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Shenzhen Yuejiang Technology Co., Ltd Dobot M1 User Manual

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User Guide
Dobot M1 User Guide
Issue: V1.0.4
Date: 2018-01-31
Shenzhen Yuejiang Technology Co., Ltd

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  • Page 1 User Guide Dobot M1 User Guide Issue: V1.0.4 Date: 2018-01-31 Shenzhen Yuejiang Technology Co., Ltd...
  • Page 2 Dobot M1 User Guide Copyright © ShenZhen Yuejiang Technology Co., Ltd 2018. All rights reserved. No part of this document may be reproduced or transmitted in any form or by any means without prior written consent of Yuejiang Technology Co., Ltd...
  • Page 3 Dobot M1 User Guide Preface Preface Purpose This Document describes the functions, technical specifications, installation guide and system commissioning of Dobot M1, making it easy for users to fully understand and use it. Intended Audience This document is intended for:  Customer Engineer ...
  • Page 4 Dobot M1 User Guide Preface Symbol Description Indicates a hazard with a high level of risk which, if not DANGER avoided, could result in death or serious injury Indicates a hazard with a medium level or low level of WARNING...

  • Page 5: Table Of Contents

    Technical parameters ..................12 Sizes........................13 Hardware Installation ................... 15 Environment Requirements .................... 15 Installing the Base of Dobot M1 ..................15 (Optional) Installing End Effector .................. 16 Installing Laser Engraving Kit ................16 Installing 3D Printing Kit .................. 17 (Optional) Installing Air Pump ..................
  • Page 6 Dobot M1 User Guide Contents System Commissioning ....................45 Debugging Dobot M1 ..................45 Debugging the Power of Dobot M1 ..............46 Setting IP Address ..................... 47 Debugging Emergency Stop Function ............... 50 Debugging Motion Function ................51 Debugging Disabling Function ................53 Debugging Homing Function ................

  • Page 7: Security Precautions

    Dobot M1 User Guide 1 Security Precautions Security Precautions This topic describes the security precautions that should be noticed when using this product. Please read this document carefully before using the robotic arm for the first time. This product need...

  • Page 8: Service Security

    Dobot M1 User Guide 1 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.  Before operating and maintaining the robotic arm, the personnel responsible for the installation, operation and maintenance must be trained to understand the various security precautions and to master the correct methods of operation and maintenance.
  • Page 9 Dobot M1 User Guide 1 Security Precautions phenomenon. At that point, you need to click J3+ under Joint coordinate system to jog robotic arm to the position where the J3 value is above 10mm, and then the alarm will be cleared.

  • Page 10: Introduction

    The maximum load is 1.5kg, and the repeatability is 0.02mm.  Various I/O and communication interfaces are provided for secondary development. Appearance and Constitute Dobot M1 consists of base, Z axis, Rear Arm, Forearm and R axis. Figure 2.1 shows the appearance. Rear arm Forearm...

  • Page 11: Working Principle

    Figure 2.2 shows the workspace. Figure 2.2 Workspace of Dobot M1 Coordinate System Dobot M1 has two types of coordinate system, the joint one and the Cartesian one, as shown in Figure 2.3 and Figure 2.4 respectively. NOTE The data shown in Figure 2.3 indicates the mechanical limitation.
  • Page 12 Dobot M1 User Guide 2 Introduction Figure 2.3 Joint coordinate system Figure 2.4 Cartesian coordinate system Issue V1.0.4 (2018-01-31) User Guide Copyright © Yuejiang Technology Co., Ltd...

  • Page 13: Arm Orientation

    Dobot M1 can move to nearly any position and orientation within a given work envelope. You need to specify the arm orientation when Dobot M1 is moving. If you fail to do so, Dobot M1 may move following an unexpected path, resulting in interference with peripheral equipment.

