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ShenZhen Yuejiang Technology Dobot Magician User Manual

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User Guide
Dobot Magician
User Guide
Issue: V1.9.0
Date: 2020-07-23
Shenzhen Yuejiang Technology Co., Ltd

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  • Page 1 User Guide Dobot Magician User Guide Issue: V1.9.0 Date: 2020-07-23 Shenzhen Yuejiang Technology Co., Ltd...
  • Page 2 Dobot Magician User Guide Copyright © ShenZhen Yuejiang Technology Co., Ltd 2020. 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 Magician User Guide Preface Preface Purpose This Document describes the functions, technical specifications, installation guide and system commissioning of Dobot Magician, making it easy for users to fully understand and use it. Intended Audience This document is intended for:  Customer Engineer ...

  • Page 4: Table Of Contents

    Security Precautions ....................1 1.1 General Security........................ 1 Precautions ........................2 Quick Start ....................... 4 Connecting Cables to the Dobot Magician ............... 4 Installing the DobotStudio ....................5 System Requirements ..................5 Obtaining the DobotStudio Package ..............5 Installing the DobotStudio ................... 5 Verifying the Installation ..................
  • Page 5 Operating Stick Controller Kit ..................138 Multiplexed I/O Demo ....................141 Level Output ....................142 Level Input ...................... 144 PWM OUTPUT ....................146 Appendix A Dobot Magician Homing Operation ..........148 Issue V1.9.0 (2020-07-23) User Guide Copyright © Yuejiang Technology Co., Ltd.

  • Page 6: Security Precautions

    Dobot Magician User Guide Dobot Magician Homing Operation 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 7: Precautions

     If the coordinates of the Dobot Magician shown on the DobotStudio are abnormal, please press the Reset button on the back of the base to reset Dobot Magician or click Home on the DobotStudio page to perform homing. ...
  • Page 8 The heating rod will produce high temperature up to 250℃ when using the 3D printing module, please be careful.  Please DO NOT operate or turn off Dobot Magician when burning firmware, to avoid machine damage. Issue V1.9.0 (2020-07-23) User Guide...

  • Page 9: Quick Start

    Dobot Magician Homing Operation Quick Start This topic briefly describes how to operate the Dobot Magician with the software DobotStudio, allowing you to quickly know and use the robotic arm. Figure 2.1 shows the process of getting started with the Dobot Magician.

  • Page 10: Installing The Dobotstudio

    Dobot Magician Homing Operation Figure 2.2 Connect the Dobot Magician to your computer Installing the DobotStudio You can control Dobot Magician by DobotStudio to implement functions such as Teaching & Playback, fully programmable applications, and 3D printing. This topic introduces Teaching & Playback.
  • Page 11 Dobot Magician User Guide Dobot Magician Homing Operation For example, this directory is Installation Directory\DobotStudio. You can install the DobotStudio to another location based on site requirements. In the installation directory double-click DobotStudioSetup.exe. The Select Setup Language dialog box is displayed, as shown in Figure 2.3.

  • Page 12: Verifying The Installation

    Dobot Magician User Guide Dobot Magician Homing Operation When the drivers are installed successfully, the Completing the Device Driver Installation Wizard dialog box is displayed. Click Finish ,as shown in Figure 2.6. Figure 2.6 The Completing the Device Driver Installation Wizard dialog box When the installation is complete, the Completing the DobotStudio Setup Wizard dialog box is displayed.
  • Page 13 2.2.4.2 Verifying the Dobot Magician Driver If an available COM port is displayed on the upper left corner of the DobotStudio page after the robotic arm is powered on, as shown in Figure 2.8, the Dobot Magician driver is installed successfully.
  • Page 14 Dobot Magician Homing Operation Figure 2.9 The V2 robotic arm driver in Device Manager window Figure 2.10 The V1 robotic arm driver in Device Manager window NOTE  To reinstall the Dobot Magician driver after uninstalling it, install the driver corresponding Windows version...

  • Page 15: Powering On/Off The Dobot Magician

    Now the Dobot Magician is ready to use. NOTICE If the LED indicator is red after powering on the Dobot Magician, it means that the robotic arm reaches its limited position. To go back to the workspace, press and hold the...

  • Page 16: Getting Started

    During the shutdown process, watch your hand. Getting Started This topic describes how to use the Dobot Magician to complete the teaching & playback function by saving three points in the MOVJ mode, allowing you to get the basic knowledge of the usage of the robotic arm.
  • Page 17 Dobot Magician User Guide Dobot Magician Homing Operation Figure 2.13 The DobotStudio page with a beginner guide NOTE After reading the beginner guide of the DobotStudio, click to close it. The Question dialog box is displayed, as shown in Figure 2.15.
  • Page 18 Dobot Magician User Guide Dobot Magician Homing Operation Because this section is for quick access to the Dobot Magician only and no high accuracy is required. When Connect changes to Disconnect, it means that the DobotStudio is connected to the Dobot Magician.
  • Page 19 Dobot Magician User Guide Dobot Magician Homing Operation Figure 2.17 Teaching & Playback page Select PTP Point > MOVJ mode in the Save Point area, as shown in Figure 2.18. Figure 2.18 Select MOVJ motion mode Press and hold the unlock button on the Forearm to move the robotic arm to a position such as point A, and then release the button.
  • Page 20 Apart from hand-guided teaching, you can accomplish a teaching task by jogging the Dobot Magician in the Cartesian or Joint coordinate system, as shown in Figure 2.20. Figure 2.20 Jog the Dobot Magician in the Cartesian or Joint coordinate system Issue V1.9.0 (2020-07-23)
  • Page 21 Dobot Magician User Guide Dobot Magician Homing Operation Move the robotic arm to other two locations such as points B and C by referring to the method of creating point A above, as shown in Figure 2.21. The robotic arm will save the Cartesian coordinates corresponding to these two points.
  • Page 22 Dobot Magician User Guide Dobot Magician Homing Operation Figure 2.23 Click Start Click to exit the Teaching & Playback page. Issue V1.9.0 (2020-07-23) User Guide Copyright © Yuejiang Technology Co., Ltd.

