Dobot Magician E6 User Manual
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Dobot Magician E6 User Manual

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用户手册
Issue: V1.3
Date: 2024-01-16
Shenzhen Yuejiang Technology Co.,Ltd.|China

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  • Page 1 用户手册 Issue: V1.3 Date: 2024-01-16 Shenzhen Yuejiang Technology Co.,Ltd.|China...
  • Page 2 AS IS, which may have flaws, errors or faults. Dobot makes no warranties of any kind, express or implied, including but not limited to, merchantability, satisfaction of quality, fitness for a particular purpose and non-infringement of third party rights.
  • Page 3 Dobot Magician E6 User Guide Preface Purpose This document introduces the functions, technical specifications and installation procedure of Dobot Magician E6 robots, which is convenient for users to understand and use the robot. Intended Audience This document is intended for: Customer ...

  • Page 4: Table Of Contents

    Dobot Magician E6 User Guide Contents 1. Safety ......................... 1 1.1 Liability ..........................1 1.1.1 Validity and responsibility ................... 1 1.1.2 Limitation of liability ..................1 1.1.3 Intended use ......................1 1.2 Safety warning signs ......................2 1.3 General safety ........................2 1.4 Personal safety ........................
  • Page 5 Dobot Magician E6 User Guide 7.3 Robot installation ......................24 7.3.1 Robot installation....................24 7.3.2 Tool installation ....................25 7.4 Wiring ..........................26 7.5 Debugging ........................27 8. Maintenance ......................28 8.1 Safety instructions ......................28 8.2 Robot maintenance......................28 9.

  • Page 6: Safety

    1.1.2 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. 1.1.3 Intended use The Dobot Magician E6 is a collaborative robot designed for education and scientific research (only for general education and research purposes, such as robotics teaching with a training system).

  • Page 7: Safety Warning Signs

    Dobot Magician E6 User Guide Use over-stated specifications.  Use as a climbing aid.  1.2 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 Magician E6 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, make sure that the robot maintains the original  packing posture and the brakes of each axis are normal.

  • Page 10: Personal Safety

    Dobot Magician E6 User Guide WARNING Before the operation, please wear protective clothing, such as antistatic uniform,  protective gloves, and protective shoes. It is prohibited to modify or remove the nameplates, instructions, icons and marks  on the robot and the related equipment.

  • Page 11: Emergency

    Dobot Magician E6 User Guide 1.5 Emergency 1.5.1 Emergency stop switch After you press the emergency stop switch in emergencies, the robot will immediately stop all motions and be locked. According to IEC 60204-1 and ISO 13850, the emergency stop switch is not a safeguard.

  • Page 12: 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 13: Product Introduction

    Figure 3.1 Operating terminal 3.2 Composition Magician E6 robot, as shown in Figure 3.2, includes a base, 6 rotating motion joints, and two connecting rods (upper arm and forearm), with an aviation socket on the side of its end flange.

  • Page 14: Indicator Light And Buttons

    Dobot Magician E6 User Guide Figure 3.2 Magician E6 3.3 Indicator light and buttons The Magician E6 robot is equipped with a circle of status indicators near the J1 and J6 joints, with the meanings described below: Table 3.1 Indicator lightS...
  • Page 15 Dobot Magician E6 User Guide There are multiple buttons at the end and base, as shown in Figure 3.3. Figure 3.3 Button position Power switch. Short-press (in 0.5s) to switch on; Long press for 1.5s in power-on  state, the indicator light will flash red fast, and then release the button to turn off the power.

  • Page 16: Operating Terminal

    See the instructions on mode switch in the DobotStudio Pro user guide for details. 3.4 Operating terminal The Magician E6 robot supports control through PC and App, as shown in Table 3.2. Table 3.2 Operating terminal parameters Terminal type...

  • Page 17: Product Features

    Dobot Magician E6 User Guide Product Features 4.1 Coordinate system 4.1.1 Joint coordinate system The joint coordinate system is determined based on all motion joints. All joints are rotating joints, as shown in Figure 4.1. Figure 4.1 Joint coordinate system 4.1.2...

  • Page 18: Tool Coordinate System

    Dobot Magician E6 User Guide Figure 4.2 User coordinate system 4.1.3 Tool coordinate system The tool coordinate system defines the tool center point (TCP) and tool posture, of which the origin and orientations vary with the position and angle of the workpiece at the end of robot. The default tool coordinate system is determined based on the center point of the end flange.

