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
V1.2.0
Date: 2017/2/28
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 V1.2.0 Date: 2017/2/28 Shenzhen Yuejiang Technology Co.,Ltd...
  • Page 2 Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual Revised History Version Date Reason V1.00 2016/09/27 Create a document V1.01 2016/11/10 Add iOS APP and Bluetooth module tutorial V1.1.0 2016/12/12 Add system adaptation description in the home page V1.1.0 2016/12/12 Add shade laser engraving tutorial V1.2.0...

  • Page 3: Table Of Contents

    Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual Contents Dobot Magician User Manual Instruction and Precautions ........... 8 1. Dobot Magician Driver Installation Instruction ............ 10 1.1 Download CH340 driver package and install it ..............10 1.2 Check if the equipment can work properly in the device management......12 2.
  • Page 4 8.3.4 Start printing ........................94 8.3.5 Text note ......................... 96 9. Bluetooth Kit ......................103 10.WIFI Kit ........................ 104 10.1 Set Dobot Wi-Fi module ....................104 11. Stick controller kit ....................107 Leap Motion Kit ................... 109 Mouse control ....................113 14 Blockly ........................

  • Page 5: Dobot Magician User Manual Instruction And Precautions

    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 6 Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual 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/ 5. The adaptation system of DobotStudio: win7 SP1 x32/x64、win8/win10、mac osx10.10 and mac osx10.11、mac osx10.12.

  • Page 7: Dobot Magician Driver Installation Instruction

    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 8 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 9: 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”，then it shows the driver is installed successfully.

  • Page 10: Dobotstudio Operating Instruction

    Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual 2. DobotStudio Operating Instruction The software used by Dobot Magician is DobotStudio, and you can download the latest version from our official website: http://www.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 2.1 DobotStudio file...
  • Page 11 Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual Note: An error or other related errors maybe come out when opening DobotStudio, some of them shown as follows: corresponding .exe file in the folder attachment, then open Dobotstudio again Please execute the and that is OK.
  • Page 12 Possible solution: Install required netframework4.6.1 required by vc2015. Figure 2.3 The starter edition may cause such errors 1. Select Dobot corresponding serial port, the top left corner of DobotStudio, and click Connect, after successful connection, Disconnect will be shown, at the same time, the coordinate parameters will be updated on the right side of the interface.
  • Page 13 Figure 2.4 Connected successfully There are eight 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 14 (counter-clockwise is the positive direction). Figure 2.6 Coordinate system （1） Click X+,X- and Dobot will move along X in the negative or positive direction; （2） Click Y+,Y- and Dobot will move along Y in the negative or positive direction; （3）...
  • Page 15 Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual （4） Click R+,R- and Dobot will move along R in the negative or positive direction. Notice: R-axis will move together with Y-axis during the movements, and make sure the terminal posture relative to the origin of coordinates keeps constant.
  • Page 16 Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual Through ticking the corresponding buttons, open gripper/suction cup/laser, and just click again, you can close gripper/suction cup/laser. The terminal can be selected from Setting-> End Effector Settings: Figure 2.8 Select End Effector You can also custom EndEffector Configure according to relative to coordinate offset of terminal center.
  • Page 17 Area 2： Home：Dobot auto reset. Click this button, Dobot can rotate left to the end and return to preset Home automatically. In this process, the point of Home can be self-defined, which will be explained in area 5.
  • Page 18 The height and Z limit of Jump mode: 图 2.12 Jump mode settings 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 points...
  • Page 19 Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual continuously. After all the points are recorded, Dobot can not only playback the programmed trajectory repeatedly. 图 2.13 Playback settings Area 4：Select save mode. Click +Point, you can save the current point information in area 5.
  • Page 20 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 21 Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual 5. Insert：Insert a line of saved points. 6. MoveUp/MoveDown: Move up/Move down the line of saved point. 7. Delete：Delete selected saved points。 8. DeleteAll: Delete all the saved points. 9. RunSeleted: Execute selected points.

  • Page 22: Teaching & Playback

    Because we need to use air pump kit or gripper kit, we can introduce these two kits. 3.1 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 3.1 Air pump kit...