  • Page 23: Introduction

    It also supports secondary development by various extensible I/O interfaces, which really makes your creativity and imagination increase without any limitation. Appearance and Constitute Dobot Magician consists of Abase, Rear Arm, Forearm, and end-effector, etc. Figure 3.1 shows the appearance. Figure 3.1 The appearance of Dobot Magician...
  • Page 24 Dobot Magician User Guide Dobot Magician Homing Operation Figure 3.2 Workspace of Dobot Magician (1) Figure 3.3 Workspace of Dobot Magician (2) Issue V1.9.0 (2020-07-23) User Guide Copyright © Yuejiang Technology Co., Ltd.

  • Page 25: Coordinate System

    Dobot Magician User Guide Dobot Magician Homing Operation Coordinate System Dobot Magician has two types of coordinate system, the joint one and the Cartesian one, as shown in Figure 3.4 and Figure 3.5 respectively. Figure 3.4 Joint coordinate system Figure 3.5 Cartesian coordinate system ...

  • Page 26: Motion Function

    This topic describes jogging mode by the GUI operation of DobotStudio.  Cartesian coordinate system mode  Click X+, X- and Dobot Magician will move along X-axis in the negative or positive direction.  Click Y+, Y- and Dobot Magician will move along Y-axis in the negative or positive direction.
  • Page 27 Dobot Magician User Guide Dobot Magician Homing Operation  MOVJ: Joint movement. From point A to point B, each joint will run from initial angle to its target angle, regardless of the trajectory, as shown in Figure 3.6. Figure 3.6 MOVL/MOVJ mode ...

  • Page 28: Technical Specifications

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

  • Page 29: Sizes

    20 extensible I/O interfaces Software DobotStudio Working -10° C~60° C temperature Sizes Figure 3.9 shows the size of Dobot Magician and Figure 3.10 shows the size of the end mounting hole. Issue V1.9.0 (2020-07-23) User Guide Copyright © Yuejiang Technology Co., Ltd.
  • Page 30 Dobot Magician User Guide Dobot Magician Homing Operation Figure 3.9 Size of Dobot Magician Figure 3.10 Size of end mounting hole Issue V1.9.0 (2020-07-23) User Guide Copyright © Yuejiang Technology Co., Ltd.

  • Page 31: Interface Description

    Dobot Magician Homing Operation Interface Description Interface Board The interfaces of Dobot Magician are located on the back of the base and the Forearm respectively. Figure 4.1 shows the interfaces on the back of the base, and Table 4.1 lists the description.
  • Page 32 Dobot Magician User Guide Dobot Magician Homing Operation Table 4.2 Peripheral interface description Interface Description Power interface of air pump; output 12V of controllable power Output 12V of controllable power Stepper1 User-defined stepper interface; extruder interface (3D printing mode) Stepper2 User-defined stepper interface Signal interface of air pump;...

  • Page 33: Led Indicator

     Connection of 3D printing kit is abnormal Multiplexed I/O Interface Description The addresses of the I/O interfaces in Dobot Magician are unified. Most of I/O interfaces have multiple functions, to control the peripheral equipment. Multiplexed Base I/O Interface Description 4.3.1.1 Multiplexed UART Interface Description...
  • Page 34 Dobot Magician User Guide Dobot Magician Homing Operation Table 4.5 Multiplex I/O Description I/O addressing Voltage Level Output Level Input √ 3.3V √ 3.3V √ 3.3V 4.3.1.2 Multiplexed Peripheral Interface Description Figure 4.4 shows the peripheral interface on the base, and Table 4.6 lists the multiplexed I/O description.

  • Page 35: Multiplexed Forearm I/O Interface Description

    Dobot Magician User Guide Dobot Magician Homing Operation Multiplexed Forearm I/O Interface Description Figure 4.5 shows the peripheral interface on the Forearm, Table 4.7 lists the multiplexed I/O description. Figure 4.5 Peripheral interface in the Forearm Table 4.7 Multiplexed I/O description...

  • Page 36: Operation

    Introduction to the DobotStudio Function Modules You can use the DobotStudio to control the Dobot Magician to accomplish multiple functions such as Teaching & Playback, Write & Draw, Blockly graphic programming, and Script control, as shown in Figure 5.1. For details, see Table 5.1.
  • Page 37 Dobot Magician User Guide Dobot Magician Homing Operation You can also set the Dobot Magician by clicking Setting on the DobotStudio page, for example, implement general settings, base calibration, manual levelling, and auto levelling, as shown in Figure 5.2. For details, see Table 5.2.

  • Page 38: Common Areas Of Dobotstudio Page

    Set the Dobot Magician back to its home position to get a correct reference position Home When the Dobot Magician is moving, if its movement is hindered by an obstacle or the stepper motors lost steps, perform the homing operation...
  • Page 39 Table 5.5 Setting the Operation Panel Items Description Coordinate Jog the Dobot Magician by clicking X (X+/-), Y (Y+/-), Z (Z+/-), or R (R+/-) in the jogging Cartesian coordinate system Jog the Dobot Magician by clicking J1+/-, J2+/-, J3+/-, or J4+/- in the Joint coordinate...

