Dobot Magician Lite User Manual

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User Guide

Dobot Magician Lite

User Guide

(DobotLab-based)

Issue: V1.9.1

Date: 2022-06-08

Shenzhen Yuejiang Technology Co., Ltd.

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Page 1 User Guide Dobot Magician Lite User Guide (DobotLab-based) Issue: V1.9.1 Date: 2022-06-08 Shenzhen Yuejiang Technology Co., Ltd.
Page 2 Even if follow this document or any other related instructions, damages or losses may happen in the using process. Dobot shall not be considered as a guarantee regarding to all security information contained in this document.
Page 3 Dobot Magician Lite User Guide (DobotLab-based) Preface Preface Purpose This Document describes the working principle, technical specifications, connection and functions of Dobot Magician Lite, making it easy for users to fully understand and use Magician Lite. Intended Audience This document is intended for: ...
Page 4: Table Of Contents
Technical Specifications ....................8 Technical Parameters ................... 8 Dimensions ......................9 Robot Connection ....................11 Connecting Cables to Magician Lite ................11 Powering on/off Magician Lite ..................13 Interface Description ..................... 15 Magician Lite Interface Description ................15 Magic Box Interface Description ..................16 Multiplexed I/O Interface Description ................
Page 5: 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.  Please comply with the relevant laws to deal with the product which is scrapped, and protect the environment.
Page 6: Precautions
Magician Lite moving to the default homing point, i.e. The forearm is in the middle of the front of the base of Magician Lite.  If the LED indicator turns red after starting up, it indicates that the Magician Lite is at a limited position. Please make the Magician Lite in the workspace. ...
Page 7: Introduction
I2C interfaces. You can expand a wide range of sensors and related accessories to achieve more functions. Appearance Magician Lite consists of a base, rear arm, forearm, and end-effector, etc., as shown in Figure 2.1. Figure 2.1 Appearance of Magician Lite...
Page 8: Coordinate System
Dobot Magician Lite User Guide (DobotLab-based) Figure 2.2 Workspace of Magician Lite (1) Figure 2.3 Workspace of Magician Lite (2) Coordinate System Issue V1.9.1 (2022-06-08) User Guide Copyright © Yuejiang Technology Co., Ltd.
Page 9 Dobot Magician Lite User Guide (DobotLab-based) Magician Lite has two types of coordinate systems, the joint one and the Cartesian one, as shown in Figure 2.4 and Figure 2.5 respectively. Figure 2.4 Joint coordinate system Figure 2.5 Cartesian coordinate system Joint coordinate system: The coordinates are determined by the motion joints.
Page 10: Motion Mode
The motion modes of Magician Lite include Jogging, Point to Point (PTP) and ARC. 2.3.3.1 Jogging Mode Jogging mode is jogging Magician Lite to a point in Cartesian coordinate system or Joint coordinate system when teaching. Cartesian coordinate system mode: ...
Page 11 Dobot Magician Lite User Guide (DobotLab-based) Figure 2.6 MOVL/MOVJ mode  MOVL: Rectilinear movement. The joints will perform a straight line trajectory from point A to point B, as shown in Figure 2.6.  JUMP: From point A to point B, the joints will move in MOVJ mode, of which the trajectory looks like a door, as shown in Figure 2.7.
Page 12: Technical Specifications
Dobot Magician Lite User Guide (DobotLab-based) Figure 2.8 ARC mode 2.3.3.4 Application Scenarios The application scenario depends on the trajectory in a motion mode, as shown in Table 2.1. Table 2.1 Application scenario Motion mode Application scenario MOVL If the trajectory of playback is required as a straight line, you can choose MOVL...
Page 13: Dimensions
Red port, 2PIN, 12V, 3A max Value range: 20Hz~100KHz Value range: 0V~5V Accuracy: 12bit Dimensions Figure 2.9 shows the size of Magician Lite and Figure 2.10 shows the size of the end mounting Issue V1.9.1 (2022-06-08) User Guide Copyright © Yuejiang Technology Co., Ltd.
Page 14 Dobot Magician Lite User Guide (DobotLab-based) hole. Figure 2.9 Size of Magician Lite Figure 2.10 Size of end mounting hole Issue V1.9.1 (2022-06-08) User Guide Copyright © Yuejiang Technology Co., Ltd.
Page 15: Robot Connection
Dobot Magician Lite User Guide (DobotLab-based) Robot Connection This section describes how to connect Magician Lite, and power it on/off. Connecting Cables to Magician Lite When using Magician Lite without Magic Box, connect Magician Lite as below. Figure 3.1 Connect Magician Lite to your computer Figure 3.2 Connect Magician Lite to the electrical outlet...
