Dobot magician инструкция на русском

1. Manuals
2. Brands
3. Dobot Manuals
4. Robotics
5. Magician
6. User manual

Quick Links

User Guide

Dobot Magician

User Guide

Issue: V1.5.1

Date: 2018-09-11

Shenzhen Yuejiang Technology Co., Ltd

• Page 1
  User Guide Dobot Magician User Guide Issue: V1.5.1 Date: 2018-09-11 Shenzhen Yuejiang Technology Co., Ltd…
• Page 2
  Even if follow this document or any other related instructions, Damages or losses will be happen in the using process, Dobot shall not be considered as a guarantee regarding to all security information contained in this document.
• Page 3
  Dobot Magician User Guide Preface Preface Purpose This Document describes the functions, technical specifications, installation guide and system commissioning of Dobot Magician, making it easy for users to fully understand and use it. Intended Audience This document is intended for: Customer Engineer …

• Page 4: Table Of Contents

  Precautions ……………………2 Important Safety Notice …………….3 Quick Start ………………….. 4 Connecting Cables to the Dobot Magician …………… 4 Installing the DobotStudio ………………..5 System Requirements ………………5 Obtaining the DobotStudio Package …………..6 Installing the DobotStudio ………………. 6 Verifying the Installation ………………

• Page 5
  Dobot Magician User Guide Contents Installing a Writing Kit ………………54 Connecting the DobotStudio …………….55 Importing Image Files and Setting Writing Parameters ……..57 Adjust the Position of the Pen Nib …………..63 Performing Laser Engraving Tasks …………….. 65 Installing a Laser Kit ………………

• Page 6: Security Precautions

  People cannot repair and disassemble the robotic arm without professional training. If  there is a problem with the robotic arm, please contact Dobot technical support engineer in time. Please comply with the relevant laws to deal with the product which is scrapped, and …

• Page 7: Precautions

  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 or click Home on the DobotStudio page to perform homing. During resetting, Dobot Magician will disconnect from the PC automatically and the …

• Page 8: Important Safety Notice

  When using the 3D printing module, the heating rod will produce temperatures up to  250℃, please be careful! DO NOT put hands into the operating zone while the Dobot is running. Not doing so runs  the risk of bruising and/or pinching.

• Page 9: Quick Start

  Dobot Magician User Guide Quick 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.

• Page 10: Installing The Dobotstudio

  Dobot Magician User Guide Figure 2.2 Connect the Dobot Magician to your computer Connect the Dobot Magician to the electrical outlet with the supplied power adapter, as shown in Figure 2.3. Figure 2.3 Connect the Dobot Magician to the electrical outlet…

• Page 11: Obtaining The Dobotstudio Package

  2 Quick Start Dobot Magician User Guide Obtaining the DobotStudio Package Before using Dobot Magician, download the Windows DobotStudio package from https://www.dobot.cc/downloadcenter.html. The macOS version is also downloadable in this URL. Installing the DobotStudio Prerequisites The DobotStudio package has been obtained.

• Page 12
  Dobot Magician User Guide Figure 2.6 The DriverSetup(X64) dialog box Click INSTALL to install the Dobot Magician driver. When the driver is installed successfully, the The drive is successfully Pre-installed in advance! dialog box is displayed, as shown in Figure 2.7.

• Page 13: Verifying The Installation

  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 2.9, the Dobot Magician driver is installed successfully.

• Page 14: Powering On/Off The Dobot Magician

  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 is ready to use.

• Page 15: Getting Started

  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.

• Page 16
  2 Quick Start Dobot Magician User Guide Figure 2.13 The DobotStudio page with a beginner guide Click Connect on the DobotStudio page, as shown in Figure 2.14. The Question dialog box is displayed, as shown in Figure 2.15. Figure 2.14 Click Connect Figure 2.15 The Question dialog box…
• Page 17
  2 Quick Start Dobot Magician User Guide Click OK. Because this section is for quick access to the Dobot Magician only and no high accuracy is required. When Connect changes to Disconnect, it means that the DobotStudio is connected the Dobot Magician, as shown in Figure 2.16.
• Page 18
  2 Quick Start Dobot Magician User Guide Figure 2.17 Click Teaching & Playback NOTE After reading a beginner guide on the Teaching & Playback page, as shown in Figure 2.18, click to close it. Figure 2.18 Teaching & Playback page Select PTP Point >…
• Page 19
  Figure 2.20 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 2.21. Issue V1.0 (2018-09-11) User Guide…
• Page 20
  2 Quick Start Dobot Magician User Guide Figure 2.21 Jog the Dobot Magician in the Cartesian or Joint coordinate system Move the robotic arm to other two locations such as points B and C by referring to the method of creating point A above, as shown in Figure 2.22. The robotic arm will save the Cartesian coordinates corresponding to these two points.
• Page 21
  2 Quick Start Dobot Magician User Guide Figure 2.23 Enter 3 in the Loop text box Click Start to perform the motions taught above, as shown in Figure 2.24. The robotic arm will stop after playing back the steps for three times.
• Page 22
  2 Quick Start Dobot Magician User Guide Figure 2.25 Click Exit Issue V1.0 (2018-09-11) User Guide Copyright © Yuejiang Technology Co., Ltd.

