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Dobot Magician User Guide

Dobot Magician Homing Operation

Issue V1.9.0 (2020-07-23)

User Guide

Coordinate System

Dobot Magician has two types of coordinate system, the joint one and the Cartesian one, as

shown in Figure 3.4 and Figure 3.5 respectively.

Figure 3.4 Joint coordinate system

Figure 3.5 Cartesian coordinate system



Joint coordinate system: The coordinates are determined by the motion joints.



If the end-effector is not installed, Dobot Magician contains three joints: J1, J2, and

J3, which are all the rotating joints. The positive direction of these joints is counter-

clockwise.



If the end-effector with servo is installed, such as suction cup kit, gripper kit, Dobot

Magician 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 X-axis is perpendicular to the base forward.

Содержание Dobot Magician

Страница 1: ...User Guide Shenzhen Yuejiang Technology Co Ltd Dobot Magician User Guide Issue V1 9 0 Date 2020 07 23 ...

Страница 2: ...cidental 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 technica...

Страница 3: ...based on V2 Dobot Magician 2018 09 11 Update the connection figure between Dobot Magician and sliding rail 2018 06 12 The first release Symbol Conventions The symbols that may be founded in this document are defined as follows Symbol Description DANGER Indicates a hazard with a high level of risk which if not avoided could result in death or serious injury WARNING Indicates a hazard with a medium ...

Страница 4: ...le 18 Workspace 18 Coordinate System 20 Motion Function 21 Technical Specifications 23 Technical Parameters 23 Sizes 24 Interface Description 26 Interface Board 26 LED Indicator 28 Multiplexed I O Interface Description 28 Multiplexed Base I O Interface Description 28 Multiplexed Forearm I O Interface Description 30 Operation 31 Introduction to the DobotStudio 31 Function Modules 31 Common Areas of...

Страница 5: ...ng the DobotStudio 73 Importing Image Files and Setting Engraving Parameters 75 Adjust the Laser Focus and Start to Engrave 78 Controlling with your Hand Gesture 83 Installing a Leap Motion Controller 83 Leap Motion Demo 84 Controlling with your Mouse 86 Operating 3D Printing 90 Installing 3D Printing Kit 91 Operating Repetier Host 95 Operating Cura 110 Calibration 116 Base Calibration 116 Sensor ...

Страница 6: ...R 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 will shorten the service life of the product even damage the equipment Before operating and maintaining the robotic arm the personnel responsible for the installation operation and mainten...

Страница 7: ...cian will move slowly to the specific position when shutdown DO NOT put hands into the workspace of the Dobot while running to avoid bruising or pinching Only once the LED indicator completely turns off the Dobot Magician can be powered down If the coordinates of the Dobot Magician shown on the DobotStudio are abnormal please press the Reset button on the back of the base to reset Dobot Magician o...

Страница 8: ...Ltd 3 Please wear the lasing protective eyeglass when using the laser module Please protect your eyes and skin from the laser The heating rod will produce high temperature up to 250 when using the 3D printing module please be careful Please DO NOT operate or turn off Dobot Magician when burning firmware to avoid machine damage ...

Страница 9: ...uick Start This topic briefly describes how to operate the Dobot Magician with the software DobotStudio allowing you to quickly know and use the robotic arm Figure 2 1 shows the process of getting started with the Dobot Magician Figure 2 1 The process of getting started with the Dobot Magician Connecting Cables to the Dobot Magician ...

Страница 10: ...es Teaching Playback System Requirements The DobotStudio supports the following Windows and macOS versions Windows 7 Windows 8 and Windows 10 This manual is explained based on this version macOS 10 10 macOS 10 11 and macOS 10 12 Obtaining the DobotStudio Package Before using Dobot Magician download the Windows DobotStudio package from https www dobot cc downloadcenter html The macOS version is als...

Страница 11: ...er location based on site requirements In the installation directory double click DobotStudioSetup exe The Select Setup Language dialog box is displayed as shown in Figure 2 3 Figure 2 3 The Select Setup Language dialog box Figure 2 4 Select English During the installation the Driver Installation dialog box is displayed two drivers needs to be installed as shown in Figure 2 5 Figure 2 5 The Device...

Страница 12: ...evice Driver Installation Wizard dialog box is displayed Click Finish as shown in Figure 2 6 Figure 2 6 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 Figure 2 7 Figure 2 7 The Completing the DobotStudio Setup Wizard dialog box Verifying the Installation ...

Страница 13: ...is program it means that it is installed successfully 2 2 4 2 Verifying the Dobot Magician Driver If an available COM port is displayed on the upper left corner of the DobotStudio page after the robotic arm is powered on as shown in Figure 2 8 the Dobot Magician driver is installed successfully Figure 2 8 An available COM port is displayed If no COM port is available check whether the robotic arm ...

Страница 14: ...evice Manager window Figure 2 10 The V1 robotic arm driver in Device Manager window NOTE To reinstall the Dobot Magician driver after uninstalling it install the driver corresponding to the Windows version in the directory Installation Directory DobotStudio attachment Drive HardwareV1 0 0 For example install the 64 bit driver on a 64 bit Windows 10 as shown in Figure 2 11 ...

Страница 15: ...gician into its neutral position with its Forearm and Rear Arm constructing a 45 degree angle and press down the power button in the base as shown in Figure 2 12 Once the robotic arm is powered on the LED indicator turns yellow and all the stepper motors lock And then wait about seven seconds a short beep sound will be heard and the LED indicator turns from yellow to green Now the Dobot Magician i...

Страница 16: ...lly the two arms reach a specific position WARNING During the shutdown process watch your hand Getting Started This topic describes how to use the Dobot Magician to complete the teaching playback function by saving three points in the MOVJ mode allowing you to get the basic knowledge of the usage of the robotic arm Prerequisites The DobotStudio has been installed For details see 2 2 Installing the...

Страница 17: ... Copyright Yuejiang Technology Co Ltd 12 Figure 2 13 The DobotStudio page with a beginner guide NOTE After reading the beginner guide of the DobotStudio click to close it The Question dialog box is displayed as shown in Figure 2 15 Figure 2 14 Click Connect Figure 2 15 The Question dialog box ...

Страница 18: ...only and no high accuracy is required When Connect changes to Disconnect it means that the DobotStudio is connected to the Dobot Magician NOTE To achieve a high accuracy of the robotic arm click Wait Link 1 Click Teaching Playback as shown in Figure 2 16 Figure 2 16 Click Teaching Playback NOTE After reading a beginner guide on the Teaching Playback page as shown in Figure 2 17 click to close it ...

