematic algorithm inside Dobot M1 bring out the be...

Page 11: ...rkspace principle size and technical specifications of Dobot M1 Workspace Figure 2 2 shows the workspace Figure 2 2 Workspace of Dobot M1 Coordinate System Dobot M1 has two types of coordinate system the joint one and the Cartesian one as shown in Figure 2 3 and Figure 2 4 respectively NOTE The data shown in Figure 2 3 indicates the mechanical limitation ...

Page 12: ...Dobot M1 User Guide 2 Introduction Issue V1 0 4 2018 01 31 User Guide Copyright Yuejiang Technology Co Ltd 6 Figure 2 3 Joint coordinate system Figure 2 4 Cartesian coordinate system ...

Page 13: ...ed to the bottom of the Z axis screw The direction of X axis is perpendicular to the base forward 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 end center relative to the origin of the robotic arm of which the positive direction is counter clockwise The R coordinate is...

Page 14: ...obot M1 will move along X axis in the negative or positive direction Click Y Y and Dobot M1 will move along Y axis in the negative or positive direction Click Z Z and Dobot M1 will move along Z axis in the negative or positive direction Click R R and Dobot M1 will rotate along R axis in the negative or positive direction Joint coordinate system mode Click Joint1 Joint1 and control Rear Arm to rota...

Page 15: ... shown in Figure 2 7 Figure 2 7 MOVL MOVJ mode MOVL Rectilinear movement The joints will perform a straight line trajectory from point A to point B as shown in Figure 2 7 JUMP From point A to point B The joints will move in MOVJ mode of which the trajectory looks like a door as shown in Figure 2 8 Move up to the lifting Height Height in MOVJ mode Move up to the maximum lifting height Limit Move ho...

Page 16: ...that point A is the starting point point B is the end point Limit is the maximum lifting height and Height is the lifting height Point A and point B are both higher than Limit but point A is higher than point B A Limit B Point A and point B are both higher than Limit but point B is higher than point A A Limit B Point A is higher than Limit but point B is lower than Limit A Limit B The height of po...

Page 17: ...an Limit but the height that the height of point A plus Height and that of point B plus Height is higher than Limit A Limit B 2 3 4 3 ARC Mode ARC The trajectory of ARC mode is an arc which is determined by three points the current point any point and the end point on the arc as shown in Figure 2 9 NOTICE In ARC mode it is necessary to confirm the three points with other motion modes and the three...

Page 18: ...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 ...

Page 19: ...and Rear Arm 2000mm s Speed of Z axis 1000mm s Repeatability 0 02mm Power 100V 240V AC 50 60Hz System Linux Communication interface Ethernet RS 232C I O 22 digital outputs 24 digital inputs 2 DAC outputs reserved 6 ADC inputs Software M1Studio NOTE Mechanical Limitation Limit the position of Dobot M1 by mechanical parts Software Limitation For protection limit the position of Dobot M1 by software ...

Page 20: ...Dobot M1 User Guide 2 Introduction Issue V1 0 4 2018 01 31 User Guide Copyright Yuejiang Technology Co Ltd 14 Figure 2 10 Size of Dobot M1 ...

Page 21: ...orm according to the size of the hole of the base and the real environment for fixing Dobot M1 The platform must not only bear Dobot M1 but also bear the dynamic force by the maximum acceleration Note the following before installing the platform Design the platform according to the workspace of Dobot M1 and ensure that Dobot M1 moves without interference Keep the platform level which is used to su...

Page 22: ...ing End Effector You can install the matching gripper suction cup or laser on the end effector of Dobot M1 for transporting intelligent sorting and laser engraving Figure 3 2 shows the size of the end effector of Dobot M1 Figure 3 2 Size of the terminal Installing Laser Engraving Kit Figure 3 3 shows the laser kit Figure 3 3 Laser kit ...

Page 23: ...Installation Issue V1 0 4 2018 01 31 User Guide Copyright Yuejiang Technology Co Ltd 17 Procedure Figure 3 4 connect to Forearm I O interface Installing 3D Printing Kit Figure 3 5 shows the 3D printing kit Figure 3 5 3D printing kit ...

Page 24: ...r Guide Copyright Yuejiang Technology Co Ltd 18 Procedure Figure 3 6 Connect to Forearm I O interface Press down the lever on the extruder by hand and push down the filament to the bottom via pulley as shown in Figure 3 7 and Figure 3 8 Figure 3 7 Push down the filament 1 ...

Page 25: ... pump when using the gripper or suction cup for grabbing objects The air pump is controlled over the I O interface For details please see 6 7 Operating I O Assistant The Air pump that we provided is used for debugging I O interface In real applications please select a professional one Figure 3 9 shows the air pump Table 3 1 lists the description of the cables that are shown in the yellow box of th...

