Dobot Magician User Manual
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Dobot Magician User Manual

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Dobot Magician User Manual
Dobot Magician
User Manual
AN01010101
V1.00
Date: 2016/09/27
Shenzhen Yuejiang Technology Co.,Ltd

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Summary of Contents for Dobot Magician

  • Page 1 Dobot Magician User Manual Dobot Magician User Manual AN01010101 V1.00 Date: 2016/09/27 Shenzhen Yuejiang Technology Co.,Ltd...
  • Page 2 Shenzhen Yuejiang Technology Co., Ltd Dobot Magician User Manual Revise History Version Date Reason V1.00 2016/09/27 Create a document Shenzhen Yuejiang Technology Co., Ltd...

  • Page 3: Table Of Contents

    Shenzhen Yuejiang Technology Co., Ltd Dobot Magician User Manual Contents Dobot Magician User Manual Instruction and Precautions ........... 7 1.1 Download CH340 driver package and install it..............9 1.2 Check if the equipment can work properly in the device management ......11 2.

  • Page 4: Dobot Magician User Manual Instruction And Precautions

    45°, power on, and then all the steppers will be locked. After about 10 seconds, there will be a short sound. It will work properly if the light at the bottom right on Dobot controller from yellow to green. Note that if the light is changed into red, it shows Dobot is at a limited position, so please make sure the forearm and rear arm are kept in normal range of movements.
  • Page 5 ON’T put hands into operating zone during Robot arm runtime, beware of bruising and pinch. 4. More Material Follow us and get first-hand material about Dobot Magician: The Tutorial: http://dobot.cc/tutorial/ Download Center: http://dobot.cc/download-center/ Should you have any further questions, feel free to email us at support@dobot.cc. Shenzhen Yuejiang Technology Co., Ltd...

  • Page 6: Download Ch340 Driver Package And Install It

    Dobot Magician User Manual 1. Dobot Magician Driver Installation Instruction Normally, at the first time, connect Dobot with PC through USB, plug in and power on, and then the system will recognize corressponding hardware automatically, search the driver and install it.
  • Page 7 Shenzhen Yuejiang Technology Co., Ltd Dobot Magician User Manual Figure 1.2 Install driver Click Install: Figure 1.3 Click Install Shenzhen Yuejiang Technology Co., Ltd...

  • Page 8: Check If The Equipment Can Work Properly In The Device Management

    Shenzhen Yuejiang Technology Co., Ltd Dobot Magician User Manual Figure 1.4 The driver installed successfully 1.2 Check if the equipment can work properly in the device management 1.2.1 Open the device management, if you can find the corresponding COM port of “USB-SERIAL CH340”...
  • Page 9 Shenzhen Yuejiang Technology Co., Ltd Dobot Magician User Manual Figure 1.5 The COM port in the device management Shenzhen Yuejiang Technology Co., Ltd...

  • Page 10: Teaching & Playback

    Because we need to use air pump kit or gripper kit, we can introduce these two kits. 2.1 Air pump kit The terminal default installation of Dobot Magician is suction cup.And the pump box and suction cup kit, shown as follows: Figure 2.1 Air pump kit...

  • Page 11: Pneumatic Gripper Kit

    Shenzhen Yuejiang Technology Co., Ltd Dobot Magician User Manual Figure 2.2 The installation effect of air pump kit 2.2 Pneumatic Gripper Kit 1. Pneumatic accessories shown in following picture: Figure 2.3 Pneumatic Gripper Kit 2. Gripper kit needs to share together with air pump kit of suction cup. You can remove suction cup from Joint4: Unscrew the fixed jackscrew on the suction cup with hex wrench, shown in Figure 2.4:...
  • Page 12 Shenzhen Yuejiang Technology Co., Ltd Dobot Magician User Manual Figure 2.4 Remove suction cup 3. Install the gripper kit on Joint4 with coupler, that is done! Shown in Figure 2.5: Figure 2.5 Gripper Installation 4. The connection method of gripper is the same with air pump kit, here you can refer to air pump kit method above.