• Page 23: Introduction

  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 Dobot Magician…

• Page 24
  3 Introduction Dobot Magician User Guide Figure 3.2 Workspace of Dobot Magician (1) Figure 3.3 Workspace of Dobot Magician (2) Issue V1.0 (2018-09-11) User Guide Copyright © Yuejiang Technology Co., Ltd.

• Page 25: Coordinate System

  3 Introduction Dobot Magician 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.

• Page 26: Motion Function

  This topic describes jogging mode by the GUI operation of DobotStudio. Cartesian coordinate system mode  Click X+, X- and Dobot Magician 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 …

• Page 27
  3 Introduction Dobot Magician User Guide MOVJ: Joint movement. From point A to point B, each joint will run from initial angle to  its target angle, regardless of the trajectory, as shown in Figure 3.6. Figure 3.6 MOVL/MOVJ mode MOVL: Rectilinear movement.

• Page 28: Technical Specifications

  3 Introduction Dobot Magician User Guide Figure 3.8 ARC mode 3.3.3.4 Application Scenarios The application scenario depends on the trajectory in motion mode, as shown in Table 3.1. Table 3.1 Application scenario Motion mode Application scenario MOVL If the trajectory of playback is required as a straight…

• Page 29: Sizes

  20 extensible I/O interfaces Software DobotStudio Working -10° to 60° temperature Sizes Figure 3.9 shows the size of Dobot Magician and Figure 3.10 shows the size of the end mounting hole. Issue V1.0 (2018-09-11) User Guide Copyright © Yuejiang Technology Co., Ltd.

• Page 30
  3 Introduction Dobot Magician User Guide Figure 3.9 Size of Dobot Magician Figure 3.10 Size of end mounting hole Issue V1.0 (2018-09-11) User Guide Copyright © Yuejiang Technology Co., Ltd.

• Page 31: Interface Description

  Dobot Magician User Guide Interface Description Interface Board The interfaces of Dobot Magician are located on the back of the base and the Forearm respectively. Figure 4.1 shows the interfaces on the back of the base, and Table 4.1 lists the description.

• Page 32
  4 Interface Description Dobot Magician User Guide Table 4.2 Peripheral interface description Interface Description Power interface of air pump; output 12V of controllable power Output 12V of controllable power Stepper1 User-defined stepper interface; extruder interface (3D printing mode) Stepper2 User-defined stepper interface Signal interface of air pump;…

• Page 33: Led Indicator

  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. Multiplexed Base I/O Interface Description 4.3.1.1 Multiplexed UART Interface Description…

• Page 34
  4 Interface Description Dobot Magician User Guide Table 4.5 Multiplex I/O Description I/O addressing Voltage Level Output Level Input 3.3V √ √ 3.3V √ √ 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.

• Page 35: Multiplexed Forearm I/O Interface Description

  4 Interface Description Dobot Magician User Guide Multiplexed 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…

• Page 36: Operation

  Introduction to the DobotStudio Function Modules You can use the DobotStudio to control the Dobot Magician to accomplish multiple functions such as Teaching & Playback, Write & Draw, Blockly graphic programming, and Script control, as shown in Figure 5.1. For details, see Table 5.1.

• Page 37
  Add More Add more custom functions to manipulate the robotic arm. You can also set the Dobot Magician by clicking Setting on the DobotStudio page, for example, implement general settings, base calibration, manual levelling, and auto levelling, as shown in Figure 5.2.

• Page 38: Common Areas Of Dobotstudio Page

  5 Operation Dobot Magician User Guide Items Description Set the jogging speed and acceleration in the Joint coordinate system and Cartesian coordinate system Playback Set the joint parameters, coordinate parameters, Jump parameters, handhold teaching and LostStepParam. Write Draw Set the Write & Draw function, such as speed, Junction velocity, linear acceleration, acceleration, pen up offset and pen down position.

• Page 39
  Figure 5.5 Setting the Operation Panel Table 5.5 Setting the Operation Panel Items Description Coordinate Jog the Dobot Magician by clicking X (X+/-), Y (Y+/-), Z (Z+/-), or R (R+/-) in the jogging Cartesian coordinate system Issue V1.0 (2018-09-11) User Guide…

• Page 40: Performing Teaching & Playback Tasks

  Because a suction cup kit or a gripper kit is required, we will explain them first. Installing a Suction Cup Kit A suction cup kit is the default end-effector shipped with the Dobot Magician. When using the suction cup kit, an air pump is necessary, as shown in Figure 5.6.

• Page 41
  5 Operation Dobot Magician User Guide Figure 5.7 Connect the air pump to the Dobot Magician Insert a suction cup kit into the end’s port, and fasten it with a butterfly nut, as shown in Figure 5.8. Figure 5.8 Install a suction cup kit Connect the air pump’s air tube to the air tube connector of the suction cup kit, as…
• Page 42
  5 Operation Dobot Magician User Guide Figure 5.9 Install an air tube Connect the servo’s GP3 cable to the GP3 connector on the Forearm, as shown in Figure 5.10. Issue V1.0 (2018-09-11) User Guide Copyright © Yuejiang Technology Co., Ltd.

• Page 43: Installing A Gripper Kit

  5 Operation Dobot Magician User Guide Figure 5.10 Connect the servo’s GP3 cable to the GP3 connector Installing 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.