Страница 19: ...Playback page 2 Select PTP Point MOVJ mode in the Save Point area as shown in Figure 2 18 Figure 2 18 Select MOVJ motion mode 3 Press and hold the unlock button on the Forearm to move the robotic arm to a position such as point A and then release the button In this case the DobotStudio will save the Cartesian coordinate of point A as shown in Figure 2 19 ...

Страница 20: ...chnology Co Ltd 15 Figure 2 19 The Cartesian coordinate of point A NOTE Apart from hand guided teaching you can accomplish a teaching task by jogging the Dobot Magician in the Cartesian or Joint coordinate system as shown in Figure 2 20 Figure 2 20 Jog the Dobot Magician in the Cartesian or Joint coordinate system ...

Страница 21: ... in Figure 2 21 The robotic arm will save the Cartesian coordinates corresponding to these two points Figure 2 21 The Cartesian coordinates of points B and C 5 Enter 3 in Loop text box The robotic arm will repeat the sequence of movements for three times as shown in Figure 2 22 Figure 2 22 Enter 3 in the Loop text box 6 Click Start to perform the motions taught above as shown in Figure 2 23 The ro...

Страница 22: ...Dobot Magician User Guide Dobot Magician Homing Operation Issue V1 9 0 2020 07 23 User Guide Copyright Yuejiang Technology Co Ltd 17 Figure 2 23 Click Start 7 Click to exit the Teaching Playback page ...

Страница 23: ...e interesting functions such as 3D printing laser engraving writing and drawing It also supports secondary development by various extensible I O interfaces which really makes your creativity and imagination increase without any limitation Appearance and Constitute Dobot Magician consists of Abase Rear Arm Forearm and end effector etc Figure 3 1 shows the appearance Figure 3 1 The appearance of Dob...

Страница 24: ...Magician User Guide Dobot Magician Homing Operation Issue V1 9 0 2020 07 23 User Guide Copyright Yuejiang Technology Co Ltd 19 Figure 3 2 Workspace of Dobot Magician 1 Figure 3 3 Workspace of Dobot Magician 2 ...

Страница 25: ...he motion joints If the end effector is not installed Dobot Magician contains three joints J1 J2 and J3 which are all the rotating joints The positive direction of these joints is counter clockwise If the end effector with servo is installed such as suction cup kit gripper kit Dobot Magician contains four joints J1 J2 J3 and J4 which are all the rotating joints The positive direction of these join...

Страница 26: ...an will move along X axis in the negative or positive direction Click Y Y and Dobot Magician will move along Y axis in the negative or positive direction Click Z Z and Dobot Magician will move along Z axis in the negative or positive direction Click R R and Dobot Magician will rotate along R axis in the positive or negative direction NOTICE If the end effector with servo is installed on the Dobot ...

Страница 27: ...oint A to point B as shown in Figure 3 6 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 7 Move up the lifting Height in MOVJ mode Move horizontally to a point that is above B by height Move down to point B Figure 3 7 JUMP mode 3 3 3 3 ARC The trajectory of ARC mode is an arc which is determined by three points the curre...

Страница 28: ...yback 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 arc such as dispensing you can choose ARC Technical Specificat...

Страница 29: ...ed of Rear arm Forearm and base 320 s Rotational speed of servo 480 s Repeated positioning accuracy 0 2mm Power supply 100V 240V AC 50 60Hz Power in 12V 7A DC Communication USB WIFI Bluetooth I O 20 extensible I O interfaces Software DobotStudio Working temperature 10 C 60 C Sizes Figure 3 9 shows the size of Dobot Magician and Figure 3 10 shows the size of the end mounting hole ...

Страница 30: ...obot Magician User Guide Dobot Magician Homing Operation Issue V1 9 0 2020 07 23 User Guide Copyright Yuejiang Technology Co Ltd 25 Figure 3 9 Size of Dobot Magician Figure 3 10 Size of end mounting hole ...

Страница 31: ...program During resetting the LED indicator on the base turns yellow About 5 seconds later if the LED indicator turns green it indicates that the reset is successful 2 Functional key Short press Start running offline program Long press for 2 seconds Starting homing procedure 3 Communication interface UART interface Connect with Bluetooth WIFI and so on The Dobot protocol is adopted 4 USB interface ...

Страница 32: ...al interface GP2 User defined general interface Figure 4 2 shows the peripheral interface on the Forearm and Table 4 3 lists the description of the peripheral interfaces Figure 4 2 Peripheral interface in the Forearm Table 4 3 Peripheral interface description No Description 1 GP3 End effector interface R axis servo interface user defined general interface 2 GP4 Auto levelling interface user define...

Страница 33: ...the offline mode Blue Blinking Dobot Magician is running homing procedure or auto levelling Red On Dobot Magician is at the limited position Alarm is not cleared Connection of 3D printing kit is abnormal Multiplexed I O Interface Description The addresses of the I O interfaces in Dobot Magician are unified Most of I O interfaces have multiple functions to control the peripheral equipment Multiplex...

Страница 34: ...el Output PWM Level Input ADC 18 3 3V 19 3 3V 20 3 3V 4 3 1 2 Multiplexed Peripheral Interface Description Figure 4 4 shows the peripheral interface on the base and Table 4 6 lists the multiplexed I O description Figure 4 4 Peripheral Interface Table 4 6 Multiplexed I O Description I O addressing Voltage Level Output PWM Level Input ADC 10 5V 11 3 3V 12 3 3V 13 5V 14 3 3V 15 3 3V 16 12V 17 12V ...

Страница 35: ...xed Forearm I O Interface Description Figure 4 5 shows the peripheral interface on the Forearm Table 4 7 lists the multiplexed I O description Figure 4 5 Peripheral interface in the Forearm Table 4 7 Multiplexed I O description I O addressing Voltage Level Output PWM Level Input ADC 1 12V 2 12V 3 12V 4 3 3V 5 3 3V 6 3 3V 7 3 3V 8 3 3V 9 3 3V ...

Страница 36: ...the Dobot Magician how to move and then record the movement to make Dobot Magician accomplish the recorded movements Write Draw Control the robotic arm to write draw or engrave an object using a laser Blockly Use Blockly to program the robotic arm in a graphic programming environment It allows the users to drag and drop the blocks onto a workplace to generate execute code just as intuitive and eas...

