Dobot MG400 Hardware User's Manual
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Dobot MG400 Hardware User's Manual

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MG400 Hardware
User Guide
(DT-MG400-4R075-01)
Issue: V1.1
Date: 2021-04-06
DISTRIBUTOR :
iMS Motion Solution (Johor) Sdn. Bhd.
®
www.ims.com.my
User Guide
TEL : +607-8635240
FAX : +607-8637240
Mobile : +6019-6774477
Email : info@ims.com.my
HOTLINE : 1700-818-330

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Summary of Contents for Dobot MG400

  • Page 1 User Guide MG400 Hardware User Guide (DT-MG400-4R075-01) Issue: V1.1 Date: 2021-04-06 DISTRIBUTOR : iMS Motion Solution (Johor) Sdn. Bhd. ® TEL : +607-8635240 FAX : +607-8637240 Mobile : +6019-6774477 Email : info@ims.com.my HOTLINE : 1700-818-330 www.ims.com.my...
  • Page 2 Even if follow this document or any other related instructions, Damages or losses will be happening in the using process, Dobot shall not be considered as a guarantee regarding all security information contained in this document.
  • Page 3 Dobot MG400 Hardware User Guide Preface Purpose This Document describes the functions, technical specifications, installation guide of DOBOT MG400 robot, making it easy for users to fully understand and use it. Intended Audience This document is intended for:  Customer ...

  • Page 4: Table Of Contents

    Dobot MG400 Hardware User Guide Contents Security Precautions ....................1 Security Warning Sign ...................... 1 General Security........................ 1 Personal Security ......................4 Overview ........................6 Technical Specifications ....................6 Robot Dimension ......................7 Robot Workspace ......................8 End-effector Size ......................9 End-effector Load Description ..................

  • Page 5: Security Precautions

    Dobot MG400 Hardware User Guide Security Precautions This topic describes the security precautions that should be noticed when using this product. Please read this document carefully before using the robot for the first time. This product needs to be carried out in an environment meeting design specification. You cannot remold the product without authorization, otherwise, it could lead to product failure, and even personal injury, electric shock, fire, etc.
  • Page 6 Dobot MG400 Hardware User Guide circuit, otherwise, it is vulnerable to injury the device or the person.  You should comply with the local laws and regulations when operating the robot. The security precautions in this document are only supplemental to the local laws and regulations.
  • Page 7 Dobot MG400 Hardware User Guide  When the robot is transported, the packaging needs to be fixed to ensure that the robot is stable.  After removing the outer packaging, please make sure that the robot maintains the original packing posture and the brakes on each axis are normal.

  • Page 8: Personal Security

    Dobot MG400 Hardware User Guide RF source without shielding, otherwise, it could lead to robot abnormally. WARNING  In order to protect the equipment and personal safety, when turning off the power, please press the ship type switch, then unplug the AC power cable.
  • Page 9 Dobot MG400 Hardware User Guide  Even if the power switch of the robot is already in the OFF status, touching the terminal blocks or removing the interval circuit components is not allowed, to avoid an electric shock since there is residual capacitance inside the robot.

  • Page 10: Overview

    DOBOT MG400 has a repeat positioning accuracy of ± 0.05mm, a max load of 500g. It is a product with the advantages of both industrial robots and collaborative robots.

  • Page 11: Robot Dimension

    Dobot MG400 Hardware User Guide Operation software DobotStudio2020、SCStudio ± 160° -25° ～85° Motion range -25° ～105° -180° ～180° 300° /s 300° /s Joint maximum speed 300° /s 300° /s End-effector I/O interface incremental Base interface encoder (differential) Ethernet USB 2.0...

  • Page 12: Robot Workspace

    Dobot MG400 Hardware User Guide Figure 2.2 shows the dimension of MG400 robot. dimension Figure 2.2 MG400 robot Robot Workspace Figure 2.3 shows the workspace of MG400 robot. Figure 2.3 MG400 robot workspace Issue V1.1 (2021-04-06) User Guide Copyright © Yuejiang Technology Co., Ltd...