Page 26: ...connected to the VCC_24V pin on the base I O interface and the PGND pin on the CAN bus interface respectively as shown in Figure 3 10 and you need to tighten them with a straight screwdriver The description in this topic is for reference only Please choose the appropriate interface to connect the air pump For details please see 4 3 Interface Description Figure 3 10 Air pump connection NOTICE When ...

Page 27: ... 4 2018 01 31 User Guide Copyright Yuejiang Technology Co Ltd 21 Figure 3 11 Standard connection Figure 3 12 Non standard connection Optional Installing soldering kit Figure 3 13 shows the soldering kit Table 3 2 lists the description of the soldering kit ...

Page 28: ...18 01 31 User Guide Copyright Yuejiang Technology Co Ltd 22 Figure 3 13 Soldering kit Table 3 2 Soldering kit description No Description 1 Power supply of the soldering station 2 Soldering gun 3 Soldering holder used for fixing the Soldering gun 4 Control cable ...

Page 29: ...ide Copyright Yuejiang Technology Co Ltd 23 No Description 5 Relay 6 Soldering station 7 Fixed support used for fixing solders Procedure NOTICE Please ensure that Dobot M1 has been powered off before installing soldering kit Please prepare the solder Figure 3 14 Fix the solder ...

Page 30: ...bot M1 User Guide 3 Hardware Installation Issue V1 0 4 2018 01 31 User Guide Copyright Yuejiang Technology Co Ltd 24 Figure 3 15 Install soldering holder Figure 3 16 Connect the feed pipe of soldering gun ...

Page 31: ...Dobot M1 User Guide 3 Hardware Installation Issue V1 0 4 2018 01 31 User Guide Copyright Yuejiang Technology Co Ltd 25 Figure 3 17 Connect the power supply of soldering gun Figure 3 18 Connect to relay ...

Page 32: ...the air a short circuit may occur To avoid short circuit please wrap the relay with the insulating tape If the cables order of the relay is different from that shown in the red box of Figure 3 19 from left to right red black blue please modify the cable order of the relay to make sure that the order is the same as that shown in Figure 3 19 Table 3 3 Cable description Color Description Red VCC_24V ...

Page 33: ...respectively as shown in Figure 3 20 and you need to tighten them with a straight screwdriver The description in this topic is for reference only Please choose the appropriate interface to connect the relay For details please see 4 3 Interface Description Figure 3 20 Connect relay to I O interface Figure 3 21 Push down the solder NOTE The rated voltage of the soldering station is 220V which may be...

Page 34: ... site requirements Figure 3 23 Soldering parameters DANGER The soldering gun will produce high temperature up to 200 please be careful Do not let children play with it alone The process needs to be monitored when it is running After the process is completed please turn off the equipment promptly After installation you can check whether the soldering gun is working properly using I O assistant for ...

Page 35: ...e back of the base as shown in Figure 4 1 Table 4 1 shows the function description Figure 4 1 Interface board of Dobot M1 Table 4 1 Description of the interface borad No Description 1 Power button of Dobot M1 2 CAN interface 3 RS 232C interface 4 I O interface of the base 5 Teaching device interface reserved 6 USB HOST interface reserved 7 Ethernet interface 8 External expansion interface 9 Extern...

Page 36: ...ndicator when powered on the yellow LED indicator in the base is off the green one is steady on for about 5 seconds and then is blinking That means Dobot M1 is in service Blue LED indicator The blue one is blinking indicating that Dobot M1 is working in offline mode Red LED indicator The red one is steady on indicating that an alarm is generated when Dobot M1 is running Interface Description NOTIC...

Page 37: ...rode of the DC power 48V DC 10A 2 GND Negative electrode of the DC power GND 10A Body I O Interface NOTICE The current of the digital output supports 2mA without additional power whereas the maximum current of the digital output supports 3A with additional power 4 3 2 1 Power Interface Table 4 5 Description of the power interface PIN Name Function Voltage Current 1 VIN Positive electrode of the DC...

Page 38: ...Positive electrode of the safety input 2 used for connecting to emergency stop switch 0V 24V 100mA 6 STOP1 Positive electrode of the safety input 1 used for connecting to emergency stop switch 0V 24V 100mA 7 STOP2 Negative electrode of safety input 2 used for connecting to emergency stop switch 0V 24V 100mA 8 STOP1 Negative electrode of safety input 1 used for connecting to emergency stop switch 0...