• Page 44
  5.13. Figure 5.13 Install a gripper kit Connect the gripper kit and an air pump to the Dobot Magician in the same way as the suction cup kit is installed. For details, see 5.2.1 Installing a Suction Cup Kit. Figure 5.14 shows the effect of the gripper kit installation.

• Page 45: Teaching & Playback Page

  5 Operation Dobot Magician User Guide Figure 5.14 The effect of the gripper kit installation Teaching & Playback Page The Teaching & Playback page is shown in Figure 5.15. To access it, select Connect > Teaching & Playback on the DobotStudio page.

• Page 46
  5 Operation Dobot Magician User Guide Table 5.6 Set Easy/Pro, Loop, Speed and acceleration (Acc) Items Description Click this slider to switch between Easy and Pro modes. The default is the Easy mode. Easy/Pro Apart from all the functions in the Easy mode, the Pro mode offers multiple features such as the offline mode and multiplexed I/O interface.
• Page 47
  5 Operation Dobot Magician User Guide Items Description Pause time Set the pause time for a save point In both Easy and Pro modes, you can edit a highlighted save point such as copy, paste,  cut, switch between motion modes, modify name and coordinates, as shown in Figure 5.18.

• Page 48: Arc Motion Mode

  If Check Lost Step is selected, the robotic arm detects if the stepper motors lose steps when moving. If unselected, no detection is performed If the Dobot Magician detects lost-steps, it stops working, and its LED indicator turns red. In this case, click Home to get a correct reference position…

• Page 49
  The three points cannot be in the same straight line.  The arc trajectory cannot exceed the Dobot Magician’s normal workspace.  For example the points A, B, and C are on the arc. Point A is the start point; Point B is the second point;…
• Page 50
  Dobot Magician User Guide Set the jogging speed percentage to 50 on the Operation Panel. Jog the Dobot Magician in the Cartesian or Joint coordinate system to move the robotic arm to a location called position A. Click +Point to save the coordinate corresponding to the position A, as shown in Figure 5.22.

• Page 51: Teaching & Playback Example

  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 position A to B in the JUMP motion mode.

• Page 52
  5 Operation Dobot Magician User Guide A suction cup kit has been installed. For details, see 5.2.1 Installing a Suction Cup Kit.  Procedure Choose SuctionCup as the end-effector on the DobotStudio page, as shown in Figure 5.25. Figure 5.25 Choose SuctionCup as the end-effector Click Teaching &…
• Page 53
  5 Operation Dobot Magician User Guide Figure 5.26 Display the Operation Panel Set the jogging speed percentage to 50 on the Operation 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 5.27.
• Page 54
  Cartesian coordinate system, we recommend that it should be less than 500mm/s if loaded and that less than 800mm/s if not loaded. Jog the Dobot Magician in the Cartesian or Joint coordinate system 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.
• Page 55
  Dobot Magician User Guide Figure 5.29 Jump parameters Jogging the Dobot Magician in the Cartesian or Joint coordinate 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.
• Page 56
  Set the lost-step checking threshold Set Loop to 2. Place the small object back to the position A, and click Start. The Dobot Magician performs the sequence of JUMP trajectory as taught from its memory system, moving the small cube from positions A through B.

• Page 57: Working In Offline Mode

  Figure 5.32 Move the small cube in the JUMP motion mode Working in Offline Mode Offline mode allows the Dobot Magician to perform the points in the Save points list previously downloaded from the DobotStudio without keeping the USB connection established.

• Page 58
  Figure 5.34. Figure 5.34 The process bar at the bottom of the DobotStudio page Disconnect the DobotStudio from the Dobot Magician or the USB cable between the robotic arm and your computer.

• Page 59: Writing And Drawing

  A writing kit consists of a pen and a pen holder. For detailed steps, see below. Install a pen in the pen holder. Fasten the writing kit to the Dobot Magician’s end with a butterfly nut, as shown in Figure 5.36.

• Page 60: Connecting The Dobotstudio

  Launch the DobotStudio, and select the COM port, and then click Connect. 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.

• Page 61
  Dobot Magician User Guide Figure 5.39 Confirm the firmware upgrade Click Confirm to upgrade the Dobot firmware, as shown in Figure 5.40. 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 5.41. In this case, the LED indicator turns from red to green.

• Page 62: Importing Image Files And Setting Writing Parameters

  Dobot Magician User Guide WARNING During the firmware upgrade, do not stop it. Otherwise, errors occur. Click Connect on the DobotStudio page to connect the DobotStudio to the Dobot Magician. Click Write & Draw, as shown in Figure 5.42. Figure 5.42 Click Write & Draw Choose Pen as the end-effector on the Write &…

• Page 63
  5 Operation Dobot Magician User Guide Prerequisites A PLT or SVG image file has been created. Procedure Click Write & Draw on the DobotStudio page, as shown in Figure 5.44. Figure 5.44 Click Write & Draw Import an image file using one of the following methods.
• Page 64
  5 Operation Dobot Magician User Guide Figure 5.46 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  DobotStudio installation…
• Page 65
  5 Operation Dobot Magician User Guide Figure 5.48 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 5.49.
• Page 66
  5 Operation Dobot Magician User Guide to display the converted SVG file on the annular area of the Write & Draw page. Figure 5.50 Import an image Figure 5.51 Convert an image to SVG Set the writing parameters. Click Setting on the Write & Draw page, as shown in Figure 5.52.
• Page 67
  5 Operation Dobot Magician User Guide Figure 5.52 Click Setting Click Write & Draw to set the Dobot Magician’s Velocity (mm/s), junction velocity (JunctionVel: mm/s), PlanAcc (mm/s ), acceleration (Acc: mm/s PenUpOffset (mm), PenDown (mm), as shown in Figure 5.53.