  • Page 14: Motion Function

    2 Introduction Figure 2.6 Lefty hand orientation Motion Function The motion modes of Dobot M1 include Jogging, Point to Point (PTP), ARC, and CIRCLE. 2.3.4.1 Jogging Mode Jogging mode is the mode jogging Dobot M1 along the Cartesian coordinates or Joint coordinates when teaching.
  • Page 15 Dobot M1 User Guide 2 Introduction direction. 2.3.4.2 Point to Point Mode (PTP) PTP mode supports MOVJ, MOVL, and JUMP, which means point to point movement. The trajectory of playback depends on the motion mode.  MOVJ: Joint movement. From point A to point B, each joint will run from initial angle to its target angle, regardless of the trajectory, as shown in Figure 2.7.
  • Page 16 Dobot M1 User Guide 2 Introduction In JUMP mode, if the starting point or the end point is higher than or equal to Limit, or the height that the end effector lifts upwards is higher than or equal to Limit, the trajectory is different to that of Figure 2.8.
  • Page 17 Dobot M1 User Guide 2 Introduction  The height of point A and point B are both the same as Limit.  Point A and point B are both lower than Limit, but the height that the height of point A plus Height and that of point B plus Height is higher than Limit.

  • Page 18: Technical Specifications

    Dobot M1 User Guide 2 Introduction Figure 2.9 ARC mode 2.3.4.4 CIRCLE Mode (CIRCLE) The CIRCLE mode is similar to ARC mode, of which the trajectory is a circle. In CIRCLE mode, it is necessary to confirm the three points with other motion modes.

  • Page 19: Sizes

    Software M1Studio NOTE Mechanical Limitation: Limit the position of Dobot M1 by mechanical parts. Software Limitation: For protection, limit the position of Dobot M1 by software. Sizes Figure 2.10 show the size of Dobot M1. NOTE Z-axis Motion Range shown in Figure 2.10 indicates the mechanical limitation.
  • Page 20 Dobot M1 User Guide 2 Introduction Figure 2.10 Size of Dobot M1 Issue V1.0.4 (2018-01-31) User Guide Copyright © Yuejiang Technology Co., Ltd...

  • Page 21: Hardware Installation

    3 Hardware Installation Hardware Installation Environment Requirements The operating temperature of Dobot M1 ranges from 5 ° C to 40 ° C. The operating humidity ranges from 45% to 75% (non-condensing). Installing the Base of Dobot M1 The stability of Dobot M1 depends on the installation of the base of Dobot M1. You can design the platform according to the size of the hole of the base and the real environment for fixing Dobot M1.

  • Page 22: (Optional) Installing End Effector

    3 Hardware Installation (Optional) Installing End Effector You can install the matching gripper, suction cup, or laser on the end effector of Dobot M1 for transporting, intelligent sorting and laser engraving. Figure 3.2 shows the size of the end effector of Dobot M1.

  • Page 23: Installing 3D Printing Kit

    Dobot M1 User Guide 3 Hardware Installation Procedure Figure 3.4 connect to Forearm I/O interface Installing 3D Printing Kit shows the 3D printing kit. Figure 3.5 Figure 3.5 3D printing kit Issue V1.0.4 (2018-01-31) User Guide Copyright © Yuejiang Technology Co., Ltd...
  • Page 24 Dobot M1 User Guide 3 Hardware Installation Procedure Figure 3.6 Connect to Forearm I/O interface Press down the lever on the extruder by hand, and push down the filament to the bottom via pulley, as shown in Figure 3.7 and Figure 3.8.

  • Page 25: (Optional) Installing Air Pump

    Dobot M1 User Guide 3 Hardware Installation Figure 3.8 Push down the filament (2) (Optional) Installing Air Pump It is necessary to install the matching air pump when using the gripper or suction cup for grabbing objects. The air pump is controlled over the I/O interface. For details, please see 6.7 Operating I/O Assistant.
  • Page 26 Dobot M1 User Guide 3 Hardware Installation Table 3.1 Cable Description Color Description VCC_24V Black PGND Yellow OUT1: Control the intake and outtake of the air pump Blue OUT2: Control the status of the air pump If the air pump is connected to the base I/O interface. The yellow cable and the blue one are connected to the output pins (The corresponding outputs listed in 4.3.2.2 Base I/O Interface are...