Страница 37: ...e 3D printer firmware to implement 3D printing from the currently selected Dobot firmware Sensor and Base Set the Base Encoder and the angle sensors on the Forearm and Rear Arm Base Calibration Calibrate the base Encoder Manual Levelling Manually calibrate the angle sensors on the Forearm and Rear Arm Auto Levelling Automatically calibrate the angle sensors on the Forearm and Rear Arm Initial Pos ...

Страница 38: ...d effector drop down list Items Description Linear rail When the robotic arm is connected to a linear rail click this item to enable the rail End effector drop down list When the end effector is a suction cup kit gripper kit laser kit or writing and drawing kit select the corresponding kit in this list You can also perform other operations on the DobotStudio page such as Setting Home Emergency Sto...

Страница 39: ...each the robotic arm to perform a specific task such as jogging the robotic arm in the Cartesian or joint coordinate system or controlling a gripper suction cup or laser as shown in Figure 5 5 For details please refer to Table 5 5 Figure 5 5 Setting the Operation Panel Table 5 5 Setting the Operation Panel Items Description Coordinate jogging Jog the Dobot Magician by clicking X X Y Y Z Z or R R i...

Страница 40: ...selected the air pump is powered off Laser control When the end effector is chosen as a Laser select Laser to turn on the laser If unselected the laser is turned off Jogging speed control Set the jogging speed percentage Default value 50 Value range 1 100 Performing Teaching Playback Tasks This topic introduces how to perform a teaching playback task to suck or grab a small cube Because a suction ...

Страница 41: ...020 07 23 User Guide Copyright Yuejiang Technology Co Ltd 36 Figure 5 7 Connect the air pump to the Dobot Magician Installing a Gripper Kit An air pump should be used with the gripper kit as shown in Figure 5 8 to open or close the gripper Figure 5 8 A gripper kit Procedure ...

Страница 42: ...obot Magician User Guide Dobot Magician Homing Operation Issue V1 9 0 2020 07 23 User Guide Copyright Yuejiang Technology Co Ltd 37 Figure 5 9 Dismantle the suction cup Figure 5 10 Install a gripper kit ...

Страница 43: ...n Teaching Playback Page The Teaching Playback page is shown in Figure 5 12 To access it select Connect Teaching Playback on the DobotStudio page Figure 5 12 The Teaching Playback page In both Easy and Pro modes you can switch between Easy and Pro modes set loop speed percentage and acceleration percentage as shown in Figure 5 13 Figure 5 13 Set Easy Pro Loop Speed and Acceleration Acc ...

Страница 44: ...io 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 points set the motion mode and the pause time for a save point as shown in Figure 5 14 Figure 5 14 Set the save points motion modes and pause time Table 5 7 Set the save points motion modes and pause timess Items Descriptio...

Страница 45: ... edit a highlighted save point such as copy paste cut insert and delete as shown in Figure 5 15 A double click mouse operation Double clicking a cell to modify its value Pro mode To enter the Pro mode from the current Easy mode click the Easy Pro slider as shown in Figure 5 16 Apart from all the functions in the default Easy mode the Pro mode allows the robotic arm to run a save point each time de...

Страница 46: ...t Magician detects lost steps it stops working and its LED indicator turns red In this case click Home to get a correct reference position 4 Multiplexed I O interface control the Dobot Magician via the I O interfaces such as turning on or off the air pump ARC Motion Mode Application Scenarios The ARC motion mode requires three points in an arc to complete the arc movement process In the ARC motion...

Страница 47: ...ate system to move the robotic arm to a location called position A 4 Click Point to save the coordinate corresponding to the position A as shown in Figure 5 18 Figure 5 18 Save the start position A Select cirPoint to save the second point in the Save Point area Jogging the Dobot Magician in the Cartesian or Joint coordinate system to move the robotic arm to the second position B as required Click ...

Страница 48: ...t Loop to 2 Click Start The Dobot Magicin perfrom the sequence of ARC trajectory as taught from its memory system moving from positions A to C Teaching Playback Example Application Scenarios You can use Teaching Playback function module to manipulate the Dobot Magician to accomplish different tasks such as transportation or intelligent sort This topic introduces how to move small cubes from positi...

Страница 49: ... Panel NOTE To change the jogging speed select Setting Jog to set the speed and acceleration of the joints linear rail or the Cartesian coordinate system as shown in Figure 5 21 Figure 5 21 Adjust the jogging speed NOTICE Regarding the jogging speed and acceleration in the Joint coordinate system and Cartesian coordinate system we recommend that it should be less than 500mm s if loaded and that le...

Страница 50: ...k up the small cube 6 Set the PauseTime to 1 second in the Save Point area 7 Click Point to save the coordinate corresponding to the position A as shown in Figure 5 22 Figure 5 22 Save the start position A Select the JUMP motion mode in the Save Point area NOTE To change the jogging speed percentage drag the speed slider Set the lifting height JumpHeight and the maximum lifting height Z Limit by s...

Страница 51: ...e system to move the small cube to the end position B as required Unselect SucktionCup to turn off the air pump to release the small cube Click Point to save the coordinate corresponding to the position B as shown in Figure 5 24 Figure 5 24 Save the end position B NOTE To change the speed and acceleration of playback select Setting Playback JointParam CoordinateParm to adjust the speed and acceler...

Страница 52: ...ints CoordinateParam Set the speed and acceleration in the Cartesian coordinate system JumpParam Set the Jump height and Z limit which are required in the JUMP motion mode Handhold Teaching Enable or disable the handhold teaching Automatically save a point when releasing the unlock button or pressing this button LostStepParam Set the lost step checking threshold NOTICE We recommend that the motion...

Страница 53: ...onnected to the DobotStudio The points have been saved Procedure The Question dialog box is displayed asking if you want the Dobot Magician to automatically to go back to its homing point before performing the save points in the offline mode as shown in Figure 5 26 Figure 5 26 Click Download When the process bar at the bottom of the DobotStudio page shows 100 and then disappears it means that the ...

Страница 54: ...n Key button for long time Dobot Magician will execute homing operation directly Figure 5 27 Base panel Writing and Drawing Figure 5 28 shows the process of writing and drawing Figure 5 28 The process of writing and draw Installing a Writing and drawing kit A writing and drawing kit consists of a pen and a pen holder For detailed steps see below ...