  • Page 23: Pneumatic Gripper Kit

    Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual Figure 3.2 The installation effect of air pump kit 3.2 Pneumatic Gripper Kit Pneumatic accessories shown in following picture: Figure 3.3 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 on the suction cup with hex wrench, shown in Figure 2.4:...
  • Page 24 Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual JackScrew Figure 3.4 Remove suction cup 3. Install the gripper kit on Joint4 with coupler, that is done! Shown in Figure 2.5: Figure 3.5 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 25: 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 26: Advanced Function Of Teaching&Playback

    Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual 4. Advanced function of teaching&playback You can switch Easy into Pro when pressing the button of Easy/Pro, shown as follows: Figure 4.1 Advanced function of teaching&playback 4.1 StepRun 1. StepRun: You can execute the first saved point when you press the button at the first time, and you will turn next point when press the button again.

  • Page 27: Offline Mode

    Figure 4.4 Offline mode button Notice: Before save points and offline move, Dobot need to reset pressing Home key, and then it can keep consistent of coordinates when teach&playback and playback the trajectory clearly.

  • Page 28: Eio Addressing

    Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual Figure 4.5 EIO Interface 4.3.1 EIO addressing In order to use more conveniently, we address them all together. EIO exists in base, forearm separately in DobotV2.0. 1）EIO addressing in forearm shown as follows: Figure 4.6 EIO addressing in forearm...

  • Page 29: Eio Multiplex Function

    Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual Figure 4.7 EIO addressing in base 18PIN 3）EIO addressing in base 10PIN interface board, shown as follows: Figure 4.8 EIO addressing in base 10PIN 4.3.2 EIO multiplex function Now let’s describe EIO multiplex function. (Depends on hardware) 1）EIO multiplex instruction of forearm interface board, shown as follows:...

  • Page 30: Eio Multiplex Demo

    Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual √ √ √ 3.3V √ √ √ 3.3V √ √ √ 3.3V √ √ √ 3.3V 2）EIO multiplex instruction of 18PIN interface board on the base, shown as follows: Figure 4.2 EIO multiplex instruction of 18PIN interface board on the base...
  • Page 31 Also, take EIO01 on the forearm connector for an example, if you get an external photoelectric sensor, it will trigger Dobot move and can be configured into low/high level input trigger mode when access to an inductive object. Select trigger point->EIO1_Input (Trigger area on the bottom right)->...
  • Page 32 Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual Figure 4.11 EIO1 ADC input demo 4） PWM Output PWM: Take EIO4 for a demo Level Range Level Level Input Addressing Output √ √ √ 3.3V Tick IO_4 pin in the Output area, click +Point to save new points, double click EIO4 table cell, select “…”...
  • Page 33 Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual Figure 4.12 EIO4 PWM output demo Above is four multiplx demo. Shenzhen Yuejiang Technology Co., Ltd...

  • Page 34: Writing & Drawing Manual

    Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual 5. Writing & Drawing Manual The whole flow chart as follows: Import Adjust the Connect pictures and position and Installation DobotStudio set params start to write 5.1 Installation of writing accessories Pen and pen holder included in the draw kit, the installation steps as follows: 1.

  • Page 35: Connect Dobotstudio

    Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual Figure 5.2 Pen installation 5.2 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 36: Import Pictures And Set Parameters

    5.3 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 37 Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual Figure 5.5 Open the file 2） Insert the included pictures of DobotStudio; Figure 5.6 Insert the included file 3） Input text manually; Shenzhen Yuejiang Technology Co., Ltd...
  • Page 38 Figure 5.7 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; Figure 5.8 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 Shenzhen Yuejiang Technology Co., Ltd...

  • Page 39: Adjust The Position And Start Writing

    Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual interface, show as follows: Figure 5.9 Import pictures into SVG files 2. Set writing parameters: set velocity and acceleration(0~300mm/s) and PenUpOffset; Figure 5.10 Set velocity and acceleration 4.4 Adjust the position and start writing Set endeffector as Pen, here you can choose from Settings->EndEffector, shown as follows:...
  • Page 40 Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual Figure 5.11 Set EndEffector 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 5.12 Adjust the nib position...
  • Page 41 If the writing is not very well, the nib height need to be adjusted slightly, also you can revise the value of Pendown. Click SyncPos, Dobot will move into the top position of writing starting point automatically. Click Start, Pause and Stop to control Dobot.
  • Page 42 Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual The result as follows: Figure 4.15 The effect of writing Shenzhen Yuejiang Technology Co., Ltd...

