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Dobot Magician Lite User Guide

Interface Description

Issue V1.9.1 (2020-01-11)

User Guide

Figure 4.6 Peripheral interface

Table 4.5 Peripheral multiplexed I/O description

Interface

Descripti

Level

Output

PWM

Level Input

ADC

Whether

Pulling

SW1

EIO12

Controlled

power

8V~12.6V

_3A

output

GND

Ground

SW2

EIO11

Controlled

power

8V~12.6V

_3A

output

GND

Ground

STP1

2_1A

8V~12.6V

/0.9A

output

2_1B

2_2A

2_2B

Содержание Magician Lite

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

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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 _...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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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