  • Page 40: Performing Teaching & Playback Tasks

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

  • Page 41: Installing A Gripper Kit

    Dobot Magician User Guide Dobot Magician Homing Operation Figure 5.7 Connect the air pump to the Dobot Magician Installing a Gripper Kit An air pump should be used with the gripper kit, as shown in Figure 5.8, to open or close the gripper.
  • Page 42 Dobot Magician User Guide Dobot Magician Homing Operation Figure 5.9 Dismantle the suction cup Figure 5.10 Install a gripper kit Issue V1.9.0 (2020-07-23) User Guide Copyright © Yuejiang Technology Co., Ltd.

  • Page 43: Teaching & Playback Page

    Dobot Magician User Guide Dobot Magician Homing Operation Figure 5.11 The effect of the gripper kit installation Teaching & Playback Page The Teaching & Playback page is shown in Figure 5.12. To access it, select Connect > Teaching & Playback on the DobotStudio page.
  • Page 44 Dobot Magician User Guide Dobot Magician Homing Operation Table 5.6 Set Easy/Pro, Loop, Speed and acceleration (Acc) Items Description Click this slider to switch between Easy and Pro modes. The default is the Easy mode Easy/Pro Apart from all the functions in the Easy mode, the Pro mode offers multiple features such...
  • Page 45 Dobot Magician User Guide Dobot Magician Homing Operation switch between motion modes, modify name and coordinates, as shown in Figure 5.15. Figure 5.15 The Save points list Table 5.8 The Save points list Items Description A right-click mouse In the right-click popup menu you can edit a highlighted save point such as copy, operation paste, cut, insert, and delete, as shown in Figure 5.15...

  • Page 46: Arc Motion Mode

    If Check Lost Step is selected, the robotic arm detects if the stepper motors lose steps when moving. If unselected, no detection is performed If the Dobot Magician detects lost-steps, it stops working, and its LED indicator turns red. In this case, click Home to get a correct reference position...
  • Page 47 Select MOVJ motion mode in the Save Point area. Set the jogging speed percentage to 50 on the Operation Panel. Jog the Dobot Magician in the Cartesian or Joint coordinate system to move the robotic arm to a location called position A.

  • Page 48: Teaching & Playback Example

    Teaching & Playback Example Application Scenarios You can use Teaching & Playback function module to manipulate the Dobot Magician to accomplish different tasks such as transportation or intelligent sort. This topic introduces how to move small cubes from position A to B in the JUMP motion mode.
  • Page 49 Cartesian coordinate system, we recommend that it should be less than 500mm/s if loaded and that less than 800mm/s if not loaded. Jog the Dobot Magician in the Cartesian or Joint coordinate system to move the suction cup close enough to the small cube for picking-up. For example, the Issue V1.9.0 (2020-07-23)
  • Page 50 Dobot Magician User Guide Dobot Magician Homing Operation suction cup reaches this location called position A. Select SuctionCup on the Operation Panel to turn on the air pump to pick up the small cube. Set the PauseTime to 1 second in the Save Point area.
  • Page 51 Dobot Magician Homing Operation Figure 5.23 Jump parameters Jogging the Dobot Magician in the Cartesian or Joint coordinate system to move the small cube to the end position B as required. Unselect SucktionCup to turn off the air pump to release the small cube.
  • Page 52 Dobot Magician User Guide Dobot Magician Homing Operation Joint coordinate system, as shown in Figure 5.25. For details, see Table 5.10. Figure 5.25 Set the speed and acceleration of the playback Table 5.10 Set the Playback Items Description JointParam Set the speed and acceleration of the joints...

  • Page 53: Working In Offline Mode

    Dobot Magician User Guide Dobot Magician Homing Operation Working in Offline Mode Offline mode allows the Dobot Magician to perform the points in the Save points list previously downloaded from the DobotStudio without keeping the USB connection established. Prerequisites  The Dobot Magician has been powered on.

  • Page 54: Writing And Drawing

    Dobot Magician User Guide Dobot Magician Homing Operation  If press down Key button for long time, Dobot Magician will execute homing operation directly. Figure 5.27 Base panel Writing and Drawing Figure 5.28 shows the process of writing and drawing.

  • Page 55: Connecting The Dobotstudio

    Figure 5.30 Change to a new pen Connecting the DobotStudio If the current firmware of the Dobot Magician is the 3D Printing firmware instead of the Dobot firmware, the Select tool dialog box is displayed, asking if you want to switch to the Dobot firmware.
  • Page 56 Dobot Magician User Guide Dobot Magician Homing Operation The dialog box is displayed. Figure 5.31 Select the DobotStudio to upgrade the Dobot firmware Click OK, as shown in Figure 5.32. The Dobot firmware upgrade window is displayed. Figure 5.32 Confirm the firmware upgrade Click Confirm to upgrade the Dobot firmware, as shown in Figure 5.33.
  • Page 57 Dobot Magician User Guide Dobot Magician Homing Operation Figure 5.34 The firmware upgrade is successful WARNING During the firmware upgrade, do not stop it. Otherwise, errors occur. Figure 5.35 Click Write & Draw Issue V1.9.0 (2020-07-23) User Guide Copyright © Yuejiang Technology Co., Ltd.

  • Page 58: Importing Image Files And Setting Writing Parameters

    Dobot Magician User Guide Dobot Magician Homing Operation Figure 5.36 Choose Pen as the end-effector Importing Image Files and Setting Writing Parameters When performing a write & draw task, a built-in or custom image file is required. Only a PLT or SVG image can be used.
  • Page 59 Dobot Magician User Guide Dobot Magician Homing Operation 5.39. Figure 5.38 The PLT or SVG image is located within the annular area Figure 5.39 The PLT or SVG image is located outside the annular area  Click Open on the Write & Draw page to import a built-in PLT or SVG image file from...
  • Page 60 Dobot Magician User Guide Dobot Magician Homing Operation Figure 5.40 Open a PLT or SVG system image file  Click a shape in the Input Shapes area, as shown in Figure 5.41. Figure 5.41 Insert a system image file  Click Input Texts on the Write & Draw page to input texts, and set its style, and then click OK to display the text on the annular area, as shown in Figure 5.42.
  • Page 61 Dobot Magician User Guide Dobot Magician Homing Operation Figure 5.42 Input text  Click Open to import an image file such as BMP, JEPG, or PNG to convert this image to its corresponding SVG file that the DobotStudio supports. Once this image is imported, the SVG Converter dialog box is displayed, as shown in Figure 5.43.