• Page 68: Adjust The Position Of The Pen Nib

  Raise and lower the position of the pen nib. Press and hold the unlock button on the Forearm to move the Dobot Magician to raise and lower the pen nib until it slightly squeezes the paper. You can also jog 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 5.54.

• Page 69
  NOTE The point marked by a red box, as shown in Figure 5.55, corresponds to the position of the writing kit of the Dobot Magician. This point changes its position only within the annular area when the robotic arm moves.

• Page 70: Performing Laser Engraving Tasks

  PenDown. Figure 5.57 The PenDown parameter Click SyncPos. The Dobot Magician automatically moves above the position (PenDown) of the start point of the text. Click Start to start writing on the paper. When writing, click Pause to pause the writing and Stop to halt the writing.

• Page 71: Installing A Laser Kit

  Engraving a Grayscale Image. Installing a Laser Kit Procedure A laser kit includes a laser. For detailed steps, see below. Fasten the laser kit to the Dobot Magician’s end with a butterfly nut, as shown in Figure 5.59. Issue V1.0 (2018-09-11) User Guide…

• Page 72
  5 Operation Dobot Magician User Guide Figure 5.59 Fasten the laser with a butterfly nut Connect the laser’s power cable to the SW4 connector on the Forearm and the TTL control cable to the GP5 connector, as shown in Figure 5.60.

• Page 73: Connecting The Dobotstudio

  Launch the DobotStudio, and select the COM port, and then click Connect. 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.

• Page 74
  Figure 5.64 The firmware upgrade is successful WARNING During the firmware upgrade, do not stop it. Otherwise, errors occur. Click Connect on the DobotStudio page to connect the DobotStudio to the Dobot Magician. Click Write & Draw module function, as shown in Figure 5.65.

• Page 75: Importing Image Files And Setting Engraving Parameters

  5 Operation Dobot Magician User Guide Figure 5.65 Click Write & Draw Choose Laser as the end-effector, as shown in Figure 5.66. Figure 5.66 Choose Laser as the end-effector Importing 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.

• Page 76
  5 Operation Dobot Magician User Guide Figure 5.67 Click Write & Draw Import an image file using one of the following methods. NOTICE The imported image should be placed within the annular area on the Write & Draw page, as shown in Figure 5.68. If not, the robotic arm reaches its limited position and thus cannot engrave on an object.
• Page 77
  5 Operation Dobot Magician User Guide Figure 5.69 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  DobotStudio installation…
• Page 78
  5 Operation Dobot Magician User Guide Figure 5.71 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 5.72.
• Page 79
  5 Operation Dobot Magician User Guide to display the converted SVG file on the annular area of the Write & Draw page. Figure 5.73 Import an image file Figure 5.74 Convert Bitmap to SVG Set the laser-engraving’s parameters. Click Setting on the Write & Draw page, as shown in Figure 5.75.
• Page 80
  5 Operation Dobot Magician User Guide Figure 5.75 Click Setting Click Write & Draw to set the Dobot Magician’s Velocity (mm/s), junction velocity (JunctionVel: mm/s), PlanAcc (mm/s ), acceleration (Acc: mm/s PenUpOffset (mm), PenDown (mm), as shown in Figure 5.76.

• Page 81: Adjust The Laser Focus And Start To Grave

  5 Operation Dobot Magician User Guide Figure 5.76 Setting the parameters of the Write & Draw function Adjust the Laser Focus and Start to Grave Procedure Choose Laser as the end-effector on the Write & Draw page, as shown in Figure 5.77.

• Page 82
  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.
• Page 83
  The point marked by a red box, as shown in Figure 5.81, corresponds to the position  of the end-effector of the Dobot Magician. This point changes its position only within the annular area when the robotic arm moves. Issue V1.0 (2018-09-11) User Guide Copyright ©…
• Page 84
  5 Operation Dobot Magician User Guide Figure 5.81 The point corresponding to the end-effector of the robotic arm Click AutoZ on the Write & Draw page to obtain and save the current value of Z axis. 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 start engraving on the paper, as shown in Figure 5.82.
• Page 85
  Dobot Magician User Guide Figure 5.83 Set the PenDown parameters Click SyncPos. The Dobot Magician automatically moves above the position (PenUpOffset) of the start point of the laser-engraving. Click Start to start engraving on the paper. When engraving, click Pause to pause the engraving and Stop to halt the engraving.

• Page 86: Engraving A Grayscale Image

  5 Operation Dobot Magician User Guide Figure 5.84 The effect of the laser-engraving Engraving a Grayscale Image Figure 5.85 shows the process of engraving a grayscale image. Figure 5.85 The process of engraving a grayscale image Installing a Grayscale-engraving Kit Issue V1.0 (2018-09-11)

• Page 87: Connecting The Dobotstudio

  Launch the DobotStudio, and select the COM port, and then click Connect. 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.

