Dobot M1 Pro Hardware User's Manual
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Dobot M1 Pro Hardware User's Manual

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Summary of Contents for Dobot M1 Pro

  • Page 1 User Guide...
  • 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 M1 Pro Hardware User Guide Preface Purpose This Document describes the functions, technical specifications, installation guide of Dobot M1 Pro robot, making it easy for users to fully understand and use it. Intended Audience This document is intended for: ...

  • Page 4: Table Of Contents

    Dobot M1 Pro Hardware User Guide Contents Safety ......................... 1 Liability ..........................1 Validity and responsibility ................... 1 Limitation of liability ..................1 Intended use ......................1 Safety warning signs ......................2 General safety ........................2 Personal safety ........................6 Emergency ........................
  • Page 5 Dobot M1 Pro Hardware User Guide Safety Instructions ......................23 Body Maintenance ......................23 Appendix A Technical Specifications ............... 25 Appendix B Digital Circuit Description ..............27 Issue V1.3 (2023-02-02) User Guide Copyright © Yuejiang Technology Co., Ltd...

  • Page 6: Safety

    Limitation of liability Any safety information provided in this document should not be construed as a warranty, by Dobot. The robot may cause injury or damage even if all safety instructions are observed. Intended use Dobot M1 Pro robots are collaborative robots only for general industrial use, such as processing or delivering components or other products through end tools.

  • Page 7: Safety Warning Signs

    Dobot M1 Pro Hardware User Guide • Use before performing a risk assessment. • Use over-stated specifications. Safety warning signs The following safety warning signs may appear in this document, and their meanings are described as follows. The same safety warning signs are also used in the products.
  • Page 8 Do not expose the robot to permanent magnetic fields all the time. Strong magnetic fields can cause damage to the robot.  Dobot assumes no responsibility for robot damage or personal injury caused by failure to follow product instructions or other improper operations. ...
  • Page 9 Dobot M1 Pro Hardware User Guide  Dobot is not responsible for any damage caused during the transportation and handling of equipment.  Make sure that the robot is in the packing posture before packaging, and the brakes on each axis are normal.
  • Page 10 Dobot M1 Pro Hardware User Guide  Avoid dismantling the power supply system in the controller. After the controller is turned off, its power supply system may still have high voltage for several hours.  Please contact our technical support staff for the disassembly and repair of the robot.

  • Page 11: Personal Safety

    Dobot M1 Pro Hardware User Guide  Any impact will release a lot of kinetic energy, which is much higher than that under high speed and high load. Personal safety When operating the robot system, please strictly follow the general precautions listed below to ensure the personal safety of the operator.

  • Page 12: Forced Joint Movement

    Dobot M1 Pro Hardware User Guide WARNING  Please operate the robot to recover from the emergency only after the danger of the robot system is completely removed. Forced joint movement In the unlikely event of an emergency, you may need to move the robot joint/s when the robot power is either impossible or unwanted.

  • Page 13: Transportation

    Ensure that the operator is not unduly stressed on their back or other body parts when lifting the equipment, and use appropriate lifting equipment if necessary.  Dobot shall not be held responsible for any damage caused by transportation of the equipment. ...

  • Page 14: Product Introduction

    Various I/O and communication interfaces can meet the use of users in different scenarios. The Dobot M1 Pro controller is installed in the base, and the motion part includes 3 rotation joints (J1, J2, J4), a vertical movement joint (J4) and two connecting rods of the rear arm and the forearm, as shown in the figure below.

  • Page 15: Indicator Light

    Dobot M1 Pro Hardware User Guide Indicator light There is a strip indicator light on the top of the M1 Pro to indicate the status of the robotic arm, and its meanings are as follows: ⚫ White flashing: The system is starting up.

  • Page 16: Product Features

    Pro can move to nearly any position and orientation within a given work envelope. You need to specify the arm orientation when M1 Pro is moving. If you fail to do so, M1 Pro may move following an unexpected path, resulting in interference with peripheral equipment. The arm orientations are shown in Figure 4.1 and Figure 4.2.

  • Page 17: Joint Coordinate System

    Joint coordinate system The Joint coordinate system is determined by the motion joints. Figure 4.3 shows the Joint coordinate system of a M1 Pro robot. M1 Pro contains four joints.  J1, J2, and J4 are the rotating joints, which are located and oriented in the horizontal plane.

