Dobot Magician Lite User Guide
3
Introduction
Issue V1.9.1 (2020-01-11)
User Guide
Copyright © Yuejiang Technology Co., Ltd.
20
direction.
Click
Z+
,
Z-
and Magician Lite will move along Z-axis in a negative or positive
direction.
Click
R
+,
R
- and Magician Lite will rotate along R-axis in a positive or negative
direction.
NOTICE
If the end-effector with servo is installed on the Magician Lite, the R-axis will move
together with Y-axis, to make sure that the terminal posture relative to the origin stays
constant.
Joint coordinate system mode
Click
J1
+,
J1
- and control the base motor to rotate in the negative or positive
direction.
Click
J2
+,
J2
- and control the Rear Arm motor 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 negative or positive direction.
3.3.3.2
Point to Point (PTP)
PTP mode supports MOVJ, MOVL, and JUMP, which means point to point movement. The
trajectory of playback depends on the motion mode.
MOVJ: Joint movement. From point A to point B, each joint will run from an initial
angle to its target angle, regardless of the trajectory, as shown in Figure 3.7.
Figure 3.7 MOVL/MOVJ mode
MOVL: Rectilinear movement. The joints will perform a straight line trajectory from
point A to point B, as shown in Figure 3.7.
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 3.8.
Move up the lifting Height in MOVJ mode.