• Page 88
  5 Operation Dobot Magician User Guide Figure 5.88 Click Confirm Figure 5.89 The firmware upgrade is successful WARNING During the firmware upgrade, do not stop it. Otherwise, errors occur. Click LaserEngraving, as shown in Figure 5.90. Issue V1.0 (2018-09-11) User Guide…

• Page 89: Importing Image Files And Setting Engraving Parameters

  5 Operation Dobot Magician User Guide Figure 5.90 Click LaserEngraving Importing Image Files and Setting Engraving Parameters Prerequisites An image file has been created. Procedure NOTICE The imported image should be placed within the annular area on the LaserEngraving page, as shown in Figure 5.91. If not, the robotic arm reaches its limited position and thus cannot engrave on an object.

• Page 90
  5 Operation Dobot Magician User Guide Figure 5.91 The image file is located within the annular area Figure 5.92 The image file is located outside the annular area Choose Laser as the end-effector on the LaserEngraving page, as shown in Figure 5.93.
• Page 91
  5 Operation Dobot Magician User Guide Figure 5.93 Choose Laser as the end-effector Click Open to import an image file such as BMP, JPEG, or PNG, as shown in Figure 5.94. Figure 5.94 Import an image file Set the Grayscale range, Laser power range, and Border, as shown in Figure 5.95.
• Page 92
  5 Operation Dobot Magician User Guide Table 5.11 Laser engraving parameters Items Description Grayscale range Set the grayscale range Range: 0 — 255 Default value: 20 — 240 Laser power range Set the laser power range Range: 2 — 100…

• Page 93: Adjust The Laser Focus And Start To Engrave

  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.

• Page 94
  The point marked by a red box, as shown in Figure 5.100, corresponds to the  position of the laser kit of the Dobot Magician. This point changes its position only within the annular area when the robotic arm moves.
• Page 95
  5 Operation Dobot Magician User Guide Figure 5.100 The point corresponding to the laser kit of the robotic arm Click AutoZ on the LaserEngraving page to obtain and save the current value of the Z axis. Figure 5.101 Lock the height of engraving NOTE…
• Page 96
  Dobot Magician User Guide Figure 5.102 Set the PenDown parameters Click SyncPos. The Dobot Magician automatically moves above the position of the start point of the laser-engraving. Click Start to start engraving on the paper. When engraving, click Pause to pause the engraving and Stop to halt the engraving.

• Page 97: Controlling With Your Hand Gesture

  5 Operation Dobot Magician User Guide Figure 5.103 The effect of laser-engraving Controlling with your Hand Gesture You can use the LeapMotion function module of the DobotStudio to perform tasks, for example, grab or suck an object with your hand gesture.

• Page 98: Leap Motion Demo

  5 Operation Dobot Magician User Guide Procedure Connect a Leap Motion controller to your computer with a USB cable, and put it on the work surface with its face up, as shown in Figure 5.105. Figure 5.105 Connect the Leap Motion controller to your computer Install the Leap Motion driver software by following the on-screen instructions, as shown in Figure 5.106.

• Page 99
  The suction cup kit has been installed. For details, see 5.2.1 Installing a Suction Cup Kit.  Procedure Launch the DobotStudio, and click Connect to connect to the Dobot Magician. Click LeapMotion, as shown in Figure 5.107. Figure 5.107 Click LeapMotion Click Setting on the DobtStudio page, as shown in Figure 5.108.
• Page 100
  Choose SuctionCup as the end-effector on the DobotStudio page, and click Start to control the Dobot Magician with your hand gesture, as shown in Figure 5.110. To maintain the Dobot Magician in a stable state, move your hand into the workspace of the Leap Motion controller while keeping your palm upward.

• Page 101: Controlling With Your Mouse

  Unclench your fist Turn off the air pump Put a small cube on the work surface in the workspace of the Dobot Magician, such as point A, and use the hand gesture to move robotic arm above the cube until it’s close to the cube.

• Page 102
  5 Operation Dobot Magician User Guide 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 5.111 Click Mouse Figure 5.112 Choose SuctionCup as the end-effector…
• Page 103
  5 Operation Dobot Magician User Guide Figure 5.113 Click Setting Click Mouse, as shown in Figure 5.114. Set the parameters, as shown in Table 5.14, and click OK. Figure 5.114 Set the parameters of mouse control Issue V1.0 (2018-09-11) User Guide…
• Page 104
  5 Operation Dobot Magician User Guide Table 5.14 Set the 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:…

• Page 105: Operating 3D Printing

  5 Operation Dobot Magician User Guide NOTE For details 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…

• Page 106: Installing 3D Printing Kit

  5 Operation Dobot Magician User Guide Figure 5.116 3D printing process During 3D printing, the 3D printing 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, …

• Page 107
  5 Operation Dobot Magician User Guide Figure 5.117 3D printing kit Procedure Press down the lever on the extruder, and push down the filament to the bottom of the hole via the pulley, as shown in Figure 5.118. Issue V1.0 (2018-09-11) User Guide Copyright ©…
• Page 108
  5 Operation Dobot Magician User Guide Figure 5.118 Push down the filament Connect the end of the PTFE tube to the hot end and push it down to the bottom of the hot end, and connect the other end to the extruder, as shown in Figure 5.119 Connect extruder and hot end…
• Page 109
  Please make sure that the PTFE tube has been pushed down to the bottom of the hot end. Otherwise, it will cause abnormal discharge. Fix the hot end on the Dobot Magician with butterfly nut, as shown in Figure 5.120. Figure 5.120 Fix hot end Insert the heating cable to the interface 4 on the Forearm, the fan cable to the interface 5 and the thermistor cable to the interface 6, as shown in Figure 5.121.
• Page 110
  5 Operation Dobot Magician User Guide Figure 5.121 Connect hot end to the Forearm Connect the extruder to the Stepper1 interface on the back of the base with motor cable, as shown in Figure 5.122. Figure 5.122 Connect with extruder Issue V1.0 (2018-09-11)

• Page 111: Operating Repetier Host

  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.