  • Page 62: Adjust The Position Of The Pen Nib

    Dobot Magician User Guide Dobot Magician Homing Operation Figure 5.44 Error tip NOTE We recommend to set the Velocity in the range of 0mm/s to 500mm/s and to adjust the acceleration between 0mm/s and 500mm/s Figure 5.45 Setting the parameters of the Write & Draw function Adjust the Position of the Pen Nib Issue V1.9.0 (2020-07-23)
  • Page 63 The point marked by a red box, as shown in Figure 5.47, corresponds to the position of the writing and drawing kit of the Dobot Magician. This point changes its position only within the annular area when the robotic arm moves.
  • Page 64 Dobot Magician User Guide Dobot Magician Homing Operation Figure 5.48 Lock the height of writing NOTE The value of the Z axis is the PenDown parameter. This parameter can be set by selecting Setting > Write Draw > PenDown on the Write & Draw page, as shown in Figure 5.49.

  • Page 65: Performing Laser Engraving Tasks

    Dobot Magician User Guide Dobot Magician Homing Operation The Dobot Magician automatically moves above the position (PenDown) of the start point of the text. Click Start to start writing on the paper. When writing, click Pause to pause the writing and Stop to halt the writing.

  • Page 66: Connecting The Dobotstudio

    Figure 5.51 Fasten the laser with clamp fixing screw Connecting the DobotStudio If the current firmware of the Dobot Magician is the 3D Printing firmware instead of the Dobot firmware, the Select tool dialog box is displayed, asking if you want to switch to the Dobot firmware.
  • Page 67 Dobot Magician User Guide Dobot Magician Homing Operation The Dobot firmware upgrade window is displayed. Figure 5.53 Confirm the firmware upgrade Click Confirm to upgrade the Dobot firmware, as shown in Figure 5.54. When the upgrade process bar shows 100% and a short beep sound is heard, it means that the firmware is upgraded successfully, as shown in Figure 5.55.
  • Page 68 Dobot Magician User Guide Dobot Magician Homing Operation Figure 5.55 The firmware upgrade is successful WARNING During the firmware upgrade, do not stop it. Otherwise, errors occur. Figure 5.56 Click Write & Draw Issue V1.9.0 (2020-07-23) User Guide Copyright © Yuejiang Technology Co., Ltd.

  • Page 69: Importing Image Files And Setting Engraving Parameters

    Dobot Magician User Guide Dobot Magician Homing Operation Figure 5.57 Choose Laser as the end-effector Importing Image Files and Setting Engraving Parameters When performing a laser-engraving task, a built-in or a custom image file is required. Only a PLT or SVG image can be used. The built-in image file is located in the directory: Installation Directory\DobotStudio\config\prefab\system\source.
  • Page 70 Dobot Magician User Guide Dobot Magician Homing Operation NOTICE The imported image should be placed within the annular area on the Write & Draw page, as shown in Figure 5.59. If not, the robotic arm reaches its limited position and thus cannot engrave on an object.
  • Page 71 Dobot Magician User Guide Dobot Magician Homing Operation Figure 5.61 Open a PLT or SVG file  Click a shape in the Input Shapes area to directly import a system image file, as shown in Figure 5.62. Figure 5.62 Insert a system image file ...
  • Page 72 Dobot Magician User Guide Dobot Magician Homing Operation Figure 5.63 Input text  Click Open to import an image file such as BMP, JEPG, or PNG to convert this image to its corresponding SVG file that the DobotStudio supports.ssss Once this image is imported, the SVG Converter dialog box is displayed, as shown in Figure 5.64.

  • Page 73: Adjust The Laser Focus And Start To Grave

    Dobot Magician User Guide Dobot Magician Homing Operation Figure 5.65 Setting the parameters of the Write & Draw function Adjust the Laser Focus and Start to Grave Procedure Figure 5.66 Choose Laser as the end-effector Figure 5.67 Turn on the laser Issue V1.9.0 (2020-07-23)
  • Page 74 Never aim the laser at a person and their clothes.  Do not allow the children to play with the Dobot Magician. Monitor the robotic arm while it is running and power off it once the movement is complete. Figure 5.68 Unselect the Lasers NOTICE ...
  • Page 75 Figure 5.69 Adjust the laser focus  The point marked by a red box, as shown in Figure 5.70, corresponds to the position of the end-effector of the Dobot Magician. This point changes its position only within the annular area when the robotic arm moves.
  • Page 76 Dobot Magician User Guide Dobot Magician Homing Operation Figure 5.71 Lock the height of engraving NOTE The value of the Z axis is the PenDown parameter. This parameter can be set by selecting Setting > Write Draw > PenDown on the Write & Draw page, as shown in Figure 5.72.

  • Page 77: Engraving A Grayscale Image

    Dobot Magician User Guide Dobot Magician Homing Operation The Dobot Magician automatically moves above the position (PenUpOffset) of the start point of the laser-engraving. When engraving, click Pause to pause the engraving and Stop to halt the engraving. Figure 5.73 shows the effect of the laser-engraving.