  • Page 13: End-Effector Size

    Dobot MG400 Hardware User Guide NOTICE When operating the robot, be sure to operate inside the workspace. End-effector Size Figure 2.4 End-effector Size End-effector Load Description When the rated load is 500g, the maximum eccentricity of the center of mass shall not exceed 40mm.

  • Page 14: Product Features

    J1= 0° , J2= 0° , J3= 60° , and J4= 0° . Adjust joint Angles by jog or programming. For details, please see DobotSCStudio User Guide (MG400 Robot). Figure 2.5 Factory point...
  • Page 15 Dobot MG400 Hardware User Guide 2.9.1.2Linearly Interpolated Motion The joints will perform a straight line trajectory from point A to point B, as shown in Figure 2.7. Figure 2.7 Move mode  Jump: The trajectory looks like a door. From point A to point B, the robot will move in the Move mode Move up to the lifting height (StartHeight is a relative height).
  • Page 16 Dobot MG400 Hardware User Guide Figure 2.9 Jump mode (1)  If the heights of point A and point B are the same with zLimit, the trajectory is shown in Figure 2.10. Figure 2.10 Jump mode (2) 2.9.1.3ARC (Circular Interpolated Motion) The trajectory is an arc, which is determined by three points (the current point, any point and the end point on the arc), as shown in Figure 2.11.

  • Page 17: Coordinate System

    Coordinate System 2.9.2.1Joint Coordinate System The Joint coordinate system is determined by the motion joints. Figure 2.13 shows the Joint coordinate system of a MG400 robot. All the joints are rotating joints. Figure 2.13 Joint coordinate of a MG400 robot 2.9.2.2Base Coordinate System...
  • Page 18 And the others can be customized by users. Figure 2.15 shows the default Tool coordinate system of a MG400 robot. Figure 2.15 The default Tool coordinate system of MG400 robot 2.9.2.4User Coordinate System The User coordinate system is a movable coordinate system which is used for representing equipment like fixtures, workbenches.

  • Page 19: Collision Detection

    Dobot MG400 Hardware User Guide Figure 2.16 The default User coordinate system of MG400 robot Collision Detection Collision detection is mainly used for reducing the impact on the robot, to avoid damage to the robot or external equipment. If the collision detection is activated, the robot arm will stop running automatically when the robot arm hit an obstacle.

  • Page 20: Electrical Specifications

     The total current can’t exceed 2A. Forearm Interface Description The forearm interface of the MG400 includes a hand-teach button, an end I/O Interface, and an air interface, as shown in Figure 3.2. Figure 3.2 Forearm interface Press the hand-teaching button on the forearm and drag the forearm to a point and then press the button again.

  • Page 21: Interface Board

    Dobot MG400 Hardware User Guide The diameter of the trachea corresponding to the air interface is 4mm. Figure 3.3 end I/O interface Interface Board External Interface Board Description Figure 3.4 shows the interface board of the Base. Table 3.1 lists the description.

  • Page 22: Digital Input

    For connecting to DC 48V power supply I/O interface Air interface，the corresponding trachea diameter was 4mm The ENC interface of the MG400 is shown in Figure 3.5，Table 3.2 lists the description of ENC interface. Figure 3.5 ENC interface Table 3.2 ENC Interface description...

  • Page 23: Digital Output

    Dobot MG400 Hardware User Guide Figure 3.6 Simple digital input circuit Table 3.3 Technical specifications Item Specification Input channel 16 channels Connection method Crimping terminal Input type Input voltage (DC) 24V± 10% Isolation method Optical coupling isolation Digital Output Figure 3.7 shows the simple digital output circuit and Table 3.4 lists the technical specifications.
  • Page 24 Dobot MG400 Hardware User Guide Table 3.4 Technical specifications Item Specification Output channel 16 channels Connection method Crimping terminal Output type Power supply (DC) 24V± 10% Load current of single channel 500mA Output current Isolation method Magnetic isolation Issue V1.1 (2021-04-06) User Guide Copyright ©...

  • Page 25: Installation

    Dobot MG400 Hardware User Guide Installation Installation Environment To maintain the controller and robot performance and to ensure the safety, please place them in an environment with the following conditions.  Install indoors with good ventilation.  Keep away from excessive and shock.