• Page 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. Figure 5.125 Repetier Host page Issue V1.0 (2018-09-11)
• Page 113
  5 Operation Dobot Magician User Guide NOTICE 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 5.126.
• Page 114
  5 Operation Dobot Magician User Guide Figure 5.127 Connection setting Click Apply. Unselect the corresponding options on the Printer tab as shown in the red box of Figure 5.128 and the other parameters are set by default. Then, click Apply.
• Page 115
  5 Operation Dobot Magician User Guide Figure 5.128 Unselect options Set the corresponding parameters on the Extruder tab as shown in the red box of Figure 5.129, the other parameters are set by default. Then, Click Apply. Issue V1.0 (2018-09-11) User Guide Copyright ©…
• Page 116
  5 Operation Dobot Magician User Guide Figure 5.129 Extruder settings Set the corresponding parameters on the Printer Shape tab as shown in the red box of Figure 5.130, the other parameters are set by default. Then, Click Apply. Issue V1.0 (2018-09-11) User Guide Copyright ©…
• Page 117
  Figure 5.130 Printer shape settings Click OK Click Connect on the Repetier Host page to connect Dobot Magician. After the connection is successful, the current heating temperature will be shown on the below of the Repetier Host page, as shown in Figure 5.131.
• Page 118
  Before printing, you need to test the extruder to check whether the melted filament flows from the nozzle of the extruder. The temperature of the extruder should be above 170℃. Dobot Magician will not start 3D printing until the filament is in the melting state. So you need to heat the extruder first.
• Page 119
  Adjust the printing space and get the printing coordinates. NOTE During printing, if the 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.
• Page 120
  5 Operation Dobot Magician User Guide coordinates. Figure 5.134 Input M415 NOTE If you cannot find the G-Code command window, please click EASY to close Easy Mode, as shown in Figure 5.135. Figure 5.135 Easy mode Click Load to import the prepared 3D printing model, as shown in Figure 5.136.
• Page 121
  5 Operation Dobot Magician User Guide Figure 5.136 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 5.137. Figure 5.137 Model operation Set slicing parameters and slice up.
• Page 122
  5 Operation Dobot Magician User Guide Select Slic3r from Slicer on the Slicer tab of the Repetier Host page, and click Configuration, as shown in Figure 5.138. Figure 5.138 Select slicer The Slic3r page is displayed, as shown in Figure 5.139.
• Page 123
  Figure 5.140. Figure 5.140 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%. Save the Printing Settings, Filament Settings and Printer Settings tabs respectively after importing configuration sample, as shown in Figure 5.141.
• Page 124
  5 Operation Dobot Magician User Guide Click Slici with Slic3r on the Slicer tab of the Repetier Host page, as shown in Figure 5.142. Figure 5.142 Start to slice Click on the top left corner of the Repetier Host page to print.

• Page 125: Operating Cura

  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.

• Page 126
  After burning 3D printing firmware, 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. 5.9.3.2 Performing 3D Printing Procedure Launch Cura software.
• Page 127
  5 Operation Dobot Magician User Guide Figure 5.146 Parameters setting Table 5.16 3D printing parameters description Parameter Description Maximum width The maximum width please set to 80mm Maximum depth The maximum with please set to 80mm Maximum height The maximum height…
• Page 128
  attachment, as shown in Figure 5.148. Figure 5.148 Configuration sample Dobot-2.0-Vase-Cura.ini is used for printing a thin-walled vase, while Dobot- 2.0-Cura.ini is used for the filling, the filling rate is 20%. , the Open 3D model page is displayed, and select the 3D Click Issue V1.0 (2018-09-11)
• Page 129
  Set Temperature to 200 and press down Enter to heat the extruder. The temperature of the extruder should be above 170℃. Dobot Maigicain will not start 3D printing until the filament is in the melting state. So you need to Issue V1.0 (2018-09-11)
• Page 130
  Adjust the printing space and get printing coordinates. NOTE During printing, if the 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 recommende.

• Page 131: Calibration

  5 Operation Dobot Magician User Guide 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 masking paper is the thickness of a sheet of A4 paper), then release the Unlock key.

• Page 132
  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.
• Page 133
  Click Setting > Base Calibration on the DobotStudio page. Click Next on the Base Calibration page. Dobot will start homing. Please ensure that there are no obstacles in the workspace during homing. Click +J1 or -J1 to make the nib at a point on the line between A3 and B3 on the calibration board, as shown in Figure 5.155 and Figure 5.156.