  • Page 18: Tool Coordinate System

    Dobot M1 Pro Hardware User Guide Figure 4.4 The default User coordinate system of M1 PRO robot Tool coordinate system Tool coordinate system is the coordinate system that defines the distance and rotation angle of the offset, of which the origin and orientations vary with the position and attitude of the workpiece located at the robot flange.

  • Page 19: Home Posture

    The posture when all the joint angles/position of the robot are 0 degrees/mm is called the home posture, as shown in the figure below. Figure 4.6 Home posture of M1 Pro robot If the home point of the robotic arm changes due to the replacement of transmission parts or collision, you can use the calibration block and control software in the delivery accessories to calibrate.

  • Page 20: Mechanical Specifications

    Figure 5.1 M1 Pro dimension Base and end-effector dimension You can install the matching gripper, suction cup on the end of the M1 Pro for transporting and intelligent sorting. Figure 5.2 shows the dimension of end-effector. Figure 5.2 Base and End-effector dimension Issue V1.3 (2023-02-02)

  • Page 21: Robot Workspace

    Dobot M1 Pro Hardware User Guide Robot workspace Figure 5.3 shows the workspace of M1 Pro robot. NOTICE When operating the robot, be sure to operate inside the workspace. Figure 5.3 M1 Pro robot workspace Robot load curve The load offset that the robot can bear is within 100mm from the J4 axis, that is, the center of mass of the load needs to be within the range of the cylinder 100mm from the center of the end flange;...

  • Page 22: Electrical Specifications

    Dobot M1 Pro Hardware User Guide Electrical Specifications Interface of base Interface overview Figure 6.1 shows the interface panel of the base. Table 6.1 lists the description. Figure 6.1 Interface panel of the base Table 6.1 Interface description Screen printing...

  • Page 23: Base I/O Interface

    Dobot M1 Pro Hardware User Guide interface of the M1 Pro is shown in Figure 6.2，Table 6.2 lists the description of Encoder interface. Encoder Figure 6.2 Encoder interface Table 6.2 Encoder Interface description Description ABZ_A+ ABZ_A- ABZ_B+ ABZ_B- ABZ_Z+ ABZ_Z-...

  • Page 24: End-Effector I/O Interface Description

    Figure 6.7 DO connected to external load (with external power supply) End-effector I/O Interface Description The end-effector I/O interfaces of the M1 Pro include a RS485 interface, 4 digital inputs and 4 Issue V1.3 (2023-02-02) User Guide...
  • Page 25 Dobot M1 Pro Hardware User Guide digital outputs, as shown in Figure 6.8, Table 6.3 lists the description of End-effector I/O interface. Figure 6.8 End-effector I/O interface Table 6.3 End-effector I/O interface description Description DO17 DO18 DO19 DO20 unused unused...

  • Page 26: Installation

    USB interface of the base without connecting the network cable. Press the power switch. After the robot is started, you can use the control software (DobotStudio Pro or Dobot CRStudio) to control the robot. See the user manual of the Issue V1.3 (2023-02-02) User Guide Copyright ©...
  • Page 27 Dobot M1 Pro Hardware User Guide corresponding software for details. Figure 7.1 M1 Pro wiring Issue V1.3 (2023-02-02) User Guide Copyright © Yuejiang Technology Co., Ltd...

  • Page 28: 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 29 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 V1.3 (2023-02-02) User Guide...

  • Page 30: Appendix A Technical Specifications

    Dobot M1 Pro Hardware User Guide Appendix A Technical Specifications Table 8.3 M1 Pro technical parameters Product DOBOT M1 Pro Model DT-M1-P4R15-01I Weight 15.7kg Max load 1.5kg Reach 400mm Power supply 100~240 VAC，50/60Hz Rated voltage DC48V Installation Table installation, indoor...
  • Page 31 Dobot M1 Pro Hardware User Guide Ethernet USB 2.0 Temperature range Storage temperature：-25℃~55℃ Working temperature：0℃~40℃ Safety Standard EN ISO 10218-1:2011 Steel wire and wire products. General. Test methods EN 60204-1:2018 Safety of machinery. Electrical equipment of machines. General requirements EN ISO 12100:2010 Safety of machinery. General principles for design. Risk...

  • Page 32: Appendix B Digital Circuit Description

    Dobot M1 Pro Hardware User Guide Appendix B Digital Circuit Description Digital Input Item Specification Input channel 16 channels Connection method Crimping terminal Input type Input voltage (DC) 24V±10% Isolation method Optical coupling isolation Digital Output Item Specification Output channel...

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