Page 16 Dobot Magician Lite User Guide (DobotLab-based) Figure 3.3 Connect Magician Lite to Magic Box Figure 3.4 Connect Magician Lite to electrical outlet Issue V1.9.1 (2022-06-08) User Guide Copyright © Yuejiang Technology Co., Ltd.
Page 17: Powering On/Off Magician Lite
Powering on/off Magician Lite  Power on: Press the power button on Magician Lite or Magic Box, as shown in Figure 3.6. Once Magician Lite is powered on, all the stepper motors will be locked. You will hear a short beep sound, and the LED indicator turns green. Now Magician Lite is powered Figure 3.6 Power on Magician Lite...
Page 18 Dobot Magician Lite User Guide (DobotLab-based) NOTICE If the LED indicator is red after you power on Magician Lite, it means that Magician Lite reaches its limited position. To go back to the workspace, press and hold the Unlock button on the Forearm to move Magician Lite to another desired position After releasing the button the LED indicator turns green.
Page 19: Interface Description
Interface Description Magician Lite Interface Description The interfaces of Magician Lite are located on the back of the base. Figure 4.1 shows the interfaces on the back of the base, and Table 4.1 lists the description on the interfaces. Figure 4.1 Interfaces in the base Table 4.1 Interface description...
Page 20: Magic Box Interface Description
Table 4.2 LED indicator description State Description Green on Magician Lite works normally Yellow on Magician Lite is in the starting status Blue on Magician Lite is in the offline mode Blue flashing Magician Lite is running homing procedure ...
Page 21 Dobot Magician Lite User Guide (DobotLab-based) Figure 4.3 Communication Interface 1 Figure 4.4 Communication Interface 2 Table 4.3 Magic Box multiplexed I/O description Level Whether Interface Description Level Input Output Pulling undefined ground General I/O 3.3V_10mA 3.3V/5V_10 EIO1 No pulling...
Page 22 Dobot Magician Lite User Guide (DobotLab-based) Level Whether Interface Description Level Input Output Pulling General I/O 3.3V_10mA 3.3V/5V_10 EIO4 No pulling interface output mA input General I/O 3.3V_10mA 3.3V/5V_10 EIO5 No pulling interface output mA input 5V/1A power output ground...
Page 23 Dobot Magician Lite User Guide (DobotLab-based) Figure 4.5 Peripheral interface Table 4.4 Peripheral multiplexed I/O description Whether Interface Description Level Output Level Input Pulling Controlled 8V~12.6V_3A EIO12 power output Ground Controlled 8V~12.6V_3A EIO11 power output Ground 2_1A 2_1B STP1 8V~12.6V/0.9A...
Page 24 Dobot Magician Lite User Guide (DobotLab-based) Whether Interface Description Level Output Level Input Pulling 1_1B 1_2A 1_2B Ground Power 5V/1A General I/O 3.3V_10m 3.3V_10mA Pull up 51K Port1 √ EIO16 interface output input to 3.3V General I/O 3.3V_10m 3.3V_10mA Pull up 51K...
Page 25 Dobot Magician Lite User Guide (DobotLab-based) Whether Interface Description Level Output Level Input Pulling interface output input to 3.3V Ground Power 5V/1A output General I/O 3.3V_10mA 3.3V_10mA Pull up 51K Port6 √ EIO18 interface output input to 3.3V General I/O 3.3V_10mA...
Page 26: Operation
Operation Introduction on DobotLab Dobot Magician Lite has multiple functions including teaching and playback, writing and drawing, blockly programming, script control, etc., which can be realized through DobotLab, an integrated software platform specially designed for artificial intelligence (AI) education. You can enter DobotLab through https://dobotlab.dobot.cc/.
Page 27: Dobotlink Installation
Writing and Drawing Lab Control the Dobot Magician Lite to write and draw Laser Engraving Lab Engrave a bitmap image on an object using a laser (only for Dobot Magician) Teaching and Playback Lab Teach the Dobot Magician Lite how to move and then record the...
Page 28: Blockly Programming
DobotBlock Lab is specially designed for beginners in programming. You can program by dragging blocks to control the movement of Dobot Magician Lite. Prerequisites Dobot Magician Lite has been powered on, and connected to DobotLab. Procedure Issue V1.9.1 (2022-06-08) User Guide...
Page 29 Figure 5.6 Choose Magician Lite Figure 5.7 Add an extension NOTE If you need to connect Magic Box when using Magician Lite, choose Magic Box in Step 2 after clicking . In addition, you need to choose Magician Lite in Step 3, as shown below.