Page 39: ...tion Voltage Current 1 VCC Positive electrode of the logic power 24V 2A 2 DOUT19 Digital output 0V 24V 2mA 3 DOUT20 Digital output 0V 24V 2mA 4 DOUT21 Digital output 0V 24V 2mA 5 DOUT22 Digital output 0V 24V 2mA 6 AIN6 Analog input 0V 12V 100mA 7 AIN7 Analog input 0V 12V 100mA 8 AGND Negative electrode of the logic power AGND 1A 9 RS485_A RS485A bus RS485 RS485 level 10 RS485_B RS485B bus RS485 RS...

Page 40: ...bus CAN CAN bus 8 DIN6 Digital input 0V 24V 100mA 9 DIN5 Digital input 0V 24V 100mA 10 AIN2 Analog input 0V 10V 100mA 11 AIN3 Analog input 0V 10V 100mA 12 DIN7 Digital input 0V 24V 100mA 13 DIN10 Digital input 0V 24V 100mA 14 DIN9 Digital input 0V 24V 100mA 15 DIN12 Digital input 0V 24V 100mA 16 FPGA_DOUT6 DOUT16 Digital output 0V 24V 2mA 17 FPGA_DOUT5 DOUT15 Digital output 0V 24V 2mA 18 DIN11 Dig...

Page 41: ... 0V 24V 2mA 35 FPGA_DOUT4 DOUT14 Digital output 0V 24V 2mA 36 FPGA_DOUT3 DOUT13 Digital output 0V 24V 2mA 37 DIN16 Digital input 0V 24V 100mA 38 PGND Negative of the logic power GND 5A 39 PGND Negative of the logic power GND 5A 40 VCC Positive of the logic power 24V 3A 41 VCC Positive of the logic power 24V 3A 42 VCC Positive of the logic power 24V 3A 43 B2 Inversion signal input for B phase of ex...

Page 42: ...5 FPGA_DOUT1 DOUT11 Digital output 0V 24V 2mA 56 GND Negative of the analog power GND 1A 57 PGND Negative of the logic power GND 5A 58 PGND Negative of the logic power GND 5A 59 PGND Negative of the logic power GND 5A 60 ON_OFF Negative of the power signal 0V 24V 100mA 61 ON_OFF Positive of the power signal 0V 24V 100mA 62 VCC Positive of the logic power 5V 2A Communication Interface 4 3 4 1 Ether...

Page 43: ...uirements The supported OSs are as follows Win7 Win8 Win10 Obtaining M1Studio Software Package Before operating Dobot M1 please download the correct version of M1Studio The path is www dobot cc downloadcenter dobot m1 html most download Installing M1Studio Prerequisites You have obtained the M1Studio software Procedure If the directory containing decompressed M1Studio files is E M1Studio Please re...

Page 44: ...dicates that the installation of M1Studio driver is successful Verifying Installation Please double click M1Studio after installation If M1Studio can be started the installation is successful Troubleshooting If M1Studio is not running you need to install all VC libraries in the C Program Files M1Studio attachment directory as shown in Figure 5 2 C Program Files M1Studio indicates the installation ...

Page 45: ...ang Technology Co Ltd 39 Figure 5 2 The VC libraries Connecting Power Supply Figure 5 3 shows the power supply cables and power adapter No 1 in Figure 5 3 indicates power supply output cable No 2 indicates power supply input cable and No 3 indicates power adapter Figure 5 3 Power cables and power adapter ...

Page 46: ...jiang Technology Co Ltd 40 Procedure Figure 5 4 Connect power supply input cable to power adapter NOTICE If the type of the power input supply is America standard please connect the G pin on the power input supply to the Ground pin on the power adapter the W pin to the N pin and the Z pin to the L pin ...

Page 47: ...Dobot M1 User Guide 5 Installation and Commissioning Issue V1 0 4 2018 01 31 User Guide Copyright Yuejiang Technology Co Ltd 41 Figure 5 5 Connect power supply output cable to power adapter ...

Page 48: ... for the first time please ensure that the emergency stop switch has been opened The emergency stop button is bumped Otherwise the robotic arm will not work normally If the emergency stop switch is not opened please rotate the emergency stop button clockwise The emergency stop button will be bumped when rotating to 45 Procedure Please connect the terminal block connector with the emergency stop sw...

Page 49: ... Ltd 43 Figure 5 7 Connection between Dobot M1 and the emergency stop switch 1 Figure 5 8 Connection between Dobot M1 and the emergency stop switch 2 Connecting External Cables Connecting Serial Port Prerequisites Please prepare USB to serial line One end is standard USB port the other end is 9 pins serial port Procedure ...

Page 50: ...ormation of M1Studio Connecting Network Cable You can connect Dobot M1 to a PC over a network cable Prerequisites You have connected the PC to a router Procedure NOTICE This topic describes how to connect a PC to Dobot M1 using a router It is applicable to the scenario in which robotic arms are connected to the same PC If only one robotic arm is connected to the PC you can connect robotic arm to t...