  • Page 13: Dobotstudio Operating Instruction

    Shenzhen Yuejiang Technology Co., Ltd Dobot Magician User Manual Figure 2.6 Gripper Installation 2.3 DobotStudio Operating Instruction The software used by teach & playback is DobotStudio，and you can download the latest version from our official website: http://cn.dobot.cc/download-center/dobot-magician.html After download successfully, unzip and double click DobotStudio.exe, then open the software, the result as follows: Figure 2.7 DobotStudio file...
  • Page 14 Figure 2.9 Connected successfully There are six modules on the main software interface: （1）Teaching & Playback: A system to teach a robot a required trajectory. It enables Dobot to accomplish recorded movement repeatedly replacing human. （2）Write & Draw: Control Dobot to write, draw or laser engrave.
  • Page 15 Click Teaching & Playback, the brief introduction of each area as follows: Figure 2.10 The main interface of teaching & playbac Area 1： Here comes with Dobot movement area, liner mode and jog mode. Based on the body axes coordinate system X, Y, Z with the origin at the Linear mode：...
  • Page 16 Shenzhen Yuejiang Technology Co., Ltd Dobot Magician User Manual Figure 2.11 Coordinate system Click X+,X- and Dobot will move along X in the negative or positive direction; （1） （2） Click Y+,Y- and Dobot will move along Y in the negative or positive direction;...
  • Page 17 Dobot Magician User Manual Figure 2.12 Single axis coordinate system （1） Click Joint1+、Joint1- and control Dobot base motor to rotate in the negative or positive direction; Click Joint2+、Joint2- and control rear arm motor to rotate in the negative or positive （2）...
  • Page 18 Shenzhen Yuejiang Technology Co., Ltd Dobot Magician User Manual Figure 2.13 Select EndEffector You can also custom EndEffector Configure according to relative to coordinate offset of terminal center. The central terminal is shown as follows: Figure 2.14 The central terminal Speed：Adjust ratio bar to change the velocity ratio of jog control movement.
  • Page 19 Dobot Magician User Manual Area 2： Home：Dobot auto reset. Click this button, Dobot can rotate left to the end andreturnto preset Home automatically. In this process, the point of Home can be self-defined, which will be explained in area 5.
  • Page 20 图 2.17 Jump 模式参数设置 Handhold teaching: Tick the function, press and hold down Unlock on the forearm,and drag Dobot to any other position, then you can save a point after loosening.Of course, you can save Shenzhen Yuejiang Technology Co., Ltd...
  • Page 21 Shenzhen Yuejiang Technology Co., Ltd Dobot Magician User Manual points continuously.After all the points are recorded, Dobot can not only playback the programmed trajectory repeatedly. 图 2.18 手持示教设置 Area 4：Select save mode. Click +Point, you can save the current point information in area 5.
  • Page 22 Shenzhen Yuejiang Technology Co., Ltd Dobot Magician User Manual MOVJ：Joint movements. From point A to point B, each joint will run from initial angle to its target angle, regardless of the trajectory. The motion time for all joints are the same which means all joints will start and finish at the same time.

  • Page 23: Demo Of Teach & Playback

    SuctionCup and open the pump, and then the small object will be sucked up; 3. Click +Point and save a point; 4. Click Z+ to rise Dobot, move Dobot to another position, place the small object on the table, just uncheck SuctionCup and close the pump;...

  • Page 24: Writing & Drawing Manual

    Shenzhen Yuejiang Technology Co., Ltd Dobot Magician User Manual 4.Writing & Drawing Manual The whole flow chart as follows: Import Adjust the Connect pictures and position and Installation DobotStudio set params start to write 4.1 Installation of writing accessories Pen and pen holder included in the draw kit, the installation steps as follows: 1.