• Page 134: Sensor Calibration

  The angle sensors of the Forearm and Rear Arm have been calibrated before being shipped out. Generally, the Z-coordinate will remain the same when moving Dobot Magician in the same horizontal plane. If changed, you need to recalibrate the angle sensors by manual levelling or auto levelling to improve the positioning accuracy.

• Page 135
  The sensor calibration board has been prepared.  Procedure Place the Dobot Magician at the right position on the sensor calibration board, as shown in Figure 5.158. Figure 5.158 Location of Dobot Magician Click Setting > Manual Levelling on the DobotStudio page.
• Page 136
  Click Next and set Angle Precision, Distance Precision, Result Range. Figure 5.160 Set precisions Click Next and follow the instructions on the Manual Levelling page to move Dobot Magician to the first calibrated point. If the calibrated point is A3 on the Calibration board.
• Page 137
  Install the writing kit. For details, please see 5.4.1 Installing a Writing 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.
• Page 138
  Click Next and follow the instructions on the Manual Levelling page (as shown in Figure 5.163) to move Dobot Magician to make the nib in the center of the second calibrated point. If the calibrated point is B3 on the calibration board, as shown in Figure 5.164.
• Page 139
  5 Operation Dobot Magician User Guide Figure 5.163 Fine-tune page Figure 5.164 Nib position on the second calibrated point Click Next and set the distance between the two calibrated points, as shown in Figure 5.165. The distance between the two calibrated points on the Calibration board is 80mm, so please keep the default value in this step.
• Page 140
  5 Operation Dobot Magician User Guide Figure 5.165 Set the distance between the two calibrated points Click Next to start calibrating. The result is shown as Figure 5.166. Figure 5.166 Calibrating result Issue V1.0 (2018-09-11) User Guide Copyright © Yuejiang Technology Co., Ltd.
• Page 141
  Place Dobot Magician on the flat platform. NOTICE Please ensure that the platform is flat. Or, the auto levelling will be failed. Fix the auto-levelling tool on the Dobot Magician with butterfly nut, as shown in Figure 5.168. Issue V1.0 (2018-09-11) User Guide Copyright ©…
• Page 142
  5 Operation Dobot Magician User Guide Figure 5.168 Fix auto-levelling tool Insert the cable of the auto-levelling tool to the interface 1 on the Forearm, as shown in Figure 5.169. Figure 5.169 Insert the cable of the auto-levelling Issue V1.0 (2018-09-11) User Guide Copyright ©…
• Page 143
  5 Operation Dobot Magician User Guide Power on Dobot Magician and connect it to DobotStudio. Click Setting > Auto Levelling on the DobotStudio page. NOTICE Please ensure that there are no obstacles in the workspace during auto levelling. Figure 5.170 Auto levelling page Click Start on the Auto Levelling page.

• Page 144: Homing

  Figure 5.171 Auto levelling result Homing Dobot Magician has been calibrated before being shipped out. If the Dobot Magician has been hit or the motor has lost step, leading data abnormal, you need to operate homing to improve the positioning accuracy.

• Page 145: Connecting With Wifi Kit

  Figure 5.173 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 5.174 shows the WIFI kit. Figure 5.174 WIFI kit Prerequisites Issue V1.0 (2018-09-11)

• Page 146
  Figure 5.175 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 Press down the power button to turn on the Dobot Magician.
• Page 147
  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…
• Page 148
  Click OK. About 5 seconds later, the green LED indicator on the WIFI module is on, indicating that the Dobot Magician has been connected with WLAN, as shown in Figure 5.177. Figure 5.177 Status of LED indicator Click Disconnect on the left pane of the DobotStudio page.

• Page 149: Connecting With Bluetooth Kit

  5 Operation Dobot Magician User Guide Connecting with Bluetooth Kit Dobot Magician can be connected to smart phone with Bluetooth. Figure 5.179 shows the Bluetooth kit. Please download the matched DobotStudio APP from the website https://www.dobot.cc/downloadcenter.html?sub_cat=69#sub-download. Figure 5.179 Bluetooth kit Prerequisites Dobot Magician has been connected to the power adapter.

• Page 150: Operating Blockly

  Figure 5.180 Connect with Bluetooth kit NOTICE Please turn off the Dobot Magician completely first before connecting or disconnecting external equipment. Or, it causes serious damage to your device. Press down the power button to turn on the Dobot Magician.

• Page 151
  5 Operation Dobot Magician User Guide Dobot Magician has been powered on.  Dobot Magician has been connected to DobotStudio successfully.  Procedure Click Blockly on the DobotStudio page. The Blockly page is displayed. Drag the blockly module on the left pane of the Blockly page to program, as shown in Figure 5.181.

• Page 152: Scripting

  Dobot Magician User Guide the programing file is Installation directory/DobotStudio/config/bystore. Please replace the path based on site requirements. Click Start on the Blockly page, and Dobot Magician will move according to the program. Scripting You can control Dobot Magician over scripting. Dobot Magician supports various API, such as velocity/acceleration setting, motion mode setting, and I/O configuration, which uses Python language for secondary development.

• Page 153: Operating Stick Controller Kit

  The running log will be displayed on the lower pane of the Script page for checking. Operating Stick Controller Kit Dobot Magician can be controlled by stick controller kit without DobotStudio. Figure 5.183 shows the stick controller kit. From left to right: Stick controller, USB Host module, USB cable (used for charging stick controller), Transceiver.