Page 31 Dobot Magician Lite User Guide (DobotLab-based) Figure 5.10 Connect device Figure 5.11 Device connected • Set parameters corresponding to each block based on actual requirements. • The program written with blocks requires triggering conditions to run. Therefore, you need to select a command from the event block as the triggering condition.
Page 32 Dobot Magician Lite User Guide (DobotLab-based) Figure 5.12 Blockly programming If you need to set sprites and stages in the program, follow Step 7~ Step 10. Issue V1.9.1 (2022-06-08) User Guide Copyright © Yuejiang Technology Co., Ltd.
Page 34: Python Programming
Figure 5.15 Choose stage Figure 5.16 Sprite programming Python Programming You can control Dobot Magician Lite through script. Magic Box provides various APIs, such as velocity/acceleration setting, motion mode setting, and I/O configuration, which uses Python language for secondary development.
Page 35 Dobot Magician Lite User Guide (DobotLab-based) Figure 5.17 Python main page Table 5.2 Python Lab main interface Function Description Program control : Start to run the program in the Code area : Download the current program from the Code area to Magic...
Page 36 Code area Code area Area for writing programs Running Log Display running process Prerequisites Dobot Magician Lite has been powered on and connected to DobotLab. Procedure Figure 5.18 Connect device Figure 5.19 Device connected Issue V1.9.1 (2022-06-08) User Guide...
Page 37: Writing And Drawing
Dobot Magician Lite User Guide (DobotLab-based) Figure 5.20 Write Python programs Figure 5.21 Save the project NOTE The script can be downloaded from DobotLab to Magic Box only in wired control mode. Writing and Drawing Figure 5.22 shows the process of writing and drawing.
Page 38: Installing A Writing And Drawing Kit
Dobot Magician Lite User Guide (DobotLab-based) Figure 5.22 The process of writing and draw Installing a Writing and Drawing Kit A writing and drawing kit consists of a pen and a pen holder. The specific installation steps are shown below.
Page 39: Drawing Operations (Without Sliding Rail)
Dobot Magician Lite User Guide (DobotLab-based) Figure 5.23 Install a writing and drawing kit NOTE  If you need to change the ink tube, unscrew the suction tube inside the pen, and then replace it with the ink tube that came with the box. After replacement, keep the pen straight down for 2 minutes before using it, as shown in Figure 5.24.
Page 40 Figure 5.26 Connect device Figure 5.27 Device connected 5.5.2.2 Importing Image Files and Setting Writing Parameters Before the Magician Lite starts to write and draw, you need to import an image or enter characters as the target model. Figure 5.28 Add text Issue V1.9.1 (2022-06-08)
Page 41 Dobot Magician Lite User Guide (DobotLab-based) NOTE The image in the drawing area should be placed within the annular area. If not, the robot arm reaches its limited position and cannot draw or write. In this case, the image is highlighted with a red border, as shown below.
Page 42 Dobot Magician Lite User Guide (DobotLab-based) Figure 5.30 Set pen lifting height, descent height and speed NOTE Generally, you can set the pen lifting height and descent height to 20 by default. Figure 5.31 Figure 5.31 Adjust the pen nib Issue V1.9.1 (2022-06-08)
Page 43 Dobot Magician Lite User Guide (DobotLab-based) NOTE If you do not click Synchronize before running, the image can also be drawn normally. After you click Run, the robot arm moves directly over the starting point to draw. 5.5.2.3 Drawing Figure 5.32 Drawing progress Figure 5.33 Save the project...
Page 44: Installing A Sliding Rail Kit
For details, refer to 5.8Working in Offline Mode. Installing a Sliding Rail Kit When the workspace of Dobot Magician Lite is not enough, you can extend the space with a sliding kit, so as to realize such tasks as long-distance picking, writing couplets and so on.
Page 46 Dobot Magician Lite User Guide (DobotLab-based) Figure 5.37 Connect to wire set Figure 5.38 Connect to Magic Box Figure 5.39 Interfaces on the other end of the wire set Issue V1.9.1 (2022-06-08) User Guide Copyright © Yuejiang Technology Co., Ltd.
Page 47: Drawing Operations (With A Sliding Rail)
This section describes how to use a sliding rail for writing. Prerequisites  The sliding rail kit has been installed and connected to the Dobot Magician Lite through Magic Box.  Dobot Magician Lite has been powered on and connected to DobotLab successfully.
Page 48 Dobot Magician Lite User Guide (DobotLab-based) Figure 5.41 Connect device Figure 5.42 Device connected 5.5.4.2 Connecting Sliding Rail Issue V1.9.1 (2022-06-08) User Guide Copyright © Yuejiang Technology Co., Ltd.