  • Page 27: (Optional) Installing Soldering Kit

    Dobot M1 User Guide 3 Hardware Installation Figure 3.11 Standard connection Figure 3.12 Non-standard connection (Optional) Installing soldering kit Figure 3.13 shows the soldering kit. Table 3.2 lists the description of the soldering kit. Issue V1.0.4 (2018-01-31) User Guide Copyright © Yuejiang Technology Co., Ltd...
  • Page 28 Dobot M1 User Guide 3 Hardware Installation Figure 3.13 Soldering kit Table 3.2 Soldering kit description Description Power supply of the soldering station Soldering gun Soldering holder, used for fixing the Soldering gun Control cable Issue V1.0.4 (2018-01-31) User Guide...
  • Page 29 Relay Soldering station Fixed support, used for fixing solders Procedure NOTICE Please ensure that Dobot M1 has been powered off before installing soldering kit. Please prepare the solder. Figure 3.14 Fix the solder Issue V1.0.4 (2018-01-31) User Guide Copyright © Yuejiang Technology Co., Ltd...
  • Page 30 Dobot M1 User Guide 3 Hardware Installation Figure 3.15 Install soldering holder Figure 3.16 Connect the feed pipe of soldering gun Issue V1.0.4 (2018-01-31) User Guide Copyright © Yuejiang Technology Co., Ltd...
  • Page 31 Dobot M1 User Guide 3 Hardware Installation Figure 3.17 Connect the power supply of soldering gun Figure 3.18 Connect to relay Issue V1.0.4 (2018-01-31) User Guide Copyright © Yuejiang Technology Co., Ltd...
  • Page 32 Dobot M1 User Guide 3 Hardware Installation Figure 3.19 Relay cables NOTICE  When relay is connected to I/O interface, the terminals of relay cannot be exposed to the air, to avoid short circuit. For matching all I/O interfaces, terminals of relay will be slightly longer.
  • Page 33 Dobot M1 User Guide 3 Hardware Installation DOUT17) of the base I/O interface. The red one and the black one are connected to the VCC_24V pin on the base I/O interface and the PGND pin on the CAN bus interface respectively, as shown in Figure 3.20, and you need to tighten them with a straight screwdriver.
  • Page 34 Dobot M1 User Guide 3 Hardware Installation Figure 3.22 Connect the power supply of the soldering station The default values of the soldering parameters are shown as in Figure 3.23, please adjust these parameters based on site requirements. Figure 3.23 Soldering parameters DANGER The soldering gun will produce high temperature up to 200℃, please be careful.

  • Page 35: Electrical Specifications

    Electrical Specifications The address of the I/O interfaces of Dobot M1 are unified. Interface Board The interface board of Dobot M1 is located on the back of the base, as shown in Figure 4.1. Table 4.1 shows the function description. ②...

  • Page 36: Interface Description

    5 seconds, and then is blinking. That means, Dobot M1 is in service  Blue LED indicator: The blue one is blinking, indicating that Dobot M1 is working in offline mode ...

  • Page 37: Body I/O Interface

    Dobot M1 User Guide 4 Electrical Specifications 4.3.1.2 DC output Interface Table 4.4 The External power output interface description Name Function Voltage/Current VOUT Positive electrode of the DC 48V DC/10A power Negative electrode of the DC GND/10A power Body I/O Interface...
  • Page 38 Dobot M1 User Guide 4 Electrical Specifications 4.3.2.2 Base I/O Interface Table 4.6 Description of the base I/O interface Name Function Voltage/Current PGND Negative electrode of the logic GND/2A power Positive electrode of the logic 24V DC/2A power RS232_RX RS232 acception...

  • Page 39: External Expansion Interface

    Dobot M1 User Guide 4 Electrical Specifications 4.3.2.3 CAN Bus Interface Table 4.7 The CAN bus interface description Name Function Voltage/Current VBUS Positive of VBUS 48V/5A Negative of VBUS GND/5A CAN1_H CAN bus CAN level CAN1_L CAN bus CAN level 4.3.2.4 Forearm I/O Interface...
  • Page 40 Dobot M1 User Guide 4 Electrical Specifications Table 4.9 The external expansion interface description Name Function Voltage/Current Inversion signal input for A RS422 level phase of external encoder1 Signal input for A phase of RS422 level external encoder1 DIN1 Digital input 0V,24V/<100mA...
  • Page 41 Dobot M1 User Guide 4 Electrical Specifications Name Function Voltage/Current DOUT1 Digital output 0V,24V/2mA DIN2 Digital input 0V,24V/<100mA DOUT4 Digital output 0V,24V/2mA DOUT3 Digital output 0V,24V/2mA CAN2_L CAN bus CAN level DOUT5 Digital output 0V,24V/2mA DOUT7 Digital output 0V,24V/2mA DIN8 Digital input 0V,24V/<100mA...