  • Page 78: Installing A Grayscale-Engraving Kit

    5.5.1 Installing a Laser Kit. Connecting the DobotStudio If the current firmware of the Dobot Magician is the 3D Printing firmware instead of the Dobot firmware, the Select tool dialog box is displayed, asking if you want to switch to the Dobot firmware.
  • Page 79 Dobot Magician User Guide Dobot Magician Homing Operation Figure 5.75 Select the DobotStudio to upgrade the Dobot firmware Click OK, as shown in Figure 5.76. The Dobot firmware upgrade window is displayed. Figure 5.76 Confirm the firmware upgrade Click Confirm to upgrade the Dobot firmware, as shown in Figure 5.77. When the upgrade process bar shows 100%, and a short beep sound is heard, it means that the firmware is upgraded successfully, as shown in Figure 5.78.

  • Page 80: Importing Image Files And Setting Engraving Parameters

    Dobot Magician User Guide Dobot Magician Homing Operation Figure 5.78 The firmware upgrade is successful WARNING During the firmware upgrade, do not stop it. Otherwise, errors occur. Figure 5.79 Click LaserEngraving Importing Image Files and Setting Engraving Parameters Prerequisites An image file has been created. You can also import system image, the importing path is Installation Directory\DobotStudio\attachment\grbrMode\source.
  • Page 81 Dobot Magician User Guide Dobot Magician Homing Operation Procedure NOTICE The imported image should be placed within the annular area on the LaserEngraving page, as shown in Figure 5.80. If not, the robotic arm reaches its limited position and thus cannot engrave on an object.
  • Page 82 Dobot Magician User Guide Dobot Magician Homing Operation Figure 5.82 Choose Laser as the end-effector Figure 5.83 Import an image file Figure 5.84 Set the grayscale range, laser power range, and border Issue V1.9.0 (2020-07-23) User Guide Copyright © Yuejiang Technology Co., Ltd.

  • Page 83: Adjust The Laser Focus And Start To Engrave

    Dobot Magician User Guide Dobot Magician Homing Operation Table 5.11 Laser engraving parameters Items Description Grayscale range Set the grayscale range Range: 0 - 255 Default value: 20 - 240 Laser power range Set the laser power range Range: 2 - 100...
  • Page 84 Never aim the laser at a person and their clothes.  Do not allow the children to play with the Dobot Magician. Monitor the robotic arm while it is running and power off it once the movement is complete. Figure 5.86 Select the Laser...
  • Page 85  The point marked by a red box, as shown in Figure 5.89, corresponds to the position of the laser kit of the Dobot Magician. This point changes its position only within the annular area when the robotic arm moves.
  • Page 86 Dobot Magician User Guide Dobot Magician Homing Operation Figure 5.89 The point corresponding to the laser kit of the robotic arm Figure 5.90 Lock the height of engraving NOTE The value of Z axis is the PenDown parameter. This parameter can be set by selecting Setting >...
  • Page 87 Dobot Magician User Guide Dobot Magician Homing Operation Figure 5.91 Set the PenDown parameters The Dobot Magician automatically moves above the position of the start point of the laser-engraving. When engraving, click Pause to pause the engraving and Stop to halt the engraving.

  • Page 88: Controlling With Your Hand Gesture

    Dobot Magician User Guide Dobot Magician Homing Operation Controlling with your Hand Gesture You can use the LeapMotion function module of the DobotStudio to perform tasks, for example, grab or suck an object with your hand gesture. Installing a Leap Motion Controller Prerequisites ...

  • Page 89: Leap Motion Demo

    You can move or sort an object with the LeapMotion function. This topic introduces how to move a small cube with a hand gesture. Prerequisites  The Dobot Magician is powered on and connected to your computer.  The suction cup kit has been installed. For details, see 5.2.1 Installing a Suction Cup Kit. Procedure Figure 5.96 Click LeapMotion...
  • Page 90 Dobot Magician User Guide Dobot Magician Homing Operation Figure 5.97 Click Setting Figure 5.98 Set the parameters of the Leap Motion function Issue V1.9.0 (2020-07-23) User Guide Copyright © Yuejiang Technology Co., Ltd.

  • Page 91: Controlling With Your Mouse

    Dobot Magician Homing Operation Table 5.12 Set the parameters of the Leap Motion function Items Description Speed The velocity percentage of the Dobot Magician: Unit: % Value range: 1 - 100 Default value: 50 Scale The scale of the Dobot Magician:...
  • Page 92 This topic introduces how to move a small cube with a mouse. Prerequisites  The Dobot Magician is powered on and connected to your computer.  The suction cup kit has been installed. For details, see 5.2.1 Installing a Suction Cup Kit. Procedure Figure 5.99 Click Mouse...
  • Page 93 Figure 5.101 Set the parameters of mouse control Table 5.14 Set the parameters of mouse control Parameters Description Speed The velocity percentage of the Dobot Magician: Unit: % Value range: 1 - 100 Default value: 50 Scale The scale of the Dobot Magician:...
  • Page 94 Dobot Magician User Guide Dobot Magician Homing Operation NOTICE Do not move the mouse outside the annular area. If not, the robotic arm reaches its limited position. In this case, drag the mouse to into the annular area. Figure 5.102 Move the robotic arm in the red annular area NOTE...

  • Page 95: Operating 3D Printing

    Dobot Magician User Guide Dobot Magician Homing Operation Operating 3D Printing After installing 3D printing kit, you can import 3D module into the 3D printing software for 3D printing. Figure 5.103 shows the 3D printing process. Figure 5.103 3D printing process During 3D printing, the 3D printing control software is required.