Page 51: ...Optional You have connected Dobot M1 to the PC over a network cable You have connected Dobot M1 and an emergency stop switch Procedure When powering on the yellow LED indicator in the base is steady on for about 15 seconds and then blinks once It is steady on again for about 5 seconds which indicates that Dobot M1 is being started After the yellow LED indicator in the base is off the green one is ...

Page 52: ...ng IP Address to modify the IP address M1Studio can be connected to Dobot M1 only when Dobot M1 is in Dobot Mode You can check the current mode of Dobot M1 on the Tools Web Management page as shown in Figure 5 12 For details please see 6 8 Operating Web Management Figure 5 12 Status of Dobot M1 Debugging the Power of Dobot M1 Prerequisites You have powered on Dobot M1 You have connected Dobot M1 a...

Page 53: ...udio You have connected Dobot M1 to the PC over a serial cable You have connected Dobot M1 to the PC over a network cable You have powered on Dobot M1 You have connected Dobot M1 and an emergency stop switch 5 5 3 1 Checking the IP Address of Dobot M1 If Connect turns to Disconnect the connection is successful The Dobot M1 IPAddress Setting is displayed Figure 5 13 IP address of Dobot M1 5 5 3 2 C...

Page 54: ...e local IP address subnet mask of the PC are 10 10 1 10 255 255 255 0 respectively You can run the command ipconfig all on the CMD console window to view the IP information of the PC If Connect turns to Disconnect the connection is successful The Dobot M1 IPAddress Setting page is displayed If Network Status of Dobot M1 turns to Connected to LAN the modification is successful If Disconnect turns t...

Page 55: ...twork segment as that of Dobot M1 without conflict The subnet mask and gateway of the PC must be the same as that of Dobot M1 NOTICE If the PC is connected to Dobot M1 over a network cable directly you only need to set the IP address and subnet mask of the PC Figure 5 14 IP address modification If Disconnect turns to Connect Dobot M1 is disconnected from the PC If Connect turns to Disconnect the c...

Page 56: ... been connected to a PC successfully Dobot M1 has been connected to an emergency stop switch Procedure Figure 5 15 Emergency stop Dobot M1 is stopped immediately with an alarm about emergency stop and the red LED indicator on the base is on which indicates that the emergency stop function is OK The emergency stop button is bumped when rotating to 45 which indicates the stopped status is cleared Fi...

Page 57: ... Jogging Function Prerequisites Dobot M1 has been powered on Dobot M1 has been connected to a PC successfully Dobot M1 has been connected to an emergency stop switch Procedure This section uses Cartesian coordinates as an example to describe how to debug jogging function The procedure for debugging Joint coordinates is similar to that for debugging Cartesian coordinates You need to select Joint on...

Page 58: ... coordinate mode The jogging velocity is the maximum velocity multiplying the corresponding percentage The jogging acceleration is the maximum acceleration multiplying the corresponding percentage You can click Y Y Z Z R and R to make Dobot M1 jog along Y Z or R in the negative or positive direction 5 5 5 2 Debugging Playback Function Prerequisites ...

Page 59: ...de please see 6 1 3 Saving Point in ARC Mode The Playback page is displayed Vel and Jerk on the Playback page indicate the velocity ratio and the jerk ratio of the movement when implementing playback respectively The playback velocity is the maximum velocity multiplying the corresponding percentage The playback jerk is the maximum jerk multiplying the corresponding percentage Debugging Disabling F...

Page 60: ...tc have been replaced or robotic arm has hit the work piece the origin of Dobot M1 will be changed You need to set homing point after resetting the origin Dobot M1 has installed homing switches near the J1 J2 and J3 limitation position respectively When Dobot M1 moves to the limit with a signal triggered by the homing switch Dobot M1 will move backward at low speed and stop moving after separating...

Page 61: ...w the SN number on the Help About M1Studio page xxx indicates the random number please replace it based on site requirements Prerequisites Dobot M1 has been powered on Dobot M1 has been connected to a PC successfully Dobot M1 has been connected to an emergency stop switch Procedure Please select Tools Home on the M1Studio page and Dobot M1 will move automatically according to the following steppes...

Page 62: ... that used Web Management Execute the saved points lists in offline mode and upgrade the firmware Alarms Description If teaching or saving point is incorrect for example Dobot M1 moves to where a point is at a limited position or a singular position Dobot M1 will generate an alarm For details please see Table 6 2 When an alarm is generated the red LED indicator on the base will be on NOTICE Singul...