  • Page 42: Communication Interface

    Positive of the logic power 5V/2A Communication Interface 4.3.4.1 Ethernet Interface Dobot M1 can connect to a PC over standard RJ45 Socket interface, using TCP/IP. 4.3.4.2 RS-232C Interface Dobot M1 can connect to a PC over standard RS-232C interface. Issue V1.0.4 (2018-01-31) User Guide Copyright ©...

  • Page 43: Installation And Commissioning

    Dobot M1 User Guide 5 Installation and Commissioning Installation and Commissioning Installing Software The main software for Dobot M1 is M1Studio. You can use playback, script control, 3D printing, etc. Environment Requirements The supported OSs are as follows.  Win7 ...

  • Page 44: Verifying Installation

    Dobot M1 User Guide 5 Installation and Commissioning Figure 5.1 The M1Studio installation GUI After 40 seconds later, the DriverSetup(X64) page is displayed. The Driver install success! dialog box is displayed, which indicates that the installation of M1Studio driver is successful.

  • Page 45: Connecting Power Supply

    Dobot M1 User Guide 5 Installation and Commissioning Figure 5.2 The VC++ libraries Connecting Power Supply Figure 5.3 shows the power supply cables and power adapter. No.1 in Figure 5.3 indicates power supply output cable, No.2 indicates power supply input cable, and No.3 indicates power adapter.
  • Page 46 Dobot M1 User Guide 5 Installation and Commissioning Procedure Figure 5.4 Connect power supply input cable to power adapter NOTICE If the type of the power input supply is America-standard, please connect the G pin on the power input supply to the Ground pin on the power adapter, the W pin to the N pin, and the Z pin to the L pin.
  • Page 47 Dobot M1 User Guide 5 Installation and Commissioning Figure 5.5 Connect power supply output cable to power adapter Issue V1.0.4 (2018-01-31) User Guide Copyright © Yuejiang Technology Co., Ltd...

  • Page 48: Connecting Emergency Stop Switch

    Figure 5.6 Connect to Dobot M1 Connecting Emergency Stop Switch Before operating Dobot M1, please connect it to the emergency stop switch to ensure that Dobot M1 can be stopped immediately during running. When powering on for the first time, please ensure that the emergency stop switch has been opened (The emergency stop button is bumped ).

  • Page 49: Connecting External Cables

    Dobot M1 User Guide 5 Installation and Commissioning Figure 5.7 Connection between Dobot M1 and the emergency stop switch (1) Figure 5.8 Connection between Dobot M1 and the emergency stop switch (2) Connecting External Cables Connecting Serial Port Prerequisites Please prepare USB to serial line. One end is standard USB port, the other end is 9-pins serial port.

  • Page 50: Connecting Network Cable

    PC, you can connect robotic arm to the PC directly using the network cable without router.  If you connect Dobot M1 to a PC over a network cable, the IP address of them must Issue V1.0.4 (2018-01-31) User Guide...

  • Page 51: System Commissioning

    M1Studio page. System Commissioning The origin and other settings of Dobot M1 have been set by default, Dobot M1 can be directly put in use. After Dobot M1 is installed and the cables connected are checked, the system commissioning can be performed.

  • Page 52: Debugging The Power Of Dobot M1

    You have connected Dobot M1 and an emergency stop switch. Procedure Hold down the power button in the base of Dobot M1 for about 5 seconds, and then release your fingers. If all LED indicators are off and Dobot M1 moves down automatically, Dobot M1 is powered off successfully.

  • Page 53: Setting Ip Address

    5 Installation and Commissioning NOTICE You cannot hold down the power button to power off Dobot M1 until Dobot M1 is in the running state (when the green LED indicator is blinking). If Dobot M1 fails to be started, you must force to power off Dobot M1.
  • Page 54 Dobot M1 to make Dobot M1 and the PC on the same LAN. If Dobot M1 is directly connected to the PC over the network cable, the local IP address, subnet mask of the PC are 10.10.1.10, 255.255.255.0 respectively. You can run the command ipconfig /all on the CMD console window to view the IP information of the PC.
  • Page 55 Dobot M1. NOTICE If the PC is connected to Dobot M1 over a network cable directly, you only need to set the IP address and subnet mask of the PC. Figure 5.14 IP address modification If Disconnect turns to Connect, Dobot M1 is disconnected from the PC.