Страница 55: ...holder with a 1 5mm hexagon wrench as shown in Figure 5 30 Figure 5 30 Change to a new pen Connecting the DobotStudio If the current firmware of the Dobot Magician is the 3D Printing firmware instead of the Dobot firmware the Select tool dialog box is displayed asking if you want to switch to the Dobot firmware In this case perform the following steps to switch to this firmware Select DobotStudio ...

Страница 56: ...OK as shown in Figure 5 32 The Dobot firmware upgrade window is displayed Figure 5 32 Confirm the firmware upgrade Click Confirm to upgrade the Dobot firmware as shown in Figure 5 33 When the upgrade process bar shows 100 and a short beep sound is heard it means that the firmware is upgraded successfully as shown in Figure 5 34 In this case the LED indicator turns from red to green Then click Quit...

Страница 57: ... Homing Operation Issue V1 9 0 2020 07 23 User Guide Copyright Yuejiang Technology Co Ltd 52 Figure 5 34 The firmware upgrade is successful WARNING During the firmware upgrade do not stop it Otherwise errors occur Figure 5 35 Click Write Draw ...

Страница 58: ...d Only a PLT or SVG image can be used The built in file is located in the directory Installation Directory DobotStudio config prefab system source Prerequisites A PLT or SVG image file has been created Procedure Figure 5 37 Click Write Draw NOTICE The imported image should be placed within the annular area on the Write Draw page as shown in Figure 5 38 If not the robotic arm reaches its limited po...

Страница 59: ...mage is located within the annular area Figure 5 39 The PLT or SVG image is located outside the annular area Click Open on the Write Draw page to import a built in PLT or SVG image file from the DobotStudio installation directory InstallatonDirectory DobotStudio config prefab system source as shown in Figure 5 40 You can also import your custom PLT or SVG image file ...

Страница 60: ...logy Co Ltd 55 Figure 5 40 Open a PLT or SVG system image file Click a shape in the Input Shapes area as shown in Figure 5 41 Figure 5 41 Insert a system image file Click Input Texts on the Write Draw page to input texts and set its style and then click OK to display the text on the annular area as shown in Figure 5 42 ...

Страница 61: ...ported the SVG Converter dialog box is displayed as shown in Figure 5 43 In this dialog box drag the slider to set the black and white threshold and click Convert Bitmap To SVG to perform the conversion and then click Plot to Main Scene to display the converted SVG file on the annular area of the Write Draw page Figure 5 43 Convert an image to SVG NOTICE After image is converted to SVG if there ar...

Страница 62: ...de Copyright Yuejiang Technology Co Ltd 57 Figure 5 44 Error tip NOTE We recommend to set the Velocity in the range of 0mm s to 500mm s and to adjust the acceleration between 0mm s2 and 500mm s2 Figure 5 45 Setting the parameters of the Write Draw function Adjust the Position of the Pen Nib ...

Страница 63: ...the robotic arm in the Cartesian or Joint coordinate system to slowly pull the Z axis down to a suitable vertical position for writing as shown in Figure 5 46 Figure 5 46 Adjust the position of the pen nib NOTE The point marked by a red box as shown in Figure 5 47 corresponds to the position of the writing and drawing kit of the Dobot Magician This point changes its position only within the annula...

Страница 64: ...of writing NOTE The value of the Z axis is the PenDown parameter This parameter can be set by selecting Setting Write Draw PenDown on the Write Draw page as shown in Figure 5 49 If the effect of writing is not satisfactory slightly raise and lower the height of the writing and drawing kit or directly change the value of PenDown Figure 5 49 The PenDown parameter ...

Страница 65: ... Engraving Tasks Figure 5 50 shows the process of laser engraving Figure 5 50 The process of laser engraving NOTICE The LaserEngraving is different is from the grayscale engraving The former uses the same firmware and DobotStudio function module as those of the Write Draw function and it can only engrave a vector graphics by drawing lines while the latter can engrave a grayscale image For more inf...

Страница 66: ...he Dobot Magician is the 3D Printing firmware instead of the Dobot firmware the Select tool dialog box is displayed asking if you want to switch to the Dobot firmware In this case perform the following steps to switch to this firmware Select DobotStudio to upgrade the Dobot firmware as shown in Figure 5 52 The Question dialog box is displayed Figure 5 52 Select the DobotStudio to upgrade the Dobot...

Страница 67: ...isplayed Figure 5 53 Confirm the firmware upgrade Click Confirm to upgrade the Dobot firmware as shown in Figure 5 54 When the upgrade process bar shows 100 and a short beep sound is heard it means that the firmware is upgraded successfully as shown in Figure 5 55 In this case the LED indicator turns from red to green Then click Complete to exit Figure 5 54 Click Confirm ...

Страница 68: ... Homing Operation Issue V1 9 0 2020 07 23 User Guide Copyright Yuejiang Technology Co Ltd 63 Figure 5 55 The firmware upgrade is successful WARNING During the firmware upgrade do not stop it Otherwise errors occur Figure 5 56 Click Write Draw ...

Страница 69: ...porting Image Files and Setting Engraving Parameters When performing a laser engraving task a built in or a custom image file is required Only a PLT or SVG image can be used The built in image file is located in the directory Installation Directory DobotStudio config prefab system source Prerequisites A PLT or SVG image file has been created Procedure Figure 5 58 Click Write Draw ...

Страница 70: ...us cannot engrave on an object In this case the image is highlighted with a red border as shown in Figure 5 60 Figure 5 59 The PLT or SVG image is located within the annular area Figure 5 60 The PLT or SVG image is located outside the annular area Click Open on the Write Draw page to import a built in PLT or SVG image file from the DobotStudio installation directory InstallatonDirectory DobotStudi...

Страница 71: ...6 Figure 5 61 Open a PLT or SVG file Click a shape in the Input Shapes area to directly import a system image file as shown in Figure 5 62 Figure 5 62 Insert a system image file Click Input Texts on the Write Draw page to input texts and set its style and then click OK to display the text on the annular area as shown in Figure 5 63 ...

Страница 72: ...ss Once this image is imported the SVG Converter dialog box is displayed as shown in Figure 5 64 In this dialog box drag the slider to set the black and white threshold and click Convert Bitmap To SVG to perform the conversion and then click Plot to Main Scene to display the converted SVG file on the annular area of the Write Draw page Figure 5 64 Convert Bitmap to SVG NOTE We recommend to set the...

Страница 73: ...sue V1 9 0 2020 07 23 User Guide Copyright Yuejiang Technology Co Ltd 68 Figure 5 65 Setting the parameters of the Write Draw function Adjust the Laser Focus and Start to Grave Procedure Figure 5 66 Choose Laser as the end effector Figure 5 67 Turn on the laser ...