Page 63: ...lly cleared Playback The starting point or the end point is a singular point in MOVL mode Clear the alarm manually and modify the point A point in the trajectory is a singular point in MOVL mode Clear the alarm manually and modify the point Modify the arm orientation of the saved point in MOVL mode Clear the alarm manually and modify the arm orientation The middle point or the end point is a singu...

Page 64: ...s been connected to the PC successfully Dobot M1 has been connected to the emergency stop switch Procedure The Alarm Log is displayed Figure 6 1 Alarm tips Figure 6 2 Alarm GUI NOTICE The button Reboot is available only when the alarm is generated about emergency stop Table 6 3 shows the description of the alarm button ...

Page 65: ...arc trajectory The method to save points in CIRCLE is the same as that of ARC Prerequisites Dobot M1 has been powered on Dobot M1 has been connected to the PC successfully Dobot M1 has been connected to the emergency stop switch Procedure NOTICE You need to use other motion modes to confirm the starting point of the arc trajectory because the middle point and the end point only can be confirmed in...

Page 66: ...1 31 User Guide Copyright Yuejiang Technology Co Ltd 60 A is the starting point point C is the end point as shown in Figure 6 3 Figure 6 3 Arc trajectory NOTICE You cannot set the pause time when point A moves to point B Otherwise Dobot M1 will not work ...

Page 67: ...Playback Prerequisites Dobot M1 has been powered on Dobot M1 has been connected to the PC successfully Dobot M1 has been connected to the emergency stop switch The air pump and the suction cup need to be installed when you suck up objects over teaching and playback For details how to connect with air pump please see 3 4 Optional Installing Air Pump Application Scenario If you want to use Dobot M1 ...

Page 68: ...point is at the singular position when jogging an alarm will be generated For details about alarm description please see Table 6 2 If you save a point after an alarm is generated the saved point is unavailable You need to jog Dobot M1 to clear the alarm and then save the point again However if an alarm about singular point is generated when jogging the saved point is available in JUMP and MOVJ mod...

Page 69: ...8 01 31 User Guide Copyright Yuejiang Technology Co Ltd 63 The saved point information of which Type is JUMP is displayed on the left pane of the Playback page as shown in Figure 6 6 Figure 6 6 The coordinate display Figure 6 7 Motion command setting ...

Page 70: ...information of which Type is Output is displayed on the left pane of the Playback page Select the saved point of which Type is Output on the left pane of the Playback page and double click Content The I O Command Setting page is displayed Select OUT17 from the I O drop down list on the I O Command Setting page and select 24V then click Add Add OUT18 and select 24V then click OK The relevant I O in...

Page 71: ... object will be freed by Dobot M1 NOTE This topics only describes one trajectory as an example You can implement multiple trajectories For details see Step 1 to Step 10 The Save Playback File page is displayed You can perform subsequent operations on the Playback page Select Enable Hand Hold Teach on the Playback page the Add Motion Command button will be unavailable You can hold down the button u...

Page 72: ... the location of a saved point Insert Location Description Add At Last Add a new point after the last saved point Insert Before Selected Row Insert a point before the current saved point OverWrite Selected Row Overwrite the current saved point Select a saved point and double click the parameters on the line to modify the relevant information The saved point information is shown as Figure 6 10 Figu...

Page 73: ...ts displayed depends on Type You can double click contents displayed in Content to modify them MOVL MOVJ JUMP ARC CIRCLE Indicates the coordinate values the velocity ratio and the jerk ratio of the movement when implementing playback If Type of the current saved point is MOVL ARC or CIRCLE Armorientaion must be the same as that of the previous saved point In MOVL mode if you modify the arm orienta...

Page 74: ...fy the coordinates displayed in Content of which Type is motion mode you can input the coordinate values manually or operate the operation panel to modify them Select the saved point on the left pane of the Playback page double click contents displayed in Content The Motion Command Setting page is displayed as shown in Figure 6 12 Figure 6 12 Modify the current saved point ...

Page 75: ...ly Vel and Jerk displayed on the Playback page will not be changed and the modified speed will not be saved if you click save If you click Apply DynRatio Vel and Jerk displayed on the Playback page will be changed and the modified speed will be saved to Playback files if you click save Scripting Prerequisites Dobot M1 has been powered on Dobot M1 has been connected to a PC successfully Dobot M1 ha...

Page 76: ... to view the way how to set the parameters The scripting example can refer to Installation directory M1Studio config ststore Example script NOTICE If you use the motion command when scripting please add the orientation command before every motion command which indicates the arm orientation of Dobot M1 Figure 6 14 Write a script The Save Scrip File page is displayed The running log will be displaye...