  • Page 43: Laser Engraving

    Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual 6. Laser Engraving The whole process of laser engraving as follows Adjust focus Import Pattern Connect and Set laser installation DobotStudio Parameters start to engrave Notice: Laser engraving and shade laser engraving are different functions. The firmware and upper computer used by laser engraving are the same with writing&drawing,...
  • Page 44 Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual Figure 6.2 Laser engraving interface 2. If the current firmware is not for laser engraving, for example, if it is for firmware 3D printing, then will pop up select dialog when connecting, we can choose DobotStudio in the drop-down box: Shenzhen Yuejiang Technology Co., Ltd...

  • Page 45: Import Pictures And Set Parameters

    After burning, DobotStudio will be opened automatically, also, after about ten seconds, then you can hear a short sound from built-in buzzer, which shows a successful burning. At the same time, the light on the bottom right will turn into green. Thus, we can connect Dobot according to above operation.
  • Page 46 Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual 1） Click Open, and import the ready PLT or SVG file: Figure 6.4 Open PLT File 2） Insert the included pictures of DobotStudio; Figure 6.5 Insert included pictures 3） Input text manually;...
  • Page 47 Figure 6.6 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; Figure 6.7 Import pictures After opening the picture, set proper switching threshold, click Convert Bitmap, then SVG path...

  • Page 48: Adjust The Focus And Start Writing

    Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual Figure 6.8 Import pictures and SVG path file will come out automatically 2. Set laser engraving parameters: set velocity and acceleration( suggested value is 3 ) and PenUpOffset, here just keep the default 20;...
  • Page 49 Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual Figure 6.10 Set EndEffector 2. Tick ON to open the software; Figure 6.11 Open the laser 3. Focus Adjustment. Hold down Unlock Key to adjust the distance between laser and the surface of the material, and then adjust knob to proper focus, if it shown as the brightest dot of Facularpoint, this will be the most proper height.
  • Page 50 Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual If it still cannot focus, then maybe the focus of laser is too long. We can rotate metal knob of laser to adjust(as the picture on the right button), refocus again after adjusting.
  • Page 51 If the writing is not very well, the nib height need to be adjusted slightly, also you can revise the value of Pendown. Click SyncPos, Dobot will move into the top position of writing starting point automatically. Click Start, Pause and Stop to control Dobot.

  • Page 52: The Tutorial Of Shade Laser Engraving

    Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual 7. The Tutorial of Shade Laser Engraving The whole flow chart of shade laser engraving as below: Installation Import Pattern Start Connect Grbl of Laser and Set Engraving Controller Accessories Parameters Notice: Shade laser engraving is also a kind of laser engraving.
  • Page 53 Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual Figure 7.2 Enter into shade laser engraving interface 2. If the current firmware is not for DobotStudio, for example, for 3D printing, here will pop up the Checkbox, and then we can select DobotStudio in the drop-down box: Figure 7.3 Select DobotStudio...

  • Page 54: Import Pattern And Set Parameters

    7.3 Import Pattern 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 55 Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual Open the picture, adjust the gray scale(0-255), laser power(0-100%) and the border for the customized engrave effect. Figure 7.5 Import the pictures into SVG file 2. Set shade laser engraving velocity and acceleration, here we suggest 5, shown as folllows: Figure 7.6 Set the parameter...

  • Page 56: Adjust Focus And Start To Engrave

    Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual 7.4 Adjust Focus and Start to Engrave 1. Set the endeffector as Laser. Settings-> EndEffector->Laser, shown in follows: Figure 7.7 Set EndEffector 2. Focus adjustment. Adjust the distance between the laser and engraving material, check ON to open the laser.
  • Page 57 Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual be signs of burn on the material when get sufficient laser power. If still cannot focus, just rotate the metal knob at the bottom of laser to adjust. Figure 7.9 Focus adjustment Notice：...
  • Page 58 Figure 7.11 Check the height If the effect is not very well, finetune the laser height, also can modify the pendown value. 4. After focus adjustment, click SyncPos, Dobot will move to the start position. 5. Click Start, pause and stop to control Dobot.
  • Page 59 Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual Figure 7.12 The Engraving Effect Shenzhen Yuejiang Technology Co., Ltd...