  • Page 56: Debugging Emergency Stop Function

    Procedure Figure 5.15 Emergency stop Dobot M1 is stopped immediately with an alarm about emergency stop and the red LED indicator on the base is on, which indicates that the emergency stop function is The emergency stop button is bumped when rotating to 45°, which indicates the stopped status is cleared.

  • Page 57: Debugging Motion Function

    Dobot M1 User Guide 5 Installation and Commissioning Figure 5.17 Alarm tab Debugging Motion Function For details about motion functions supported by Dobot M1, please see 2.3.4 Motion Function. 5.5.5.1 Debugging Jogging Function Prerequisites  Dobot M1 has been powered on.
  • Page 58 The jogging acceleration is the maximum acceleration multiplying the corresponding percentage. You can click Y+, Y-, Z+, Z-, R+, and R-, to make Dobot M1 jog along Y, Z, or R in the negative or positive direction. 5.5.5.2 Debugging Playback Function Prerequisites Issue V1.0.4 (2018-01-31)

  • Page 59: Debugging Disabling Function

    The playback jerk is the maximum jerk multiplying the corresponding percentage. Debugging Disabling Function You can disable the motor of Dobot M1 to make it in the open-loop state, and then move Dobot M1 by hand. Prerequisites ...

  • Page 60: Debugging Homing Function

    Debugging Homing Function After parts (motors, reduction gear units, battery, etc.) have been replaced or robotic arm has hit the work piece, the origin of Dobot M1 will be changed. You need to set homing point after resetting the origin.
  • Page 61 Dobot M1 has been connected to a PC successfully.  Dobot M1 has been connected to an emergency stop switch. Procedure Please select Tools > Home on the M1Studio page, and Dobot M1 will move automatically according to the following steppes. Figure 5.20 Homing point Issue V1.0.4 (2018-01-31) User Guide Copyright ©...

  • Page 62: Operation

    Alarms Description If teaching or saving point is incorrect, for example, Dobot M1 moves to where a point is at a limited position or a singular position, Dobot M1 will generate an alarm. For details, please see Table 6.2. When an alarm is generated, the red LED indicator on the base will be on.
  • Page 63 In MOVJ or JUMP mode, if the two points are the same, only different in arm orientations, J1 or J4 may be limited when moving Dobot M1, resulting in an alarm generated. You need to modify and resave the point for which the alarm is generated, and then clear the alarm manually.
  • Page 64 Dobot M1 User Guide 6 Operation  Dobot M1 has been connected to the PC successfully.  Dobot M1 has been connected to the emergency stop switch. Procedure The Alarm Log is displayed. Figure 6.1 Alarm tips Figure 6.2 Alarm GUI NOTICE The button Reboot is available only when the alarm is generated about emergency stop.

  • Page 65: Saving Point In Arc Mode

    Dobot M1 has been powered on.  Dobot M1 has been connected to the PC successfully.  Dobot M1 has been connected to the emergency stop switch. Procedure NOTICE You need to use other motion modes to confirm the starting point of the arc trajectory, because the middle point and the end point only can be confirmed in ARC mode.
  • Page 66 A is the starting point, point C is the end point, as shown in Figure 6.3. Figure 6.3 Arc trajectory NOTICE You cannot set the pause time when point A moves to point B. Otherwise, Dobot M1 will not work. Issue V1.0.4 (2018-01-31) User Guide Copyright ©...

  • Page 67: Saving Point In Jump Mode

    If you want to use Dobot M1 to transport, intelligent sort, write and draw, teaching and playback functions of Dobot M1 can help you to complete. This section uses the suction cup as the end effector to describe how to operate.
  • Page 68 If you want to jog Dobot M1 by hand when jogging, please click make the motor of Dobot M1 in the open-loop state. If you want to move Dobot M1 by clicking the coordinate buttons on the Operation Panel page, please click to make the motor in the close-loop state.
  • Page 69 Dobot M1 User Guide 6 Operation The saved point information of which Type is JUMP is displayed on the left pane of the Playback page, as shown in Figure 6.6. Figure 6.6 The coordinate display Figure 6.7 Motion command setting Issue V1.0.4 (2018-01-31)
  • Page 70 6 Operation NOTICE In JUMP mode, if lifting Dobot M1 to the maximum height is not necessary after lifting to a certain height, please unselect Use Limit. The saved point information of which Type is Wait is displayed on the left pane of the Playback page.
  • Page 71 Set the loop number of the saved point when implementing playback. The maximum value is 9999. You can also select Infinite Loop to make Dobot M1 in the infinite loop state when implementing playback according to the saved points list, as shown in Figure 6.8.
  • Page 72 Dobot M1 User Guide 6 Operation Figure 6.9 Overwrite the current saved point Table 6.4 lists the location description of a saved point. Table 6.4 Description of the location of a saved point Insert Location Description Add At Last Add a new point after the last saved point.
  • Page 73 Dobot M1 User Guide 6 Operation Table 6.5 Parameter Description of the saved point Parameter Description Type The command type of Dobot M1 Value:  JUMP  MOVJ  MOVL   The method to save points in CIRCLE mode is the CIRCLE: same as that of ARC mode.
  • Page 74 Dobot M1 User Guide 6 Operation Figure 6.11 Right click options of the saved points list  When modify the coordinates displayed in Content of which Type is motion mode, you can input the coordinate values manually or operate the operation panel to modify them.