Страница 74: ... heat is created and can burn materials such as papers and wooden boards Never aim the laser at a person and their clothes Do not allow the children to play with the Dobot Magician Monitor the robotic arm while it is running and power off it once the movement is complete Figure 5 68 Unselect the Lasers NOTICE If you cannot set the laser to be at its minimum focus it s probably because the focal le...

Страница 75: ... of the end effector of the Dobot Magician This point changes its position only within the annular area when the robotic arm moves Figure 5 70 The point corresponding to the end effector of the robotic arm Once this step is complete the next time you start to engrave directly import a PLT or SVG image file without adjusting the position of the laser kit and click SyncPos and then click Start to st...

Страница 76: ...t of engraving NOTE The value of the Z axis is the PenDown parameter This parameter can be set by selecting Setting Write Draw PenDown on the Write Draw page as shown in Figure 5 72 If the effect of engraving is not satisfactory slightly raise and lower the height of the laser kit or directly change the value of PenDown Figure 5 72 Set the PenDown parameters ...

Страница 77: ...omatically moves above the position PenUpOffset of the start point of the laser engraving When engraving click Pause to pause the engraving and Stop to halt the engraving Figure 5 73 shows the effect of the laser engraving Figure 5 73 The effect of the laser engraving Engraving a Grayscale Image Figure 5 74 shows the process of engraving a grayscale image ...

Страница 78: ... kit as the end effector For the installation method see 5 5 1 Installing a Laser Kit Connecting the DobotStudio If the current firmware of the Dobot Magician is the 3D Printing firmware instead of the Dobot firmware the Select tool dialog box is displayed asking if you want to switch to the Dobot firmware In this case perform the following steps to switch to this firmware Select DobotStudio to up...

Страница 79: ...igure 5 76 The Dobot firmware upgrade window is displayed Figure 5 76 Confirm the firmware upgrade Click Confirm to upgrade the Dobot firmware as shown in Figure 5 77 When the upgrade process bar shows 100 and a short beep sound is heard it means that the firmware is upgraded successfully as shown in Figure 5 78 In this case the LED indicator turns from red to green Then click Complete to exit Fig...

Страница 80: ...rmware upgrade is successful WARNING During the firmware upgrade do not stop it Otherwise errors occur Figure 5 79 Click LaserEngraving Importing Image Files and Setting Engraving Parameters Prerequisites An image file has been created You can also import system image the importing path is Installation Directory DobotStudio attachment grbrMode source ...

Страница 81: ...be placed within the annular area on the LaserEngraving page as shown in Figure 5 80 If not the robotic arm reaches its limited position and thus cannot engrave on an object In this case the image is highlighted with a red border as shown in Figure 5 81 Figure 5 80 The image file is located within the annular area Figure 5 81 The image file is located outside the annular area ...

Страница 82: ...ian Homing Operation Issue V1 9 0 2020 07 23 User Guide Copyright Yuejiang Technology Co Ltd 77 Figure 5 82 Choose Laser as the end effector Figure 5 83 Import an image file Figure 5 84 Set the grayscale range laser power range and border ...

Страница 83: ... 255 Default value 20 240 Laser power range Set the laser power range Range 2 100 Default value 20 90 Border Set the border width Unit pixel Range 0 50 Default value 4 Click Setting on the LaserEngraving page Set the JunctionVel junction velocity PlanAcc linear acceleration and Acc acceleration for example set all to 5 as shown in Figure 5 85 Figure 5 85 Set the parameters of laser engraving Adjus...

Страница 84: ... the laser at a person and their clothes Do not allow the children to play with the Dobot Magician Monitor the robotic arm while it is running and power off it once the movement is complete Figure 5 86 Select the Laser Press and hold the unlock button on the Forearm to move the robotic arm to raise and lower the height of the laser kit until the laser is the brightest with a smallest possible spot...

Страница 85: ...nimum focus it s probably because the focal length is long To shorten the focal length slightly turn the sliver lens screw as shown in Figure 5 88 on the bottom of the laser kit Figure 5 88 Adjust the focus The point marked by a red box as shown in Figure 5 89 corresponds to the position of the laser kit of the Dobot Magician This point changes its position only within the annular area when the ro...

Страница 86: ...ding to the laser kit of the robotic arm Figure 5 90 Lock the height of engraving NOTE The value of Z axis is the PenDown parameter This parameter can be set by selecting Setting LaserEngraving PenDown as shown in Figure 5 91 If the effect of engraving is not satisfactory slightly raise and lower the height of the laser kit or directly change the value of PenDown ...

Страница 87: ... Co Ltd 82 Figure 5 91 Set the PenDown parameters The Dobot Magician automatically moves above the position of the start point of the laser engraving When engraving click Pause to pause the engraving and Stop to halt the engraving Figure 5 92 shows the effect of the laser engraving Figure 5 92 The effect of laser engraving ...

Страница 88: ...ab or suck an object with your hand gesture Installing a Leap Motion Controller Prerequisites The Leap Motion controller a hand gesture controller has been obtained The Leap Motion driver software has been obtained Download the Windows version as shown in Figure 5 93 from the https www leapmotion com setup desktop windows Figure 5 93 Download the Leap Motion driver software for Windows Procedure F...

Страница 89: ...llation Interface Leap Motion Demo You can move or sort an object with the LeapMotion function This topic introduces how to move a small cube with a hand gesture Prerequisites The Dobot Magician is powered on and connected to your computer The suction cup kit has been installed For details see 5 2 1 Installing a Suction Cup Kit Procedure Figure 5 96 Click LeapMotion ...

Страница 90: ...gician User Guide Dobot Magician Homing Operation Issue V1 9 0 2020 07 23 User Guide Copyright Yuejiang Technology Co Ltd 85 Figure 5 97 Click Setting Figure 5 98 Set the parameters of the Leap Motion function ...

Страница 91: ...rmance Choose a performance mode suitable for your computer Select the Low performance default for the low configuration computer to prevent video delay NOTE Move your hand in the workspace of the Leap Motion controller to control the Dobot Magician to perform a particular task as shown in Table 5 13 Table 5 13 The robotic arm s movement created with your hand gesture Hand gesture Robotic arm s mo...