  • Page 60: The Tutorial Of 3D Printing

    CuraEngine, Slic3r and so on. More parameter settings, more flexible. Here will introduce the details separately from the second step. Note: In Mac system, Dobot can only be avaliable for Cura, refer to the tutorial of Cura.
  • Page 61 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 62 Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual 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; Figure 7.4 Connection of forearm 5. Connect extruder motor line with Stepper1 on the controller.

  • Page 63: Repetier Host

    Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual Figure 7.6 3D printing installation 8.2 Repetier Host 8.2.1 Switch into 3D printing Repetier host has been built in DobotStudio. Open DobotStudio, click Tools-> Open 3D Printing： 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:：...
  • Page 64 Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual The interface of Repetier Host: Figure 7.7 Repetier host Note: If the current software has been 3D printing, you can open DobotStudio directly when you want to use next time. Click Connect, select Ok, and then you can switch to Repetier Host, as follows: Shenzhen Yuejiang Technology Co., Ltd...

  • Page 65: Parameter Settings Of 3D Printing For The First Time

    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 connect:DTR low->high->low...
  • Page 66 Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual Figure 7.9 Connection Settings （2）Connection Lable Settings Shenzhen Yuejiang Technology Co., Ltd...
  • Page 67 Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual uncheck the following three settings and keep the rest default: Figure 7.10 Printer settings Shenzhen Yuejiang Technology Co., Ltd...
  • Page 68 Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual （3）Extruder Settings The number of extruder setting: 1 The nozzle diameter: 0.4mm Keep the rest default. Figure 7.11 Extruder Settings （4）Printer Shape Settings Select circle printer and the detailed parameters as follows: Home X：...
  • Page 69 After setting parameters, return to main interface, open Dobot main power supply, insert USB, and click Connect 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 70: Preparation Before Printing

    Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual Figure 7.13 Connect Dobot 8.2.3 Preparation before Printing It will work when the temperature of extruder reaches above 170℃ and consumables are at melt state, so we should heat up extrusion head. Here set heating temperature to 200℃ and then click the heating button on control panel to heat it.
  • Page 71 Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual Figure 7.14 Heat the Extrusion Head When the heating temperature is up to 200℃, click feedstock of extruder up to 10-30mm, as shown below: Figure 7.16 Extrude filaments Shenzhen Yuejiang Technology Co., Ltd...

  • Page 72: Adjust The Printing Space And Get Printing Coordinates

    Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual If melted materials flowed from nozzle of the extruder, then it means the extruder works properly: Figure 7.17 Filament Extrusion Note: If the filament extrusion is in the opposite direction, for example, you can click feedstock, but it is discharging.
  • Page 73 Adjustment process: Press Unlock key on the forearm, drag printing head to contact the surface of mask tape, and then press “key” at the base of dobot to save current Z value (or insert M415 in the command line, enter and get the current Z value), now the adjustment is finished.

  • Page 74: Import Model

    Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual Figure 7.19 Sending out M415 command If you cannot find the command line window, pls close Easy mode, shown as follows: 8.2.5 Import Model The file format of 3D printing is STL employed universally.

  • Page 75: Set Slice Parameters And Slice Up

    Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual Figure 7.20 Import Models 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 8.2.6 Set slice parameters and slice up Select slice engine Slic3r and click Configuration to set slice parameters.
  • Page 76 Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual Figure 7.22 Main interface of parameter settings Shenzhen Yuejiang Technology Co., Ltd...
  • Page 77 DobotStudio: 图 7.23 Config files 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 15%. Import the file after downloading: Click File->Load configto load.ini file.
  • Page 78 Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual Figure 7.24 Import configuration file Shenzhen Yuejiang Technology Co., Ltd...
  • Page 79 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 Slice: After finishing above settings, save the settings of each label, and return to main interface.