  • Page 96: Installing 3D Printing Kit

    Dobot Magician User Guide Dobot Magician Homing Operation Installing 3D Printing Kit 3D printing kit contains extruder, hot end, motor cable, filament, and filament holder as shown in Figure 5.104. Figure 5.104 3D printing kit Procedure Issue V1.9.0 (2020-07-23) User Guide...
  • Page 97 Dobot Magician User Guide Dobot Magician Homing Operation Figure 5.105 Push down the filament Figure 5.106 Connect extruder and hot end NOTICE Please make sure that the PTFE tube has been pushed down to the bottom of the hot end.
  • Page 98 Dobot Magician User Guide Dobot Magician Homing Operation Figure 5.107 Fix hot end Issue V1.9.0 (2020-07-23) User Guide Copyright © Yuejiang Technology Co., Ltd.
  • Page 99 Dobot Magician User Guide Dobot Magician Homing Operation Figure 5.108 Connect hot end to the Forearm Figure 5.109 Connect with extruder Issue V1.9.0 (2020-07-23) User Guide Copyright © Yuejiang Technology Co., Ltd.

  • Page 100: Operating Repetier Host

    The printing platform has been prepared and please place it in the workspace of the Dobot Magician.  Dobot Magician has been powered on.  Dobot Magician has been connected to DobotStudio successfully (Only USB connection is supported).  The 3D printing kit has been installed. 5.9.2.1 Burning Firmware Procedure The 3D Printing FM page is displayed, as shown in Figure 5.111.
  • Page 101 If the LED indicator on the base turns red, it indicates that the connection of the 3D printing kit is abnormal. WARNING Please DO NOT operate or turn off Dobot Magician when burning firmware, to avoid machine damage. Issue V1.9.0 (2020-07-23) User Guide Copyright ©...
  • Page 102 Dobot Magician User Guide Dobot Magician Homing Operation Figure 5.112 Repetier Host page NOTICE If the current firmware is set for 3D printing when operating 3D printing, you can click Connect directly on the DobotStudio page. And then Click OK on the Select tool page to switch to Repetier Host, as shown in Figure 5.113.
  • Page 103 Dobot Magician User Guide Dobot Magician Homing Operation Click Printer Settings on the top right corner of the Pepetier Host page. The Printer Settings page is displayed. Set the corresponding parameters on the Connection tab as shown in the red box of Figure 5.114.
  • Page 104 Dobot Magician User Guide Dobot Magician Homing Operation Figure 5.115 Unselect options Set the corresponding parameters on the Extruder tab as shown in the red box of Figure 5.116, the other parameters are set by default. Then, Click Apply. Issue V1.9.0 (2020-07-23) User Guide Copyright ©...
  • Page 105 Dobot Magician User Guide Dobot Magician Homing Operation Figure 5.116 Extruder settings Set the corresponding parameters on the Printer Shape tab as shown in the red box of Figure 5.117, the other parameters are set by default. Then, Click Apply.
  • Page 106 Click OK After the connection is successful, the current heating temperature will be shown on the below of the Repetier Host page, as shown in Figure 5.118. Figure 5.118 Connect to Dobot Magician Issue V1.9.0 (2020-07-23) User Guide Copyright © Yuejiang Technology Co., Ltd.
  • Page 107 Before printing, you need to test the extruder to check whether the melted filament flows from the nozzle of the extruder. The temperature of the extruder should be above 170℃. Dobot Magician will not start 3D printing until the filament is in the melting state. So you need to heat the extruder first.
  • Page 108 NOTE During printing, if the distance from Dobot Magician to the printing platform is too large or too small to paste the first layer, it can lead to the nozzle blockage. For increasing the stickiness of the first layer, placing a masking paper on the platform is recommended.
  • Page 109 Dobot Magician User Guide Dobot Magician Homing Operation Also, you can press the Key button on the bace of the base to get the current coordinates. Figure 5.121 Input M415 NOTE If you cannot find the G-Code command window, please click EASY to close Easy Mode, as shown in Figure 5.122.
  • Page 110 Dobot Magician User Guide Dobot Magician Homing Operation Figure 5.123 Import 3D printing Model After importing the model, you can center, zoom, or rotate the model on the Object Placement page, as shown in Figure 5.124. Figure 5.124 Model operation Issue V1.9.0 (2020-07-23)
  • Page 111 Dobot Magician User Guide Dobot Magician Homing Operation You need to set the slicing parameters before first printing. Select Slic3r from Slicer on the Slicer tab of the Repetier Host page, and click Configuration, as shown in Figure 5.125. Figure 5.125 Select slicer The Slic3r page is displayed, as shown in Figure 5.126.
  • Page 112 Dobot Magician User Guide Dobot Magician Homing Operation Figure 5.126 Slic3r page Set the slicing parameters on the Slic3r page. The 3D printing effect depends on the slice parameters. This topic provides a configuration sample, you can select File > Load Config on the Slic3r page to import it directly for printing.
  • Page 113 Dobot Magician User Guide Dobot Magician Homing Operation is used for the filling, the filling rate is 20%. Save the Printing Settings, Filament Settings and Printer Settings tabs respectively after importing configuration sample, as shown in Figure 5.128. Figure 5.128 Save configuration file Click Slici with Slic3r on the Slicer tab of the Repetier Host page, as shown in Figure 5.129.
  • Page 114 Dobot Magician User Guide Dobot Magician Homing Operation Figure 5.130 Start printing Here we choose vase mode to print, and the product after printing as shown in Figure 5.131. Figure 5.131 The product of printing Issue V1.9.0 (2020-07-23) User Guide...