  • Page 75: Scripting

    Dobot M1 has been connected to an emergency stop switch. Application Scenario You can control Dobot M1 over scripting. Dobot M1 supports various API, such as velocity/acceleration setting, motion mode setting, and I/O configuration, which uses Python language for secondary development. For details about the Dotob M1 API interface and function...

  • Page 76: Opearting Blockly

    NOTICE If you use the motion command when scripting, please add the orientation command before every motion command, which indicates the arm orientation of Dobot M1. Figure 6.14 Write a script The Save Scrip File page is displayed. The running log will be displayed on the lower pane of the Script page for checking.
  • Page 77 Dobot M1 User Guide 6 Operation  Dobot M1 has been connected to an emergency stop switch. Application Scenario Blockly is a programming platform based on Google Blockly. You can program through the puzzle format, which is straightforward and easy to understand.

  • Page 78: Operating Laser Engraving

    Operating Laser Engraving Prerequisites  Dobot M1 has been powered on.  Dobot M1 has been connected to a PC successfully.  The laser kit has been installed. For details, please see 3.3.1 Installing Laser Engraving Kit.  The picture to be engraved and materials to be processed have been prepared.
  • Page 79 The file in SVG format is supported.  The picture (such as BMP, JPEG, JPG, PNG, and so on) is supported. M1Studio will transform these formats into SVG which can be recognized by Dobot M1. Figure 6.17 Import picture NOTICE ...
  • Page 80 Motor on the Operation Panel pane of the M1Studio page and move Dobot M1 by hand to a proper height, to make the laser dot on the material burn the brightest. When the laser power is enough, you can view burn marks on the material.

  • Page 81: Operating 3D Printing

     You have connected Dobot M1 to a PC over network cable or router.  The IP address of Dobot M1 and the PC must be in the same network segment. For details, please see 5.5.3 Setting IP Address. ...
  • Page 82 Dobot M1 User Guide 6 Operation Procedure If Connect turns to Disconnect, the connection is successful. Select Tools > Web Management on the M1Studio page. The Web management page is displayed. Select Update Firmware in the navigation tree on the left.
  • Page 83 Dobot M1 User Guide 6 Operation Figure 6.20 Switch 3D printing During switching, the green LED indicator will keep on. After completion, the green LED indictor will be blinking and Current Mode is changed to 3D Printing Mode, as shown in Figure 6.21.
  • Page 84 Dobot M1 User Guide 6 Operation Table 6.8 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 Please set to 150mm...
  • Page 85 Dobot M1 User Guide 6 Operation The 3D printing effect depends on the slice parameters. This topic provides a configuration sample, you can import it directly for printing. path configuration sample Installation directory\M1Studio(Windows)Vxxx\DobotStudio\attachment, as shown in Figure 6.24. xxx indicates the version of M1Studio. Please replace it based on site requirements.
  • Page 86 Set Temperature to 200 and press down Enter to heat the extruder. The temperature of the extruder should be above 170℃. Dobot M1 will not start 3D printing until the filament is in the melting state. So you need to heat the extruder first.
  • Page 87 If the melted filament flows from the nozzle of the extruder, the extruder is working properly. Click -Z or Click 10, 1, 0.1 to move Dobot M1 to the position where the distance from nozzle to the printing platform is about 0.3mm, as shown in Figure 6.28.