  • Page 80: Start To Print

    Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual Figure 7.25 Finish slice 8.2.7 Start to Print Now, click Start print at the top left corner of main interface to print： Shenzhen Yuejiang Technology Co., Ltd...
  • Page 81 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 82: Cura Introduction For 3D Printing

    Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual Figure 7.26 The Effect of Printing 8.3 Cura Introduction for 3D printing If you want to use Cura for 3D printing, the details seen as follows: Notice: Installation of accessories and firmware burning shown as Repetier Host 3D printing.
  • Page 83 Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual Figure 7.30 Cura interface Machine->machine settings, set related parameters in the pop-up dialog: （1）Connection label settings maximum width：80mm maximum depth：80mm maximum height：150mm； Machine center 0,0：Need tick Build Platform shape: Circular COM port setting: The corressponding COM port in the device management Baud rate：115200...
  • Page 84 Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual Figure 7.31 Machine settings （2）Import configuration file It is vital to set slice parameters, in which users should get the best slice parameters according to printed models and tested performance of equipment. Here we suggest a configuration file that can be impoted from attachement of DobotStudio: Shenzhen Yuejiang Technology Co., Ltd...
  • Page 85 Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual Figure 7.32 Configure files 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 15%. Import the file after downloading: Click File->Load Profile.
  • Page 86 Figure 7.33 Import configuration settings More detailed printing parameters, go to Cura website, not be repeated here.。 （3）Open the model and connect Dobot Click Load, import a 3D model, Cura will slice up automatically, also, you can select different modes in the drop-down list of right hand to check its trajectory is correct or not:：...
  • Page 87 Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual Figure 7.34 Import a model Click the model itself, and users can operate the model to place in the middle, zoom or rotate and any other functions. Shenzhen Yuejiang Technology Co., Ltd...
  • Page 88 After importing model, Print with USB on the main interface will be activated, click it to connect Dobot automatically, and there will show the current printing temperature on the top corner of the window, at the same time, the Printing key will be activated, shown as follows: Figure 7.35 Connect Dobot...

  • Page 89: Preparation Before Printing

    Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual 8.3.2 Preparation before Printing Please have a test to the function of extruder before printing, such as whether in and out of the material is smooth, or the direction in and out of material is reverse. .Here set heating temperature to 200℃...
  • Page 90 Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual If melted materials flowed from nozzle of the extruder, then it means the extruder works properly: Figure 7.37 Filament Extrusion Note: If the filament extrusion is in the opposite direction, for example, you can click feedstock, but it is discharging.

  • Page 91: Adjust The Printing Sapce And Get Printing Coordinates

    Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual Figure 7.37 Reverse installation diagram of the extruder 8.3.3 Adjust the printing space and get printing coordinates Note: These detailed steps, please refer to above chapter Repetier Host. Figure 7.38 Distance adjustment 8.3.4 Start printing...
  • Page 92 Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual Figure 7.39 Start printing Note: During the printing, if the distance between the nozzle and print is too large to paste the print bed of the first layer; If the distance is too small, which will cause consumables block. So we need to adjust the proper distance for smooth printing.

  • Page 93: Text Note

    Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual Figure 7.40 Amend the height of first layer Here we choose vase mode, and the effect after printing as follows: Figure 7.41 The Effect of Printing 8.3.5 Text note Parameters Introduction of 3D printing...
  • Page 94 Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual Set the height of print layer: 0.2mm； The height of first layer: 0.35mm； Shenzhen Yuejiang Technology Co., Ltd...
  • Page 95 Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual Spiral vase: Check this one and click Yes, then we can print unfilled vase. The fill rate settings: Shenzhen Yuejiang Technology Co., Ltd...
  • Page 96 Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual If users need print support, please tick Support material: The speed settings: Shenzhen Yuejiang Technology Co., Ltd...
  • Page 97 Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual （2） Filament settings Consumable diameter: 1.75mm The temperature : 200℃ Open the fan: Shenzhen Yuejiang Technology Co., Ltd...
  • Page 98 Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual （3） Printer settings 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 99 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 100: Bluetooth Kit

    9.1 Bluetooth module is included in this kit, and the installation shown as follows: Figure 8.1 Bluetooth module installation 9.2 After installation, power on Dobot Magician and you should be able to hear three short beep sounds, then you can find device BLE-100 and connect Dobot Magician through mobile APP.