  • Page 115: Operating Cura

    The printing platform has been prepared and please place it in the workspace of Dobot Magician.  Dobot Magician has been powered on.  Dobot Magician has been connected to DobotStudio successfully (Only USB connection is supported).  The 3D printing kit has been installed. 5.9.3.1 Burning Firmware Procedure The 3D Printing FM page is displayed, as shown in Figure 5.132.
  • Page 116 After burning 3D printing firmware, if the LED indicator on the base turns red, it indicates that the connection of the 3D printing kit is abnormal. WARNING Please DO NOT operate or turn off Dobot Magician when burning firmware, to avoid machine damage. 5.9.3.2 Performing 3D Printing Procedure Select Machine >...
  • Page 117 Dobot Magician User Guide Dobot Magician Homing Operation Parameter Description Machine center 0,0 Machine center, please select it GCode Flavor The style of GCode Please select RepRap Marlin/Sprinter Build area shape Build the area shape Please select Circular Serial port...
  • Page 118 After importing the model, click the model itself, you can center, zoom or rotate, and so on, as shown in Figure 5.136. Figure 5.136 Zoom and rotate Click to connect with Dobot Magician. Issue V1.9.0 (2020-07-23) User Guide Copyright © Yuejiang Technology Co., Ltd.
  • Page 119 Dobot Magician User Guide Dobot Magician Homing Operation The printing window is displayed and the current printing temperature is shown on the top corner of the window, as shown in Figure 5.137. Figure 5.137 Printing window Set Temperature to 200 and press down Enter to heat the extruder.
  • Page 120 NOTE During printing, if the distance from Dobot Magician to the printing platform is too large or too small to paste the first layer, it can lead to the nozzle blockage. For increasing the stickiness of the first layer, placing a masking paper on the platform is recommende.

  • Page 121: Calibration

    The writing and drawing kit has been installed. For details, please see 5.4.1 Installing a Writing and drawing kit.  Dobot Magician has been powered on.  Dobot Magician has been connected to DobotStudio successfully.  The sensor calibration board has been prepared. Procedure Issue V1.9.0 (2020-07-23) User Guide Copyright ©...
  • Page 122 Click Teaching&Playback on the DobotStudio page. The Teaching&Playback page is displayed. Press the Unlock key on the Forearm and drag Dobot Magician to make the nib contact the surface of the calibration board, then release the Unlock key. The coordinates of this point will be displayed on the Teaching&Playback page.
  • Page 123 Dobot Magician User Guide Dobot Magician Homing Operation Dobot will start homing. Please ensure that there are no obstacles in the workspace during homing. If the speed is too fast when moving J1-axis, you can drag Speed slider to adjust speed.
  • Page 124 Dobot Magician User Guide Dobot Magician Homing Operation Figure 5.143 Nib position You can check the J1-coordinate on the Operation Panel page, as shown in Figure 5.144. Figure 5.144 J1-coordinate Issue V1.9.0 (2020-07-23) User Guide Copyright © Yuejiang Technology Co., Ltd.

  • Page 125: Sensor Calibration

    The angle sensors of the Forearm and Rear Arm have been calibrated before being shipped out. Generally, the Z-coordinate will remain the same when moving Dobot Magician in the same horizontal plane. If changed, you need to recalibrate the angle sensors by manual levelling or auto levelling to improve the positioning accuracy.
  • Page 126 Dobot Magician User Guide Dobot Magician Homing Operation NOTICE Please remove all end-effectors from Dobot Magician before calibrating Figure 5.146 Get the angle sensor coefficients Issue V1.9.0 (2020-07-23) User Guide Copyright © Yuejiang Technology Co., Ltd.
  • Page 127 Install the writing and drawing kit. For details, please see 5.4.1 Installing a Writing and drawing kit. Press the Unlock key on the Forearm and drag Dobot Magician to make the nib near the A3 point on the calibration board, then release the Unlock key.
  • Page 128 Dobot Magician User Guide Dobot Magician Homing Operation Figure 5.148 Fine-tune page Figure 5.149 Nib position Issue V1.9.0 (2020-07-23) User Guide Copyright © Yuejiang Technology Co., Ltd.
  • Page 129 Dobot Magician User Guide Dobot Magician Homing Operation NOTICE Please DO NOT drag Dobot Magician in this step, to avoid manual levelling failure. If the speed is too fast when clicking coordinate buttons, you can drag Speed slider to adjust speed.
  • Page 130 Dobot Magician User Guide Dobot Magician Homing Operation The distance between the two calibrated points on the Calibration board is 80mm, so please keep the default value in this step. Figure 5.152 Set the distance between the two calibrated points The result is shown as Figure 5.153.
  • Page 131 Dobot Magician Homing Operation 5.10.2.2 Auto Levelling Prerequisites  Dobot Magician has been connected to a PC via USB cable.  Dobot Magician has been connected to the power adapter.  The auto-levelling tool has been obtained, as shown in Figure 5.154.
  • Page 132 Dobot Magician User Guide Dobot Magician Homing Operation Figure 5.155 Fix auto-levelling tool Issue V1.9.0 (2020-07-23) User Guide Copyright © Yuejiang Technology Co., Ltd.
  • Page 133 Dobot Magician User Guide Dobot Magician Homing Operation Figure 5.156 Insert the cable of the auto-levelling Issue V1.9.0 (2020-07-23) User Guide Copyright © Yuejiang Technology Co., Ltd.
  • Page 134 Dobot Magician User Guide Dobot Magician Homing Operation NOTICE Please ensure that there are no obstacles in the workspace during auto levelling. Figure 5.157 Auto levelling page NOTE If the auto levelling is failed, please check if the platform is flat and try again.

  • Page 135: Homing

    Figure 5.158 Auto levelling result Homing Dobot Magician has been calibrated before being shipped out. If the Dobot Magician has been hit or the motor has lost step, leading data abnormal, you need to operate homing to improve the positioning accuracy.