  • Page 26: Maintenance And Repair

     Remove all parts that do not belong to Dobot.  Before returning to Dobot, please make a backup copy of the files. Dobot will not be responsible for the loss of programs, data or files stored in robot. ...
  • Page 27 Dobot technical engineer. In addition, overhauls are required every 10,000 hours of operation time or every 3 years. If you are not clear about the maintenance processes, please contact Dobot technical engineer. Issue V1.1 (2021-04-06) User Guide...

  • Page 28: Appendix A Servo Alarm Description

    Dobot MG400 Hardware User Guide Appendix A Servo Alarm Description Level Description Solution 25376 Abnormalities in internal servo parameters System error, please contact technical support engineer 21120 Programmable logic configuration faults System error, please contact technical support engineer 29953 FPGA software version too low...
  • Page 29 Dobot MG400 Hardware User Guide Level Description Solution 65288 FPGA system sampling operation timeout System error, please contact technical support engineer 9024 Output shorted to ground Please contact technical support engineer 13184 UVW phase sequence error System error, please contact technical...
  • Page 30 Dobot MG400 Hardware User Guide Level Description Solution support engineer 29493 External encoder scale failure System error, please contact technical support engineer 29494 Encoder data abnormalities System error, please contact technical support engineer 29495 Encoder return checksum exception System error, please contact technical...
  • Page 31 Dobot MG400 Hardware User Guide Level Description Solution 65521 Zero return timeout fault System error, please contact technical support engineer 29570 Encoder battery warning Replace battery 21570 DI emergency brake System error, please contact technical support engineer 12851 Motor overload warning...
  • Page 32 Dobot MG400 Hardware User Guide Level Description Solution support engineer 51020 Driver board identification error System error, please contact technical support engineer 29568 Encoder connection error Check the cable connection of encoder, or contact technical support engineer 8992 Software overcurrent...

  • Page 33: Appendix B Controller Alarm Description

    Dobot MG400 Hardware User Guide Appendix B Controller Alarm Description Level Description Solution Inverse kinematics error with no solution Reselect movement points Inverse kinematics error with result out of Reselect movement points working area Duplicated data in JUMP or ARC or...
  • Page 34 Dobot MG400 Hardware User Guide Level Description Solution Joint3 overspeed Reset the speed or re-select the movement point away from the singularity Joint4 overspeed Reset the speed or re-select the movement point away from the singularity Joint1 position out of range...
  • Page 35 Dobot MG400 Hardware User Guide Level Description Solution Joint2 Servo power off Re-enable joint 2 Joint3 drive alarm Re-enable joint 3 Joint3 Servo power off Re-enable joint 3 Joint4 drive alarm Re-enable joint 4 Joint4 drive power off Re-enable joint 4...
  • Page 36 Dobot MG400 Hardware User Guide Level Description Solution 33280 No input parameters for Arch instruction Please enter parameters 33281 Index parameter of Arch instruction out of Enter the correct parameters range 33282 Index parameter of Arch instruction not Please set index parameters...
  • Page 37 Dobot MG400 Hardware User Guide Level Description Solution Please enter parameters 35840 No input parameters for JerkR instruction Enter the correct parameters 35841 Ratio parameter of JerkR instruction out of range [1, 100] Please enter parameters 36096 No input parameters for Go instruction...
  • Page 38 Dobot MG400 Hardware User Guide Level Description Solution 40962 Incorrect motion point Circle3 Enter the correct parameters instruction Enter the correct parameters 40963 Incorrect control parameter for Circle3 instruction Enter the correct parameters 45056 Circle3 Option Error 45057 Jump Option Error...
  • Page 39 Dobot MG400 Hardware User Guide Level Description Solution Enter the correct parameters 32771 DI input parameters Error Enter the correct parameters 36100 No input parameters for movej instruction Enter the correct parameters 36101 No motion point parameter for movej instruction...
  • Page 40 Dobot MG400 Hardware User Guide Level Description Solution Enter the correct parameters 45093 ARMParamErrorOption Enter the correct parameters 45312 loadSwitch Option Error 45313 loadSet Options Error Enter the correct parameters Enter the correct parameters 49152 Enable remote control when enabled...

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