Page 77: ...rstand Procedure The Blockly page is displayed Figure 6 15 Blockly graphic programming NOTICE Only MOVL and JUMP modes are supported when programming If you use the motion command when programming please add the orientation command before every motion command which indicates the arm orientation of Dobot M1 Table 6 6 Description of blockly module No Description 1 The selection area of blockly modul...

Page 78: ... is displayed Operating Laser Engraving Prerequisites Dobot M1 has been powered on Dobot M1 has been connected to a PC successfully The laser kit has been installed For details please see 3 3 1 Installing Laser Engraving Kit The picture to be engraved and materials to be processed have been prepared The lasing protective eyeglass has been prepared Procedure The Laser Engraving page is displayed as...

Page 79: ...y Dobot M1 Figure 6 17 Import picture NOTICE The imported picture should be placed in the annular region as shown in Figure 6 17 If not it is unable to engrave normally and the border of the imported picture will be highlighted in red The annular region depends on arm orientation Please adjust the imported picture according to the real annular region Figure 6 17 shows the annular region when arm o...

Page 80: ...er Width Set the border width of the picture Value range 0 50 XBias Set XBias DPI Set DPI Please wear the lasing protective eyeglass before adjusting focus Click the icon of Motor on the Operation Panel pane of the M1Studio page and move Dobot M1 by hand to a proper height to make the laser dot on the material burn the brightest When the laser power is enough you can view burn marks on the materia...

Page 81: ...Dobot M1 and the PC must be in the same network segment For details please see 5 5 3 Setting IP Address You have connected Dobot M1 to a PC over a serial cable Dobot M1 has been connected to an emergency stop switch The 3D printing kit has been installed For details please see 3 3 2 Installing 3D Printing Kit Slice software Cura has been installed The download path is https ultimaker com en produc...

Page 82: ... Firmware in the navigation tree on the left The Update Firmware page is displayed as shown in Figure 6 19 Figure 6 19 Update Firmware GUI Select 3D Printing Firmware on the Update Firmware page and click One click Update to update 3D printing firmware directly Select Home in the navigation three on the left The Home page is displayed Select 3D printing Mode from the drop down list on the Mode Swi...

Page 83: ... be blinking and Current Mode is changed to 3D Printing Mode as shown in Figure 6 21 Figure 6 21 Complete 3D printing switching Select Machine settings on the Cura page The Machine settings page is displayed Set the corresponding parameters on the Machine settings and click OK as shown in Figure 6 22 Table 6 8 lists the values of the parameters that need to be set The other parameters are set by d...

Page 84: ...aximum height The maximum height Please set to 150mm Machine center 0 0 Machine center please select it GCode Flavor The style of GCode Please select RepRap Marlin Sprinter Build area shape Build the area shape Please select Circular Serial port Serial port Please select the corresponding serial port Baudrate Baud rate Please set to 115200 Set slice parameters and select File Open Profile to impor...

Page 85: ...6 24 xxx indicates the version of M1Studio Please replace it based on site requirements Figure 6 24 Configuration sample Dobot 2 0 Vase ini is used for printing a thin walled vase while Dobot 2 0 ini is used for the filling the filling rate is 20 Click the Open 3D model page is displayed and select the 3D printing model prepared The format of 3D model is STL You can design 3D model and transform i...

Page 86: ...ot start 3D printing until the filament is in the melting state So you need to heat the extruder first DANGER The heating rod will produce high temperature up to 250 please be careful Do not let children play with it alone The process needs to be monitored when it is running After the process is completed please turn off the equipment promptly Before printing you need to test the extruder to check...

Page 87: ...ick Z or Click 10 1 0 1 to move Dobot M1 to the position where the distance from nozzle to the printing platform is about 0 3mm as shown in Figure 6 28 Figure 6 28 Move Z axis NOTE During printing if the distance from Dobot M1 to the printing platform is too large or too small to paste the first layer it can lead to the nozzle blockage For increasing the stickiness of the first layer placing a mas...

Page 88: ... powered on Dobot M1 has been connected to the PC successfully Dobot M1 has been connected to the emergency stop switch The air pump has been installed If you use air pump to debug I O interface Application Scenario The end effectors such as gripper suction cup need to work with the air pump The air pump can be controlled by the I O interface You can verify the I O interface and the air pump over ...

Page 89: ...the scripts the blockly programs or the saved points lists that have been saved on a local PC to Dobot M1 using the web management to perform offline operation After making Dobot M1 in offline mode using the web management Dobot M1 will be disconnected from M1Studio You need to switch the operation mode of Dobot M1 using the web management Prerequisites You have started M1Studio You have connected...