  • Page 25: Connect Dobotstudio

    Shenzhen Yuejiang Technology Co., Ltd Dobot Magician User Manual Figure 4.2 Pen installation 4.2 Connect DobotStudio 1. The software used by writing & drawing is DobotStudio, and the hardware itself is applicable for DobotStudio, so here you can connect directly. Open the software, click writing & drawing module, here comes the interface of writing &...
  • Page 26 Shenzhen Yuejiang Technology Co., Ltd Dobot Magician User Manual Figure 4.3 Writing & drawing interface 2. If the current hardware is not the hardware of writing & drawing itself, for example, the current firmware is for 3D printing, there will pop up a selected window, here we can choose DobotStudio in the drop-down box : Figure 4.4 Select DobotStudio...

  • Page 27: Import Pictures And Set Parameters

    4.3 Import pictures and set parameters 1. The imported picture should be put into the sector area of main interface, as Dobot will be at a limited position if beyond the standard range as a result of writing unnormally. Actually, there will be a warning of a red highlighting if beyond range.
  • Page 28 Figure 4.6 Insert the included file 3） Input text manually; Figure 4.7 Input text manually 4） Also you can import pictures , convert these formats（BMP/JPEG/JPG/PNG and so on） into SVG recognized by Dobot, once took and once draw; Shenzhen Yuejiang Technology Co., Ltd...
  • Page 29 Shenzhen Yuejiang Technology Co., Ltd Dobot Magician User Manual Figure 4.8 Import pictures After opening the picture, set proper , click Convert Bitmap, then SVG path file will come out automatically, then click Plot to Main Scene, the ready trajectory can be loaded in writing main interface, show as follows: 图...

  • Page 30: Adjust The Position And Start Writing

    Shenzhen Yuejiang Technology Co., Ltd Dobot Magician User Manual 2. Set writing parameters: set velocity and acceleration(0~300mm/s) and PenUpOffset; 图 4.10 设置速度/加速度参数 4.4 Adjust the position and start writing Set endeffector as Pen, here you can choose from Settings->EndEffector, shown as follows: Figure 4.11 Set EndEffector...
  • Page 31 Shenzhen Yuejiang Technology Co., Ltd Dobot Magician User Manual Adjust the nib position: press and hold down Unlock key on the forearm and drag the forearm to make the nib contact to paper, also, you can control Z axis moving down to paper gradually, shown as follows: Figure 4.12 Adjust the nib position...
  • Page 32 If the writing is not very well, the nib height need to be adjusted slightly, also you can revise the value of Pendown. Cllick SyncPos, Dobot will move into the top position of writing starting point automatically. Click Start, Pause and Stop to control Dobot.

  • Page 33: The Tutorial Of 3D Printing

    Shenzhen Yuejiang Technology Co., Ltd Dobot Magician User Manual 7. The Tutorial of 3D Printing The whole flow chart of 3D printing as shown below: Accessories Parparation Import Models Installation Connect before and Start to of 3D Repetier Host Printing...
  • Page 34 Shenzhen Yuejiang Technology Co., Ltd Dobot Magician User Manual Figure 7.2 Insert filament 2. Insert the filament to PTFE Tube and push it down the bottom of the hotend, then tighten the Push-in fitting on the extruder. Notice: Make sure the PTFE Tube itself is push down to the hotend bottom, otherwise, it will cause abnormal discharge.
  • Page 35 Shenzhen Yuejiang Technology Co., Ltd Dobot Magician User Manual 3. Fasten hot end with butterfly nut; 4. Connect power line of heating cable with interface 4 of forearm, link power line of fan with interface 5, connect thermistor line with interface 6;...