  • Page 101: Wifi Kit

    Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual 10.WIFI Kit WIFI kit contains WiFi module, connect it into Dobot extensible port, and use USB cable to connect Dobot and PC, shown as follows: Figure 9.1 WiFi module 10.1 Set Dobot Wi-Fi module If first use, you need connect USB to configure WiFi module, creating virtual serial port.
  • Page 102 Generally, use the function of DHCP, click OK, and then will finish the settings. Wait for several seconds, the green indicator of Dobot WiFi wireless module will be kept on, which means Dobot has been connected with WLAN. Figure 9.3 Connected with WLAN...
  • Page 103 Dobot Magician User Manual Figure 9.4 Dobot IP address Select the address, click Connect, then you can control Dobot through WiFi successfully. In the subsequent usage, just insert WiFi module and connect Dobot through the address without the use of USB cable.

  • Page 104: Stick Controller Kit

    Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual 11. Stick controller kit 11.1 Stick controller kit includes stick and USB Host module, connect wireless module into 10pin communication port behind the controller.There are two ways to connect, wired and wireless, shown as follows: Figure 11.1 Installation of stick module...
  • Page 105 Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual At this moment, the front button led will be on, and the beneth led will flash: Figure 11.3 Stick at work 11.3There are two ways of control ways, Linear mode and Jog mode, which can be swithed by...

  • Page 106: Leap Motion Kit

    Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual 12 Leap Motion Kit 12.1 Connect Leap Motion module with PC through USB cable. Figure 12.1 Leap motion module https://www.leapmotion.com/setup 12.2 Here are the link: to download Leap Motion Windows driver and install it.
  • Page 107 Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual If there is a warning when installing, please keep on installing until it’s done. Shenzhen Yuejiang Technology Co., Ltd...
  • Page 108 Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual Figure 12.2 Successful installation 12.3 After preparation, start up the equipment, open DobotStudio, click Leap Motion and enter into the interface: Shenzhen Yuejiang Technology Co., Ltd...
  • Page 109 Dobot Magician User Manual Figure 12.3 Leap motion interface 12.4 Start: In order to keep Dobot more stable, turn palm up to move into controlled area of Leap Motion. Dobot will move accordingly, hold hands to trigger suction cup or gripper.

  • Page 110: Mouse Control

    Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual 13. Mouse control 13.1 The software used by mouse controlling is DobotStudio, please open the software, and enter into mouse module interface, shown as follows: Figure 12.1 Enter into mouse controlling interface 13.2 V key: Start and Stop;...
  • Page 111 Dobot Magician User Manual Figure 12.2 Parameter settings Speed (percentage)：0-100，suggest 50； Scale (percentage): 0-100, suggest 100; Figure 12.3 Parameter settings Scale X/Y/Z：Scale ratio between mouse coordinates and Dobot coordinates; Sample：20-60，depends on PC performance; DobotCenter：Keep the default; Shenzhen Yuejiang Technology Co., Ltd...

  • Page 112: Blockly

    Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual 14 Blockly Dobot Blockly is a platform of programming based on Google Blockly. In this process, users canprogram through puzzle, stright and easy to understand. Also, users can use the integrated API of Dobot anytime.

  • Page 113: Blockly Demo

    New/Open/Save：New/Open/Save the current files Area 2： Start/Stop Area 3： This part includes the current point location info of Dobot, and log information is in the middle, programming code is on the left: Figure 14.3 Code information Area 4： Selected area of blockly module, including logistic, loop, math, Dobot API and so on, just drag them to the window that is OK.
  • Page 114 Figure 14.4 Programing demo Explanation of Demo: Set endeffector as gripper, set the loop number as 3, and make the Z axis move back and forth 3 times. After this, click Start, Dobot will move accordingly. Shenzhen Yuejiang Technology Co., Ltd...

  • Page 115: More Support

     For more information,visit http://cn.dobot.cc/  For more detailed material about software, second development and any others,visit http://cn.dobot.cc/download-center/dobot-magician.html  Share your idea on Dobot forum http://forum.dobot.cc/  Further question, welcome to send email at support@dobot.cc Shenzhen Yuejiang Technology Co., Ltd...
  • Page 116 Shenzhen Yuejiang Technology Co.,LTD Dobot Magician User Manual Shenzhen Yuejiang 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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