  • Page 136: Connecting With Wifi Kit

    Figure 5.160 Set homing point Connecting with WIFI Kit You can connect Dobot Magician to a PC via WIFI kit without USB cable, making Dobot Magician and PC in the same WLAN. Figure 5.161 shows the WIFI kit. Figure 5.161 WIFI kit Prerequisites Issue V1.9.0 (2020-07-23)
  • Page 137 Figure 5.162 Connect with WIFI kit NOTICE Please turn off the Dobot Magician completely first before connecting or disconnecting external equipment. Or, it causes serious damage to your device. After turning on, there are two short beep sounds and the blue LED indicator on the WIFI module is on.
  • Page 138 Yes: Only set SSID and Password No: Only set IPAddress, Netmask and Gateway IPAddress Set the IP address of Dobot Magician. The IP address of Dobot Magician and the PC must be in the same WLAN without conflict. Netmask Set subnet mask...

  • Page 139: Connecting With Bluetooth Kit

    After the connection is successful, you can control Dobot Magician without USB cable. Connecting with Bluetooth Kit Dobot Magician can be connected to smart phone with Bluetooth. Figure 5.165 shows the Bluetooth kit. Please download the matched DobotStudio APP from the website https://cn.dobot.cc/downloadcenter.html?sub_cat=69#sub-download.

  • Page 140: Operating Blockly

    Figure 5.166 Connect with Bluetooth kit NOTICE Please turn off the Dobot Magician completely first before connecting or disconnecting external equipment. Or, it causes serious damage to your device. After turning on, there are three short beep sounds and the blue LED indicator on the Bluetooth module is on and the green one is blinking.
  • Page 141 Dobot API. You can program by dragging them to the window. The window of blockly programming The running log of Dobot Magician The corresponding codes of the blockly module on the programming window The demo in Figure 5.167 is described as follows.

  • Page 142: Scripting

    Dobot Magician Homing Operation Scripting You can control Dobot Magician over scripting. Dobot Magician supports various API, such as velocity/acceleration setting, motion mode setting, and I/O configuration, which uses Python language for secondary development. For details about the Dotob Magician API interface and function description, please see Dobot Magician API Description.

  • Page 143: Operating Stick Controller Kit

    The running log will be displayed on the lower pane of the Script page for checking. Operating Stick Controller Kit Dobot Magician can be controlled by stick controller kit without DobotStudio. Figure 5.169 shows the stick controller kit. From left to right: Stick controller, USB Host module, USB cable (used for charging stick controller), Transceiver.
  • Page 144 Dobot Magician Homing Operation Figure 5.170 Connect with USB Host module The red LED indicator on the middle of the stick controller is blinking, indicating that the Dobot Magician can be controlled by the stick controller. Issue V1.9.0 (2020-07-23) User Guide...
  • Page 145  Left stick: Front/back Cartesian coordinate system mode: Dobot along X-axis in the Magician moves positive/negative direction  Joint coordinate system mode: Dobot Magician along J1-axis rotates positive/negative direction Issue V1.9.0 (2020-07-23) User Guide Copyright © Yuejiang Technology Co., Ltd.

  • Page 146: Multiplexed I/O Demo

    Multiplexed I/O Demo The addresses of the I/O interfaces in Dobot Magician are unified. Most of I/O interfaces have multiple functions. For details, please see 4.3 Multiplexed I/O Interface Description. You can set I/O interfaces on the advanced Teaching&Playback page to control the peripheral equipment, as shown in Figure 5.172.

  • Page 147: Level Output

    The I/O 11 and I/O 16 are located at the peripheral interface of the base, as shown in Figure 5.173. Figure 5.173 Peripheral Interface on the base Prerequisites  The air pump has been connected to Dobot Magician. For details, please see 5.2.1 Installing a Suction Cup Kit.  Dobot Magician has been powered on. ...
  • Page 148 Dobot Magician User Guide Dobot Magician Homing Operation Figure 5.174 Select end-effector NOTICE Normally, If SuctionCup or Gripper is selected from the end-effector drop-down list after the air pump has been connected, the air pump will be controlled by the system. In this topic, we use I/O interfaces to control the air pump, so SuctionCup and Gripper cannot be selected, to avoid conflict.

  • Page 149: Level Input

    Dobot Magician User Guide Dobot Magician Homing Operation Figure 5.176 Saved point The air pump is humming with intake. The saved point is displayed on the Teaching&Playback page, as shown in Figure 5.177. Figure 5.177 Saved point Level Input Issue V1.9.0 (2020-07-23) User Guide Copyright ©...
  • Page 150 3.3V Prerequisites  Dobot Magician has been powered on.  Dobot Magician has been connected to DobotStudio successfully.  The saved points list has been existed on the Teaching&Playback page. Procedure Figure 5.178 Switch advanced function Figure 5.179 Saved point Issue V1.9.0 (2020-07-23)

  • Page 151: Pwm Output

    √ 3.3V Prerequisites  Dobot Magician has been powered on.  Dobot Magician has been connected to DobotStudio successfully. Procedure Figure 5.181 Saved point The EIO Setting page is displayed, as shown in Figure 5.182. Issue V1.9.0 (2020-07-23) User Guide...
  • Page 152 Dobot Magician User Guide Dobot Magician Homing Operation Figure 5.182 EIO setting Issue V1.9.0 (2020-07-23) User Guide Copyright © Yuejiang Technology Co., Ltd.

  • Page 153: Appendix A Dobot Magician Homing Operation

    Figure 5.183 homing tip Playback Procedure： If there are some points saved in Dobot Magician before, you can turn on Dobot Maigican directly, wait for about 20 seconds after green light is on, press down Key button for long time to execute homing operation, and then press down Key button again to execute offline mode.

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