Page 90: ... Web Management page is displayed The Offline Script Management page is displayed The Add File page is displayed The uploaded file dialog box is displayed as shown in Figure 6 31 Figure 6 31 Upload files Only support the files of which the suffixes are playback blockly and script Figure 6 32 Status of Uploading ...

Page 91: ...ing Application When the firmware or other applications need to be upgraded you can use the web manager to upgrade the firmware or the application This topic uses the firmware upgrade as an example to describe the operation DANGER When updating firmware please do not perform any other operation on Dobot M1 to avoid Dobot M1 in abnormal condition Otherwise it will be vulnerable to injury the device...

Page 92: ...network segment For details please see 5 5 3 Setting IP Address You have obtained the latest firmware You have connected Dobot M1 to an emergency stop switch Procedure The Web Management page is displayed The Update Firmware page is displayed as shown in Figure 6 35 Figure 6 35 Update Firmware GUI You can view the process of the firmware upgrade If the progress bar is 100 the update is completed a...

Page 93: ...Dobot M1 is running Figure 6 37 shows the real trajectory when Dobot M1 is running Figure 6 38 shows the coordinates of the trajectory NOTICE This topic only describes the motion modes that need to be used and precautions for implementing playback without details about the trajectory For details how to implementing playback please see 6 2 Operating Teaching and Playback A B C F D E G I H J K Figur...

Page 94: ... are listed as Table 6 9 Table 6 9 Cartesian coordinates Point Coordinate x y z r A 270 244 110 0 B 400 0 110 0 Singular point C 366 111 110 0 D 194 111 110 0 E 194 277 110 0 F 85 250 110 0 G 44 4458 239 5284 110 33 08 The middle point of the arc H 120 6913 164 5902 110 65 6601 I 372 225 63 2786 110 148 8402 K 351 7533 113 7360 110 160 2802 The middle point of the circle J 323 1731 115 7006 110 17...

Page 95: ...required You need to set Height and Limit From point F to point H 5 6 The trajectory is an arc So ARC mode is required Besides point F and point G you need to save point G For details please see 6 1 3 Saving Point in ARC Mode The arm orientation of point F must be the same as that of point G and point H From point H to point I 6 7 The trajectory looks like a door So JUMP mode is required You need ...

Page 96: ...utput voltage of the I O interface of Dobot M1 OUTx are the outputs of the I O interface assuming that OUT0 and OUT1 GND is the ground of the I O interface Please select the proper outputs based on site requirements For details please see 4 3 Interface Description 24V is the external voltage PGND is the ground corresponding to the external voltage GND 24V MCU 10k OUTx I O 10k 10k GND I O VCC_24V I...

Page 97: ...J4 J1 J1 J1 J2 J2 J2 J2 J3 J3 J3 J4 J4 R J1 J2 As shown in Table 6 10 If the J1 coordinate is 10 and the J2 coordinate is 90 before switching the arm orientation the J1 coordinate will change to 100 after switching resulting in an alarm about limit generated In real application scenario if the two successive saved points are the same only different in arm orientations please notice the coordinates...

Page 98: ...Solution External cable OFF Check whether cables are damaged or cracked check whether cables are loose dirty or polled out If the cables are damaged or cracked please repair or replace them timely If the cables are loose or polled out please plug them properly If the cables are dirty please clean them timely Bolt screw OFF Check whether the bolts on the end effector are loose Check whether the bol...

Page 99: ...uirements Please remove surface dust effectively to prevent dust especially metal dusts from entering the product ensuring that robotic arm is always clean Item Operating state Inspection point Inspection period Solution Internal fan of robotic arm ON Check whether the fan is running properly Check whether the fan is dusty 3 months If the fan is out of service please replace it If the fan is dirty...

Page 100: ... engineer Cleaning Maintenance The cleaning period depends on the operating environment and frequency please decide the cleaning period based on site requirements Item Operating state Cleaning period Solution Robotic arm OFF 1 month Please clean the surface with clean cloth Wind tunnel OFF 2 weeks Please clean the impurities stored in the wind tunnel with air gun or clean cloth Screw rod of Z axis...

Page 101: ... make a noise You need to check the grease every other year If the grease is applied too much or uneven the load of motor may be increased and the grease may be dripped from the screw rod You can check whether the grease is used up by wiping the surface of the screw rod with air laid paper If there is no grease on the air laid paper the grease is used up Procedure If Connect turns to Disconnect th...

Page 102: ... the guide rail will be worn down and the service life will be reduced You need to grease the guide rail every two weeks for long service Prerequisites Please prepare the correct size syringe a diameter of no more than 2cm and needle to ensure that the syringe can touch the guide rail of Z axis Procedure After 15 minutes restart Dobot M1 to put it into use Figure 7 2 Guide rail of Z axis Maintenan...