  • Page 36: Connect Repetier Host

    Shenzhen Yuejiang Technology Co., Ltd Dobot Magician User Manual Figure 7.6 3D printing installation 7.2 Connect Repetier Host 7.2.1 The software used by 3D printing is Repetier host, free and open sourced , which has been built in DobotStudio. Open DobotStudio, click Tools-> Open 3D Printing：...
  • Page 37 Shenzhen Yuejiang Technology Co., Ltd Dobot Magician User Manual Here will pop up a dialog of 3D printing burning firmware, click Confirm, and then will pop up software interface Repetier Host automatically, as follows:： The interface of Repetier Host: Shenzhen Yuejiang Technology Co., Ltd...
  • Page 38 Shenzhen Yuejiang Technology Co., Ltd Dobot Magician User Manual Figure 7.7 Repetier host Note: If the current software has been 3D printing, you can open DobotStudio directly when youwant to use next time. Click Connect, seleck Ok, and then you can switch to Repetier Host, as follows: Figure 7.8 Switch into 3D printing automatically...
  • Page 39 Click ‘Printer settings’ in the top right corner of the interface, and set related parameters in the pop up diaglogue box: (1)Connection : lable settings Printer Name: Dobot ( can be named by oneself) Select Dobot Serial Port: Dobot serial port Baud Rate: 115200 Reset on Emergency：Send emergency command+DTR high->low( If failed to connect, please try...
  • Page 40 Shenzhen Yuejiang Technology Co., Ltd Dobot Magician User Manual Delete the following three settings and keep the rest default: 图 7.10 printer 设置 （3）Extruder Settings The number of extruder setting: 1 The nozzle diameter: 0.4mm Keep the rest default. Shenzhen Yuejiang Technology Co., Ltd...
  • Page 41 Shenzhen Yuejiang Technology Co., Ltd Dobot Magician User Manual Figure 7.11 Extruder Settings （4）Printer Shape Settings Select circle printer and the detailed parameters as follows: Home X： Min Home Y： Min Home Z： 0 Print area radius: 50mm Print area height: 150mm Click Apply after setting.
  • Page 42 After setting parameters, return to main interface, open Dobot main power supply, insert USB, and click Connection at the top left corner of main interface, then we can connect Dobot. The led will turn out green and the tempreture will be shown below the interface:...

  • Page 43: Preparation Before Printing

    Shenzhen Yuejiang Technology Co., Ltd Dobot Magician User Manual Figure 7.13 Connect Dobot 7.3 Preparation before Printing 7.3.1 Please have a test to the function of extruder. It will work when the tempreture of extruder reaches above 170℃ and consumables are at melt state, so we should heat up extrusion head.
  • Page 44 Shenzhen Yuejiang Technology Co., Ltd Dobot Magician User Manual Figure 7.14 Heat the Extrusion Head In the heating process, open the fan and adjust it to 100: Figure 7.15 Open the fan Shenzhen Yuejiang Technology Co., Ltd...
  • Page 45 Shenzhen Yuejiang Technology Co., Ltd Dobot Magician User Manual When the heating temperature is up to 200℃, click feedstock of extruder up to 10-30mm, as shown below: Figure 7.16 Extrude filments If melted materials flowed from nozzle of the extruder, then it means the extruder works properly:...
  • Page 46 Figure 7.18 Masking tape Adjustment process: Firstly, put print head ahead of Dobot base about 200mm, and the distance from print head to print bed is about 1-2mm. Then, control button of Z- to brush down at -0.01mm.