Страница 92: ...tudio to perform tasks for example grab or suck an object with your mouse This topic introduces how to move a small cube with a mouse Prerequisites The Dobot Magician is powered on and connected to your computer The suction cup kit has been installed For details see 5 2 1 Installing a Suction Cup Kit Procedure Figure 5 99 Click Mouse Figure 5 100 Choose SuctionCup as the end effector ...

Страница 93: ...he parameters of mouse control Parameters Description Speed The velocity percentage of the Dobot Magician Unit Value range 1 100 Default value 50 Scale The scale of the Dobot Magician Unit Value range 1 100 Default value 100 High performance Low performance Choose a performance mode suitable for your computer Select Low performance default for the low configuration computer to prevent video delay ...

Страница 94: ...tails on how to use the mouse to control the robotic arm on the Mouse page see Table 5 15 Table 5 15 The robotic arm s movement created with your mouse Mouse action Robotic arm s movement Move your mouse front back right or left The robotic arm moves accordingly Scroll the mouse wheel up or down The robotic arm moves accordingly Press and hold the left mouse button Suction cup the air pump sucks a...

Страница 95: ...ting control software is required You can use Repetier Host or Cura software for 3D printing Reptier Host Reptier Host can slice with the third party slicing such as CuraEngine Slic3r etc check and modify G Code control 3D printing manually More parameter settings make Reptier Host very flexible Cure The slicing of Cura is fast and stable It has strong inclusiveness to 3D model structure and less ...

Страница 96: ...ation Issue V1 9 0 2020 07 23 User Guide Copyright Yuejiang Technology Co Ltd 91 Installing 3D Printing Kit 3D printing kit contains extruder hot end motor cable filament and filament holder as shown in Figure 5 104 Figure 5 104 3D printing kit Procedure ...

Страница 97: ...020 07 23 User Guide Copyright Yuejiang Technology Co Ltd 92 Figure 5 105 Push down the filament Figure 5 106 Connect extruder and hot end NOTICE Please make sure that the PTFE tube has been pushed down to the bottom of the hot end Otherwise it will cause abnormal discharge ...

Страница 98: ...Dobot Magician User Guide Dobot Magician Homing Operation Issue V1 9 0 2020 07 23 User Guide Copyright Yuejiang Technology Co Ltd 93 Figure 5 107 Fix hot end ...

Страница 99: ... Magician User Guide Dobot Magician Homing Operation Issue V1 9 0 2020 07 23 User Guide Copyright Yuejiang Technology Co Ltd 94 Figure 5 108 Connect hot end to the Forearm Figure 5 109 Connect with extruder ...

Страница 100: ...nting firmware the Repetier Host page will be displayed automatically Prerequisites The 3D printing model has been prepared The printing platform has been prepared and please place it in the workspace of the Dobot Magician Dobot Magician has been powered on Dobot Magician has been connected to DobotStudio successfully Only USB connection is supported The 3D printing kit has been installed 5 9 2 1 ...

Страница 101: ... 111 Burn firmware After burning 3D printing firmware the Repetier Host page is displayed automatically as shown in Figure 5 112 If the LED indicator on the base turns red it indicates that the connection of the 3D printing kit is abnormal WARNING Please DO NOT operate or turn off Dobot Magician when burning firmware to avoid machine damage ...

Страница 102: ...If the current firmware is set for 3D printing when operating 3D printing you can click Connect directly on the DobotStudio page And then Click OK on the Select tool page to switch to Repetier Host as shown in Figure 5 113 Figure 5 113 Switch into 3D printing automatically 5 9 2 2 Performing 3D Printing Procedure Printing parameters only need to be set for the first time ...

Страница 103: ...epetier Host page The Printer Settings page is displayed Set the corresponding parameters on the Connection tab as shown in the red box of Figure 5 114 The other parameters are set by default Figure 5 114 Connection setting Click Apply Unselect the corresponding options on the Printer tab as shown in the red box of Figure 5 115 and the other parameters are set by default Then click Apply ...

Страница 104: ...on Issue V1 9 0 2020 07 23 User Guide Copyright Yuejiang Technology Co Ltd 99 Figure 5 115 Unselect options Set the corresponding parameters on the Extruder tab as shown in the red box of Figure 5 116 the other parameters are set by default Then Click Apply ...

Страница 105: ...ssue V1 9 0 2020 07 23 User Guide Copyright Yuejiang Technology Co Ltd 100 Figure 5 116 Extruder settings Set the corresponding parameters on the Printer Shape tab as shown in the red box of Figure 5 117 the other parameters are set by default Then Click Apply ...

Страница 106: ...3 User Guide Copyright Yuejiang Technology Co Ltd 101 Figure 5 117 Printer shape settings Click OK After the connection is successful the current heating temperature will be shown on the below of the Repetier Host page as shown in Figure 5 118 Figure 5 118 Connect to Dobot Magician ...

Страница 107: ...in the melting state So you need to heat the extruder first Set the heating temperature to 200 on the Manual Control tab of the Repetier Host page and click as shown in Figure 5 119 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 of...

Страница 108: ... distance from Dobot Magician 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 masking paper on the platform is recommended Press the Unlock key on the Forearm and drag Dobot Magician to make the printing head contact the surface of the masking paper The distance between the pri...

Страница 109: ...de Copyright Yuejiang Technology Co Ltd 104 Also you can press the Key button on the bace of the base to get the current coordinates Figure 5 121 Input M415 NOTE If you cannot find the G Code command window please click EASY to close Easy Mode as shown in Figure 5 122 Figure 5 122 Easy mode ...

Страница 110: ...ssue V1 9 0 2020 07 23 User Guide Copyright Yuejiang Technology Co Ltd 105 Figure 5 123 Import 3D printing Model After importing the model you can center zoom or rotate the model on the Object Placement page as shown in Figure 5 124 Figure 5 124 Model operation ...

Страница 111: ...yright Yuejiang Technology Co Ltd 106 You need to set the slicing parameters before first printing Select Slic3r from Slicer on the Slicer tab of the Repetier Host page and click Configuration as shown in Figure 5 125 Figure 5 125 Select slicer The Slic3r page is displayed as shown in Figure 5 126 ...

Страница 112: ...The 3D printing effect depends on the slice parameters This topic provides a configuration sample you can select File Load Config on the Slic3r page to import it directly for printing The path of the configuration sample is Installation directory DobotStudio attachment as shown in Figure 5 127 Figure 5 127 Configuration sample Dobot 2 0 Vase ini is used for printing a thin walled vase while Dobot ...