Page 49 Dobot Magician Lite User Guide (DobotLab-based) Figure 5.43 Enable sliding rail Figure 5.44 Drawing area (sliding rail connected) Issue V1.9.1 (2022-06-08) User Guide Copyright © Yuejiang Technology Co., Ltd.
Page 50 Dobot Magician Lite User Guide (DobotLab-based) NOTICE Before you click Home, please take the pen off or raise the Dobot Magician arm up. 5.5.4.3 Importing Image/Text and Setting Parameters Figure 5.45 Add image NOTE  The image in the drawing area should be placed within the rectangular area and should not touch the boundary line or any separator line.
Page 51 Dobot Magician Lite User Guide (DobotLab-based) Figure 5.46 Touch separator line  If the coordinate system of the imported image and the drawing area are set differently, the imported image will be displayed in an inverted direction. In this case, you can flip the image to the correct direction.
Page 52 If you want to set an action to dip the pen into the ink, you can press Unlock key and drag the Magician Lite to a point, and then release the key to get this position. Right-click a position on the drawing area and select Add Trigger Line, as shown in Figure 5.49.
Page 53 Dobot Magician Lite User Guide (DobotLab-based) Figure 5.49 Add trigger line A blue trigger line appears in the drawing area. Move the trigger line to a proper position, as shown in Figure 5.50. Figure 5.50 Move trigger line Click to enter the “Trigger Trajectory” page for setting ink dipping actions, as shown in Figure 5.51.
Page 54 Unlock key to record the first point. as shown in Figure 5.52. Figure 5.52 Save the first point NOTICE Make this point higher within the workplace of Magician Lite to prevent the writing brush from touching the inkstone. Move the forearm to the inkstone positions shown in Figure 5.53, and record Issue V1.9.1 (2022-06-08)
Page 55 Dobot Magician Lite User Guide (DobotLab-based) these points on the “Trigger Trajectory” page. Figure 5.53 Simulate the actions of ink dipping Drag the forearm to raise the writing brush up, for avoiding touching the inkstone. NOTICE As the inkstone has its own height, you need to set a suitable rising height to prevent the writing brush from touching the inkstone.
Page 56: Teaching And Playback
This section introduces how to perform a teaching & playback task to suck or grab an object. Installing a Suction Cup Kit Magician Lite has a built-in air pump, and its end-effector is suction cup by default, as shown in Figure 5.56.
Page 57 Dobot Magician Lite User Guide (DobotLab-based) Figure 5.56 Suction cup kit Procedure Figure 5.57 Install a suction cup kit Issue V1.9.1 (2022-06-08) User Guide Copyright © Yuejiang Technology Co., Ltd.
Page 58: Installing A Gripper Kit
Figure 5.59 Gripper kit Install the gripper kit to Magician Lite in the same way as the suction cup kit is installed. For details, refer to 5.6.1 Installing a Suction Cup Kit. Figure 5.60 shows the effect of the gripper kit installation.
Page 59: Teaching & Playback Operation
Dobot Magician Lite User Guide (DobotLab-based) Figure 5.60 Effect of the gripper kit installation Teaching & Playback Operation The main interface of Teaching and Playback Lab is shown in Figure 5.61, and the specific description is listed in Table 5.3.
Page 60 Dobot Magician Lite User Guide (DobotLab-based) Table 5.3 Description on Teaching and Playback Lab Modules Description Program control : Start to run the program in the Code area : Download the current program in the Code area to Magic Box...
Page 63 Any two points cannot coincide.  The three points cannot be in the same straight line.  The arc trajectory cannot exceed the normal workspace of Dobot Magician Lite. Issue V1.9.1 (2022-06-08) User Guide Copyright © Yuejiang Technology Co., Ltd.
Page 64: Homing
When Magician Lite executes homing operation, it just returns to the home position without calibrating the accuracy. If Magician Lite has been hit or the motor has lost steps, you need to press the Unlock button on the forearm to restore the encoder value and improve the positioning accuracy.
Page 65 Please ensure that there are no obstacles within the workspace during homing. Magician Lite will rotate to the default homing point automatically and the LED indicator on the base flashes blue. After the homing is successful, there is a beep sound and the LED indicator turns green.
Page 66: Working In Offline Mode
Figure 5.70 Set homing point Working in Offline Mode Offline mode allows the Magician Lite to perform the points in the Save points list that you have downloaded from DobotLab to Magic Box, without keeping the USB connection established. Prerequisites •...

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