  • Page 47: Import Model And Start To Print

    Shenzhen Yuejiang Technology Co., Ltd Dobot Magician User Manual Figure 7.19 Distance Adjustment 7.4 Import Model and Start to Print 2.3.2 The file format of 3D printing is stl employed universally. Users can build one’s own 3D model and transfer it into stl file, also, one can search free models to import them directly.
  • Page 48 Shenzhen Yuejiang Technology Co., Ltd Dobot Magician User Manual Figure 7.20 Import Models 2.3.3 Model Center/Scale Users can operate the model to place in the middle, zoom or rotate and any other functions. Figure 7.21 Model Center/Scale 2.3.4 Set slice parameters and start to slice up.
  • Page 49 Shenzhen Yuejiang Technology Co., Ltd Dobot Magician User Manual Figure 7.22 Main interface of parameter settings Shenzhen Yuejiang Technology Co., Ltd...
  • Page 50 DobotStudio: 图 7.23 配置文件 其中 Dobot-2.0-Vase.ini is used for printing of thin-valled vase, while Dobot-2.0.ini is used for the filling of entity, the filling rate is 20%. Import the file after downloading: Click File->Load configto load.ini file.
  • Page 51 Shenzhen Yuejiang Technology Co., Ltd Dobot Magician User Manual Figure 7.24 Import configuration file Shenzhen Yuejiang Technology Co., Ltd...
  • Page 52 Shenzhen Yuejiang Technology Co., Ltd Dobot Magician User Manual After importing the file, users need to save the three lables: Print settings, Filament settings and Printer settings respectively, also, users can rename them, here we keep the default: Figure 7.25 Save configuration file...
  • Page 53 Shenzhen Yuejiang Technology Co., Ltd Dobot Magician User Manual Spiral vase: Check this one and click OK, then we can print unfilled vase. Shenzhen Yuejiang Technology Co., Ltd...
  • Page 54 Shenzhen Yuejiang Technology Co., Ltd Dobot Magician User Manual The fill rate settings: If users need print support, please tick support material: Shenzhen Yuejiang Technology Co., Ltd...
  • Page 55 Shenzhen Yuejiang Technology Co., Ltd Dobot Magician User Manual The speed settings: （2） Filament settings Consumable diameter: 1.75mm The temperature : 200℃ Shenzhen Yuejiang Technology Co., Ltd...
  • Page 56 Shenzhen Yuejiang Technology Co., Ltd Dobot Magician User Manual Open the fan: （3） Printer settings Shenzhen Yuejiang Technology Co., Ltd...
  • Page 57 Shenzhen Yuejiang Technology Co., Ltd Dobot Magician User Manual The number of Extruder: 1 The nozzle Z offset of extruder: 0mm Notice: If the height of nozzle is so large that consumables cannot paste print bed or so small that it cannot discharge when printing the first layer, users can amend the height from this interface, such as -0.01mm or +0.01mm, thus, one need not adjust the height...
  • Page 58 Shenzhen Yuejiang Technology Co., Ltd Dobot Magician User Manual G-code Settings: Start G-code: M106 End G-code: M104 S0 ; turn off extruder ;relative positioning G1 E-1 F300 ;retract the filament a bit before lifting the nozzle to release some of the pressure G1 Z+3 E-5 F{travel_speed} ;move Z up a bit and retract filament even more...
  • Page 59 Shenzhen Yuejiang Technology Co., Ltd Dobot Magician User Manual The nozzle diameter settings: 0.4mm； The pump back speed settings: length=6 mm，speed=60 mm/s. Shenzhen Yuejiang Technology Co., Ltd...
  • Page 60 Shenzhen Yuejiang Technology Co., Ltd Dobot Magician User Manual Slice 2.3.5 After finishing above settings, save the settings of each label, and return to main interface. Select slic3r of slice engine, import slice settings and click Slice with Slic3r. Figure 7.25 Finish slice...
  • Page 61 （1） The angle of forearm and rear arm is 45° in the default settings of current firmware, so we need to get current actual coordinates of Dobot, then we can print. Insert M415 and press Enter to get the position on the interface of command: （2）...
  • Page 62 Shenzhen Yuejiang Technology Co., Ltd Dobot Magician User Manual Here we choose vase mode, and the effect after printing as follows: Shenzhen Yuejiang Technology Co., Ltd...
  • Page 63 Shenzhen Yuejiang Technology Co., Ltd Dobot Magician User Manual Figure 7.26 The Effect of Printing Shenzhen Yuejiang Technology Co., Ltd...
  • Page 64 Shenzhen Yuejiang Technology Co., Ltd Dobot Magician User Manual Shenzhen Yuejang Technology Co.,Ltd Website：www.dobot.cc 4F, A8, Tanglang Industrial Area, Taoyuan Street, Nanshan District, Shenzhen, China. Shenzhen Yuejiang Technology Co., Ltd...

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