Страница 113: ...e is 20 Save the Printing Settings Filament Settings and Printer Settings tabs respectively after importing configuration sample as shown in Figure 5 128 Figure 5 128 Save configuration file Click Slici with Slic3r on the Slicer tab of the Repetier Host page as shown in Figure 5 129 Figure 5 129 Start to slice Click on the top left corner of the Repetier Host page to print ...

Страница 114: ...ming Operation Issue V1 9 0 2020 07 23 User Guide Copyright Yuejiang Technology Co Ltd 109 Figure 5 130 Start printing Here we choose vase mode to print and the product after printing as shown in Figure 5 131 Figure 5 131 The product of printing ...

Страница 115: ...imaker cura software list Please download the recommended version V14 07 The way how to install and use is not descripted in this topic The 3D printing model has been prepared The printing platform has been prepared and please place it in the workspace of Dobot Magician Dobot Magician has been powered on Dobot Magician has been connected to DobotStudio successfully Only USB connection is supported...

Страница 116: ...age 5 9 3 2 Performing 3D Printing Procedure 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 5 133 Table 5 16 lists the values of the parameters that need to be set The other parameters are set by default Figure 5 133 Parameters setting Table 5 16 3D printing parameters descript...

Страница 117: ...lease 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 import these parameters as shown in Figure 5 134 Figure 5 134 Import slice parameters The 3D printing effect depends on the slice parameters This topic provides a configuration sample you can import it directly for pr...

Страница 118: ... vase while Dobot 2 0 Cura 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 it into STL format After importing the model click the model itself you can center zoom or rotate and so on as shown in Figure 5 136 Figure 5 136 Zoom and rotate Click to...

Страница 119: ...ll not 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 c...

Страница 120: ...inting 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 masking paper on the platform is recommende Press the Unlock key on the Forearm and drag Dobot Magician to make the printing head contact the surface of the masking paper The distance between the printing head and the surface of the maskin...

Страница 121: ...homing where the homing point is the system default Namely the Forearm is located at the middle in front of the base If the J1 coordinate is not 0 error range 1 3 after homing you need to re calibrate the base Encoder Prerequisites The writing and drawing kit has been installed For details please see 5 4 1 Installing a Writing and drawing kit Dobot Magician has been powered on Dobot Magician has b...

Страница 122: ...1 axis in Step 5 to improve calibration accuracy Click Teaching Playback on the DobotStudio page The Teaching Playback page is displayed Press the Unlock key on the Forearm and drag Dobot Magician to make the nib contact the surface of the calibration board then release the Unlock key The coordinates of this point will be displayed on the Teaching Playback page Select this point and right click Se...

Страница 123: ...2020 07 23 User Guide Copyright Yuejiang Technology Co Ltd 118 Dobot will start homing Please ensure that there are no obstacles in the workspace during homing If the speed is too fast when moving J1 axis you can drag Speed slider to adjust speed Figure 5 142 Move J1 axis ...

Страница 124: ...ician Homing Operation Issue V1 9 0 2020 07 23 User Guide Copyright Yuejiang Technology Co Ltd 119 Figure 5 143 Nib position You can check the J1 coordinate on the Operation Panel page as shown in Figure 5 144 Figure 5 144 J1 coordinate ...

Страница 125: ...alibrate manually with DobotStudio sensor calibration board and writing and drawing kit which is suitable for the application scenarios with high requirements for absolute positioning accuracy Auto Levelling It is simple and quick to calibrate automatically with DobotStudio and auto levelling tool which is suitable for the application scenarios without high requirements for absolute positioning ac...

Страница 126: ...bot Magician Homing Operation Issue V1 9 0 2020 07 23 User Guide Copyright Yuejiang Technology Co Ltd 121 NOTICE Please remove all end effectors from Dobot Magician before calibrating Figure 5 146 Get the angle sensor coefficients ...

Страница 127: ...ting and drawing kit Press the Unlock key on the Forearm and drag Dobot Magician to make the nib near the A3 point on the calibration board then release the Unlock key Click coordinate buttons on the Manual Levelling page as shown in Figure 5 148 to make the nib align to the center of A3 point on the calibration board as shown in Figure 5 149 If the speed is too fast when clicking coordinate butto...

Страница 128: ...Dobot Magician User Guide Dobot Magician Homing Operation Issue V1 9 0 2020 07 23 User Guide Copyright Yuejiang Technology Co Ltd 123 Figure 5 148 Fine tune page Figure 5 149 Nib position ...

Страница 129: ... Yuejiang Technology Co Ltd 124 NOTICE Please DO NOT drag Dobot Magician in this step to avoid manual levelling failure If the speed is too fast when clicking coordinate buttons you can drag Speed slider to adjust speed Figure 5 150 Fine tune page Figure 5 151 Nib position on the second calibrated point ...

Страница 130: ...pyright Yuejiang Technology Co Ltd 125 The distance between the two calibrated points on the Calibration board is 80mm so please keep the default value in this step Figure 5 152 Set the distance between the two calibrated points The result is shown as Figure 5 153 Figure 5 153 Calibrating result ...

Страница 131: ...0 2 2 Auto Levelling Prerequisites Dobot Magician has been connected to a PC via USB cable Dobot Magician has been connected to the power adapter The auto levelling tool has been obtained as shown in Figure 5 154 Figure 5 154 Auto levelling tool Procedure NOTICE Please ensure that the platform is flat Or the auto levelling will be failed ...

Страница 132: ...Dobot Magician User Guide Dobot Magician Homing Operation Issue V1 9 0 2020 07 23 User Guide Copyright Yuejiang Technology Co Ltd 127 Figure 5 155 Fix auto levelling tool ...

Страница 133: ...Dobot Magician User Guide Dobot Magician Homing Operation Issue V1 9 0 2020 07 23 User Guide Copyright Yuejiang Technology Co Ltd 128 Figure 5 156 Insert the cable of the auto levelling ...

Страница 134: ... 2020 07 23 User Guide Copyright Yuejiang Technology Co Ltd 129 NOTICE Please ensure that there are no obstacles in the workspace during auto levelling Figure 5 157 Auto levelling page NOTE If the auto levelling is failed please check if the platform is flat and try again ...

Страница 135: ...sitioning accuracy Prerequisites Dobot Magician has been powered on Dobot Magician has been connected to DobotStudio successfully Procedure Click Home on the DobotStudio page as shown in Figure 5 159 NOTICE Please remove the end effector from the Dobot Magician before homing Please ensure that there are no obstacles in the workspace during homing Figure 5 159 Operate homing Dobot Magician will rot...