Page 103: ...ts Normally the battery needs to be replaced once a year Warning If a fuse is not installed on the battery please contact technical support engineer We will provide the replacing solution of the Encoder battery with a fuse If a fuse is not installed on the battery in some cases for example disassembling machine without professional may cause wire breakage and battery charging leading to equipment ...

Page 104: ...prevent disconnection between the main controller and the robotic arm Remove the original battery NOTE After removing the battery from the main controller on the base you need to install the battery to be replaced on Forearm instead of the base For details please see Step 4 to Step 9 If a fuse is installed on the battery please cut off the wire tie that fixed the original battery as shown in Figur...

Page 105: ...ejiang Technology Co Ltd 99 adapter with insulating tape to prevent short circuit Figure 7 4 Location of battery holder Figure 7 5 Disconnect the connector of the battery to the battery adaptor cable If a fuse is not installed on the battery please remove the cover of battery holder ...

Page 106: ...igure 7 6 After removing the original battery please wrap the battery connector of the bus cable with insulating tape to prevent short circuit Figure 7 6 Connection between battery and robotic arm Put the main controller into the base and fix the interface board If the battery is located on Forearm please perform the following steps Remove the Forearm cover with 2 5mm hexagon wrench and cross head...

Page 107: ...logy Co Ltd 101 Figure 7 7 Forearm of Dobot M1 Cut off the wire tie that fixed the original battery as shown in Figure 7 8 Figure 7 8 Location of battery holder on Forearm Remove the original battery and disconnect the connector of the battery to the battery adapter cable as shown in Figure 7 9 ...

Page 108: ... Guide 7 Maintenance Issue V1 0 4 2018 01 31 User Guide Copyright Yuejiang Technology Co Ltd 102 Figure 7 9 Disconnect the battery to the batter adapter Figure 7 10 Connect the battery adapt to the battery interface ...

Page 109: ...hnology Co Ltd 103 NOTE There are two battery interfaces on the Driver Board as shown in the red box of Figure 7 11 You need to connect the battery adapter to the unused battery interface Figure 7 11 Battery interfaces on the Driver Board Figure 7 12 Connect the battery to the batter adapter ...

Page 110: ...Dobot M1 User Guide 7 Maintenance Issue V1 0 4 2018 01 31 User Guide Copyright Yuejiang Technology Co Ltd 104 Figure 7 13 Insert wire tie s Figure 7 14 Put battery into battery holder ...

Page 111: ...m the serial drop down list and click Connect If Connect turns to Disconnect the connection is successful and Dobot M1 can be controlled by M1Studio Click Reset Encoder1 Reset Encoder2 Reset Encoder3 and Reset Encoder4 respectively on the Debug page to reset J1 Encoder J2 Encoder J3 Encoder and J4 Encoder as shown in Figure 7 15 Figure 7 15 Reset Encoders Restart Dobot M1 Check whether encoders ar...

Page 112: ... 16 Location of Dobot M1 after Factory calibration Click the icon of Motor on the Calibration page to make the motor of Dobot M1 in the close loop state Click InitPos on the Debug page to make Dobot M1 in the origin position of which the coordinate is 400 0 0 0 NOTICE After restoring factory setting an alarm about limitation is generated and meanwhile the red indicator on the base of robotic arm i...

Page 113: ...dinates may become non axisymmetric resulting in that Dobot M1 cannot move to the same point with different arm orientation when implementing playback It is necessary to make the J2 coordinates axisymmetric by compensating the joint angel of J2 to improve the absolute precision after resetting the origin So that Dobot M1 can move to the same point with different arm orientation when implementing p...

Page 114: ...turns to Disconnect the connection is successful and Dobot M1 can be controlled by M1Studio Move Dobot M1 with righty hand orientation to touch the calibrated point that is on the A4 sheet of paper as shown in Figure 7 18 Figure 7 18 Calibration as righty hand orientation The value of P1 is J2 coordinate with righty hand orientation as shown in Figure 7 19 ...

Page 115: ...ser Guide 7 Maintenance Issue V1 0 4 2018 01 31 User Guide Copyright Yuejiang Technology Co Ltd 109 Figure 7 19 Save J2 coordinate with righty hand orientation Figure 7 20 Calibration with righty hand orientation ...

Page 116: ...ntation as shown in Figure 7 21 Figure 7 21 Calibration as lefty hand orientation NOTICE After saving P1 and P2 you cannot click Confirm until the motor of Dobot M1 is in the close loop state DANGER Dobot M1 starts to work after clicking Confirm Please do not enter the workspace of the robotic arm otherwise it will be vulnerable to injury the device or the person ...

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Shenzhen Yuejiang Technology Co., Ltd Dobot M1, User Manual

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