• Page 154
  Press down the power button to turn on the Dobot Magician. NOTICE Please turn off the Dobot Magician completely first before connecting or disconnecting external equipment. Or, it causes serious damage to your device. Press down the power button on the stick controller, as shown in Figure 5.185.
• Page 155
  Turn off the air pump Left stick: Front/back Cartesian coordinate system mode: Dobot  along X-axis in the Magician moves positive/negative direction Joint coordinate system mode: Dobot Magician  along J1-axis rotates positive/negative direction Left stick: Left/right Cartesian coordinate system mode: Dobot …

• Page 156: Operating Sliding Rail

  Operating Sliding Rail When the workspace of Dobot Magician is not enough, you can extend it with the sliding kit to do large-scale tasks, such as long-distance picking and placing, a large range of writing and so on. Figure 5.186 shows the sliding rail kit and Table 5.20 lists its description.

• Page 157: Installing Sliding Rail

  Sliding rail (with wire set and plate b) Installing sliding rail Procedure Mount Dobot Magician on the plate a with four M3*10 countersunk head cap screws (The counter bore of plate a is outwards), as shown in Figure 5.187. Issue V1.0 (2018-09-11) User Guide Copyright ©…

• Page 158
  Dobot Magician User Guide Figure 5.187 Fix plate a Fix the plate a (with Dobot Magician) on the plate b with three M3*8 hexagon socket head cap screws. Please make the back of the base of Dobot Magician towards the rabbet on the plate b, as shown in Figure 5.188.
• Page 159
  5 Operation Dobot Magician User Guide Figure 5.188 Fixed position with screws Connect the end of the wire set to the plate b with a M3*6 countersunk head hexagon screw, as shown in Figure 5.189. Figure 5.189 Connect with wire set (Optional) Fix plate c.
• Page 160
  Dobot Magician. For details, please see 5.2.1 Installing a Suction Cup Kit. Figure 5.191 Fix air pump Connect the interfaces on the end of the wire set to Dobot Magician, as shown in Figure 5.192. Issue V1.0 (2018-09-11) User Guide Copyright ©…
• Page 161
  5 Operation Dobot Magician User Guide Figure 5.192 Connect to Dobot Magician Connect the interfaces on the other end of the wire set to the power adaptor, USB interface of PC, motor interface and homing interface of the sliding rail respectively.

• Page 162: Sliding Rail Parameter Description

  0.25mm Demo Description This topic describes how to use sliding rail for writing. Prerequisites The sliding rail has been installed and connected to the Dobot Magician.  Dobot Magician has been powered on.  Dobot Magician has been connected to DobotStudio successfully.

• Page 163
  Procedure Click LineraRail on the DobotStudio page. Now, you can click L+, L- to make Dobot Magician move to the left or right. Click Home on the DobotStudio page. The sliding block moves to its homing point and then Dobot Magician rotates back to its homing point.
• Page 164
  Dobot Magician User Guide Figure 5.196 Write&Draw page The rectangle in Figure 5.196 is the workspace of Dobot Magician (with sliding rail). Input text on the Iput Texts pane and click OK, as shown in Figure 5.197. If the text is Magician.

• Page 165: Multiplexed I/O Demo

  Then, Dobot Magician continues to write. Multiplexed I/O Demo The addresses of the I/O interfaces in Dobot Magician are unified. Most of I/O interfaces have multiple functions. For details, please see 4.3 Multiplexed I/O Interface Description.

• Page 166: Level Output

  5 Operation Dobot Magician User Guide Figure 5.200 I/O setting page Now, demos of level output, level input, and PWM output are given below. Level Output Normally, air pump can be controlled by the I/O interfaces. The I/O 11 controls its intake (High level) and outtake (Low level) and the I/O 16 controls its start-stop.

• Page 167
  5 Operation Dobot Magician User Guide Figure 5.201 Peripheral Interface on the base Prerequisites The air pump has been connected to Dobot Magician. For details, please see 5.2.1  Installing a Suction Cup Kit. Dobot Magician has been powered on.
• Page 168
  5 Operation Dobot Magician User Guide this topic, we use I/O interfaces to control the air pump, so SuctionCup and Gripper cannot be selected, to avoid conflict. Click icon on the Teaching&Playback page, as shown in Figure 5.203. Figure 5.203 Switch advanced function Select IO_11, IO_16 and their corresponding Value on the Output pane, and click +Point.

• Page 169: Level Input

  √ √ √ 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 Click icon on the Teaching&Playback page, as shown in Figure 5.206.

• Page 170: Pwm Output

  √ √ Prerequisites Dobot Magician has been powered on.  Dobot Magician has been connected to DobotStudio successfully.  Procedure Click icon on the Teaching&Playback page, as shown in Figure 5.208. Select IO_11 on the Output pane, and click +Point, as shown in Figure 5.209.

• Page 171
  5 Operation Dobot Magician User Guide Figure 5.209 Saved point Double-click EIO11 cell and select … from the drop-down list. The EIO Setting page is displayed, as shown in Figure 5.210. Figure 5.210 EIO setting Set Frequency (Unit: KHZ; Value range: 10HZ-1MHZ) and DutyRatio (0%-100%) on the EIO Setting page.