Страница 136: ...homing point can be use defined you can select a saved point on the Teachong Playback page and right click SetHome to set this saved point as the homing point as shown in Figure 5 160 Figure 5 160 Set homing point Connecting with WIFI Kit You can connect Dobot Magician to a PC via WIFI kit without USB cable making Dobot Magician and PC in the same WLAN Figure 5 161 shows the WIFI kit Figure 5 161 ...

Страница 137: ... be the same as that of PC Procedure Figure 5 162 Connect with WIFI kit NOTICE Please turn off the Dobot Magician completely first before connecting or disconnecting external equipment Or it causes serious damage to your device After turning on there are two short beep sounds and the blue LED indicator on the WIFI module is on The Set Dobot Wi Fi page is displayed If you unselect Dynamic Host Conf...

Страница 138: ...he WIFI name and password have been obtained and must be the same as that of PC Password Set WIFI password Dynamic Host Configuration Protocol DHCP Whether to select DHCP Yes Only set SSID and Password No Only set IPAddress Netmask and Gateway IPAddress Set the IP address of Dobot Magician The IP address of Dobot Magician and the PC must be in the same WLAN without conflict Netmask Set subnet mask...

Страница 139: ... been connected with WLAN Figure 5 164 IP address of Dobot Magician After the connection is successful you can control Dobot Magician without USB cable Connecting with Bluetooth Kit Dobot Magician can be connected to smart phone with Bluetooth Figure 5 165 shows the Bluetooth kit Please download the matched DobotStudio APP from the website https cn dobot cc downloadcenter html sub_cat 69 sub downl...

Страница 140: ...and the blue LED indicator on the Bluetooth module is on and the green one is blinking Turn on the Bluetooth and launch DosbotStudio APP on your phone And click Connect to connect with Dobot Magician This topic only describes how to connect Bluetooth kit For details how to operate Dobot Magician with DobotStudio APP please see https www youtube com watch v kyeXwuf17IY Operating Blockly Blockly is ...

Страница 141: ...ction area of blockly module including logistic loop math and Dobot API You can program by dragging them to the window 2 The window of blockly programming 3 The running log of Dobot Magician 4 The corresponding codes of the blockly module on the programming window The demo in Figure 5 167 is described as follows Set the end effector as Gripper Set the loop number as 3 and make the Z axis move back...

Страница 142: ... download path is https www dobot cc downloadcenter html sub_cat 72 sub download Prerequisites Dobot Magician has been powered on Dobot Magician has been connected to DobotStudio successfully Procedure The Script page is displayed You can call the interface by double clicking on the left pane of the Script page the corresponding interface will be displayed on the middle pane as shown in Figure 5 1...

Страница 143: ...tudio Figure 5 169 shows the stick controller kit From left to right Stick controller USB Host module USB cable used for charging stick controller Transceiver Figure 5 169 Stick controller kit NOTICE Please don t connect Dobot Magician to DobotStudio when operating the stick controller Please turn off the Dobot Magician completely first before connecting or disconnecting external equipment Otherwi...

Страница 144: ...ue V1 9 0 2020 07 23 User Guide Copyright Yuejiang Technology Co Ltd 139 Figure 5 170 Connect with USB Host module The red LED indicator on the middle of the stick controller is blinking indicating that the Dobot Magician can be controlled by the stick controller ...

Страница 145: ...r The stick controller will turn off automatically LT Turn on the peripheral motor RT Turn off the peripheral motor off RB Switch to Cartesian coordinate system mode LB Switch to Joint coordinate system mode X Control the outtake of the air pump Y Control the intake of the air pump B Turn off the air pump Left stick Front back Cartesian coordinate system mode Dobot Magician moves along X axis in t...

Страница 146: ...irection Joint coordinate system mode Dobot Magician rotates along J3 axis in the positive negative direction Right stick Left right Cartesian coordinate system mode Dobot Magician rotates along R axis in the positive negative direction Joint coordinate system mode Dobot Magician rotates along J4 axis in the positive negative direction Multiplexed I O Demo The addresses of the I O interfaces in Do...

Страница 147: ...ts start stop Table 5 20 lists the multiplexed descriptions of I O 11 and I O 16 Table 5 20 Multiplexed I O description I O addressing Voltage Level Output PWM Level Input ADC 11 3 3V 16 12V The I O 11 and I O 16 are located at the peripheral interface of the base as shown in Figure 5 173 Figure 5 173 Peripheral Interface on the base Prerequisites The air pump has been connected to Dobot Magician ...

Страница 148: ...d effector drop down list after the air pump has been connected the air pump will be controlled by the system In this topic we use I O interfaces to control the air pump so SuctionCup and Gripper cannot be selected to avoid conflict Figure 5 175 Switch advanced function The saved point is displayed on the Teaching Playback page as shown in Figure 5 176 NOTE If the intake is not obvious please modi...

Страница 149: ... Issue V1 9 0 2020 07 23 User Guide Copyright Yuejiang Technology Co Ltd 144 Figure 5 176 Saved point The air pump is humming with intake The saved point is displayed on the Teaching Playback page as shown in Figure 5 177 Figure 5 177 Saved point Level Input ...

Страница 150: ... an example Table 5 21 Multiplexed I O description I O addressing Voltage Level Output PWM Level Input ADC 12 3 3V Prerequisites Dobot Magician has been powered on Dobot Magician has been connected to DobotStudio successfully The saved points list has been existed on the Teaching Playback page Procedure Figure 5 178 Switch advanced function Figure 5 179 Saved point ...

Страница 151: ...is topic also takes I O 11 as an example Table 5 22 Multiplexed I O description I O addressing Voltage Level Output PWM Level Input ADC 11 3 3V Prerequisites Dobot Magician has been powered on Dobot Magician has been connected to DobotStudio successfully Procedure Figure 5 181 Saved point The EIO Setting page is displayed as shown in Figure 5 182 ...

Страница 152: ...Dobot Magician User Guide Dobot Magician Homing Operation Issue V1 9 0 2020 07 23 User Guide Copyright Yuejiang Technology Co Ltd 147 Figure 5 182 EIO setting ...

Страница 153: ...gician Homing Operation Homing Procedure Figure 5 183 homing tip Playback Procedure If there are some points saved in Dobot Magician before you can turn on Dobot Maigican directly wait for about 20 seconds after green light is on press down Key button for long time to execute homing operation and then press down Key button again to execute offline mode ...

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