  • Page 88: Operating I/O Assistant

    Figure 6.29 Input command M415 NOTICE If the yellow LED indicator is always on when printing, the connection between Dobot M1 and 3D printing kit is poor. Please check the connection and restart Dobot M1. Operating I/O Assistant Prerequisites ...

  • Page 89: Operating Web Management

     You have powered on Dobot M1.  The IP address of Dobot M1 and the PC must be in the same network segment. For details, please see 5.5.3 Setting IP Address.  You have saved the scripts, the blockly programs, or the saved points lists.
  • Page 90 Dobot M1 User Guide 6 Operation The Web Management page is displayed. The Offline Script Management page is displayed. The Add File page is displayed. The uploaded file dialog box is displayed, as shown in Figure 6.31. Figure 6.31 Upload files Only support the files, of which the suffixes are .playback, .blockly, and .script.

  • Page 91: Upgrading Application

    This topic uses the firmware upgrade as an example to describe the operation. DANGER When updating firmware, please do not perform any other operation on Dobot M1, to avoid Dobot M1 in abnormal condition. Otherwise, it will be vulnerable to injury the device or the person.
  • Page 92 You have connected Dobot M1 to a PC over a network cable.  You have powered on Dobot M1.  The IP address of Dobot M1 and the PC must be in the same network segment. For details, please see 5.5.3 Setting IP Address.  You have obtained the latest firmware.

  • Page 93: Example

    Example of the Trajectory This topic describes how to use the motion modes according to the real trajectory when Dobot M1 is running. Figure 6.37 shows the real trajectory when Dobot M1 is running. Figure 6.38 shows the coordinates of the trajectory. NOTICE This topic only describes the motion modes that need to be used and precautions for implementing playback, without details about the trajectory.
  • Page 94 Dobot M1 User Guide 6 Operation Figure 6.38 Cartesian coordinate of the trajectory If point A is the starting point, and Point B is the end point. From Point A to Point J, the coordinates are listed as Table 6.9.

  • Page 95: Example Of The External Drive

    3A with additional power. Because the default drive capacity of Dobot M1 is insufficient. When the control device that is connected to the I/O interface need to provide a sufficient drive capacity, you must have an external drive to increase the drive capacity.

  • Page 96: Example Of Switching The Arm Orientation At The Same Point

    In MOVJ or JUMP mode, if the two points are the same, only different in arm orientations, J1 or J4 may be limited when Dobot M1 is moving, resulting in an alarm generated. You need to modify and resave the point for which the alarm is generated, and then clear the alarm manually.
  • Page 97 Dobot M1 User Guide 6 Operation to the origin stays constant when moving Dobot M1. Table 6.10 lists how to calculate each Joint coordinate after switching the arm orientation at the same point. Table 6.10 Joint coordinate calculation Before After R=J1+J2+J4 R’=R=J1’+J2’+J4’...

  • Page 98: Maintenance

    Dobot M1 User Guide 7 Maintenance Maintenance Routine Maintenance Routine Inspection Due to the temperature, humidity, dust and vibration, the components will be aged, leading to reducing product service life. Performing maintenance inspections and procedures properly is essential for preventing trouble and ensuring safety. Especially in high temperature environment, frequently start-stop scenario, and other special scenarios, you need to shorten the inspection period.

  • Page 99: Periodic Inspection

    Dobot M1 User Guide 7 Maintenance Item Operating state Inspection point Solution buttons normally and emergency components timely stop switch is working regularly Periodic Inspection In order to keep the good operation of robotic arm, please check the place where it is hard to check regularly.

  • Page 100: Cleaning Maintenance

    Dobot M1 User Guide 7 Maintenance Item Operating state Inspection point Inspection period Solution  Bolt, screw Check 12 months that happens, whether please tighten them screws bolts around each joint of robotic are loose  Check whether screws bolts of motor...

  • Page 101: Maintenance Of Mechanical Parts

    If there is no grease on the air-laid paper, the grease is used up. Procedure If Connect turns to Disconnect, the connection is successful, and Dobot M1 can be controlled by M1Studio. Figure 7.1 Screw rod of Z-axis Issue V1.0.4 (2018-01-31)

  • Page 102: Greasing Guide Rail Of Z-Axis

    Please prepare the correct-size syringe (a diameter of no more than 2cm) and needle to ensure that the syringe can touch the guide rail of Z-axis. Procedure After 15 minutes, restart Dobot M1 to put it into use. Figure 7.2 Guide rail of Z-axis Maintenance of Electrical Parts Issue V1.0.4 (2018-01-31)

  • Page 103: Replacing Encoder Battery

    The battery is located on the main controller of the base or Forearm. The position of the battery depends on the production batch of Dobot M1. When the battery voltage is less than 3V, an alarm about low battery voltage is generated, it is necessary to replace the battery.
  • Page 104 Dobot M1 User Guide 7 Maintenance Procedure  If the battery is located on the base, please perform the following steps. Loosen the four screws on the interface board of the base using 2.5# hexagonal wrench, as shown in Figure 7.3.
  • Page 105 Dobot M1 User Guide 7 Maintenance adapter with insulating tape to prevent short circuit. Figure 7.4 Location of battery holder Figure 7.5 Disconnect the connector of the battery to the battery adaptor cable  If a fuse is not installed on the battery, please remove the cover of battery holder Issue V1.0.4 (2018-01-31)
  • Page 106 Dobot M1 User Guide 7 Maintenance to take out the original battery and detach the battery connector of bus cable connecting to the battery holder, as shown in Figure 7.6. After removing the original battery, please wrap the battery connector of the bus cable with insulating tape to prevent short circuit.
  • Page 107 Dobot M1 User Guide 7 Maintenance Figure 7.7 Forearm of Dobot M1 Cut off the wire tie that fixed the original battery, as shown in Figure 7.8. Figure 7.8 Location of battery holder on Forearm Remove the original battery and disconnect the connector of the battery to the battery adapter cable, as shown in Figure 7.9.
  • Page 108 Dobot M1 User Guide 7 Maintenance Figure 7.9 Disconnect the battery to the batter adapter Figure 7.10 Connect the battery adapt to the battery interface Issue V1.0.4 (2018-01-31) User Guide Copyright © Yuejiang Technology Co., Ltd...
  • Page 109 Dobot M1 User Guide 7 Maintenance NOTE There are two battery interfaces on the Driver Board, as shown in the red box of Figure 7.11. You need to connect the battery adapter to the unused battery interface. Figure 7.11 Battery interfaces on the Driver Board Figure 7.12 Connect the battery to the batter adapter...
  • Page 110 Dobot M1 User Guide 7 Maintenance Figure 7.13 Insert wire tie Figure 7.14 Put battery into battery holder Issue V1.0.4 (2018-01-31) User Guide Copyright © Yuejiang Technology Co., Ltd...
  • Page 111 The M1Studio tool page is displayed. Select the corresponding serial port from the serial drop-down list, and click Connect. If Connect turns to Disconnect, the connection is successful, and Dobot M1 can be controlled by M1Studio. Click Reset Encoder1, Reset Encoder2, Reset Encoder3, and Reset Encoder4 respectively on the Debug page to reset J1 Encoder, J2 Encoder, J3 Encoder and J4 Encoder, as shown in Figure 7.15.

  • Page 112: Calibration

    Motor on the Calibration page to make the motor of Dobot M1 in the open-loop state. Jog Dobot M1 by hand to make Rear Arm and Forearm in a straight line and perpendicular to the base forward, and then jog Dobot M1 to the bottom of Z- axis, as shown in Figure 7.16.
  • Page 113 Dobot M1 will be changed. You need to reset the origin. When Dobot M1 moves with different arm orientation, the high precision of J2 is required. Therefore, after resetting the origin, you need to calibrate J2 to improve the absolute precision.
  • Page 114 If Connect turns to Disconnect, the connection is successful, and Dobot M1 can be controlled by M1Studio. Move Dobot M1 with righty hand orientation to touch the calibrated point that is on the A4 sheet of paper, as shown in Figure 7.18.
  • Page 115 Dobot M1 User Guide 7 Maintenance Figure 7.19 Save J2 coordinate with righty hand orientation Figure 7.20 Calibration with righty hand orientation Issue V1.0.4 (2018-01-31) User Guide Copyright © Yuejiang Technology Co., Ltd...
  • Page 116 The value of P2 is J2 coordinate with lefty hand orientation, as shown in Figure 7.21. Figure 7.21 Calibration as lefty hand orientation NOTICE After saving P1 and P2, you cannot click Confirm until the motor of Dobot M1 is in the close-loop state. DANGER Dobot M1 starts to work after clicking Confirm.

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