  • Page 19: Home Posture

    Dobot Magician E6 User Guide 4.2 Home posture When the robot arm is in the vertical state shown in Figure 4.4, the angle of each joint is 0 degree. This posture is called the home posture. There is a home-point score at each joint of the robot (red line shown below).

  • Page 20: Elbow Singularity

    Dobot Magician E6 User Guide 4.3.2 Elbow singularity When the upper arm and forearm are in the same line, it will lead to singularity. When the intersection of the J5 axis and the J6 axis of the robot arm is located in the plane formed by the J1 axis and the J2 axis, it will lead to singularity, Figure 4.6 Elbow singularity...

  • Page 21: Mechanical Specifications

    Dobot Magician E6 User Guide Mechanical Specifications All dimensions in this chapter are in millimeters (mm). 5.1 Dimensions and working space When selecting the installation position for the robot, you must consider the cylindrical space directly over and under the robot, and try to avoid moving the tool to the cylindrical space. Because this will cause the joints to rotate too fast while the tool moves slowly, resulting in low working efficiency of the robot and difficult risk assessment.

  • Page 22: Base Installation Dimensions

    Dobot Magician E6 User Guide 5.2 Base installation dimensions Figure 5.2 Base installation dimensions 5.3 Base plate dimensions The thickness of the installation board is 6 mm. Figure 5.3 Base board dimensions Issue V1.3（2023-01-16） User Guide Copyright © Yuejiang Technology Co., Ltd.

  • Page 23: Flange Dimensions

    Dobot Magician E6 User Guide 5.4 Flange dimensions Figure 5.4 End flange dimensions Issue V1.3（2023-01-16） User Guide Copyright © Yuejiang Technology Co., Ltd.

  • Page 24: Electrical Features

    Dobot Magician E6 User Guide Electrical Features 6.1 Base interface 6.1.1 Overview The base interface panel is shown below. Description Emergency stop switch interface For connecting emergency stop switch. See 6.1.2Emergency stop switch interface. Digital I/O interface Universal DI/DO. See 6.1.3Digital I/O interface.

  • Page 25: Emergency Stop Switch Interface

    Dobot Magician E6 User Guide 6.1.2 Emergency stop switch interface The emergency stop switch is included in the shipping accessories, which has been connected to the wiring terminals. You just need to plug it into the corresponding interface. If you use a self-prepared emergency stop switch, please wire as below.

  • Page 26: Encoder Interface

    Dobot Magician E6 User Guide The wiring of DO connected to external load is shown below. Figure 6.4 DO connected to external load 6.1.4 Encoder interface The socket pins of the encoder interface are distributed and defined as follows. Name...
  • Page 27 Dobot Magician E6 User Guide are distributed and defined as follows. The tool digital inputs and digital outputs are PNP type. WARNING When connecting end tools, ensure that power interruptions do not cause any hazards, such as a workpiece falling off the tool.

  • Page 28: Installation And Use

    Dobot Magician E6 User Guide Installation and Use 7.1 Installation environment To maintain the performance of the robot and ensure safe use, please place the robot in an environment with the following conditions. NOTICE Please make sure that the installation environment meets the following conditions to avoid damage.

  • Page 29: Robot Installation

    Dobot Magician E6 User Guide 7.3 Robot installation 7.3.1 Robot installation Dobot Magician E6 robot supports both standard and side mounting. Here shows several typical mounting positions. NOTE The installation posture in the middle of the figure is the standard mounting angle.

  • Page 30: Tool Installation

    Dobot Magician E6 User Guide Figure 7.2 E6 installation steps You can also fix the robot on the base plate, and fix the base plate on the installation platform using M4 screws or G-type cramps (maximum clip distance: 55 cm). You can refer to 5.3Base plate dimensions for the specific dimensions of the base plate.

  • Page 31: Wiring

    Dobot Magician E6 User Guide 7.4 Wiring Figure 7.4 Wiring diagram 1. Plug the emergency stop switch cable into the emergency stop switch interface. 2. Plug one end of the power cable into the power interface and the other end into the corresponding external power supply.

  • Page 32: Debugging

    Dobot Magician E6 User Guide 7.5 Debugging After turning on the external power supply, short-press the power switch. When the indicator lights of the robot arm turn blue, you can connect the robot arm, enable and jog it for debugging through the operation terminal.

  • Page 33: Maintenance

    Robots or parts returned to Dobot should follow the instructions below: 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 34 4 mm / 0.157 in 4 Nm The tightening torques vary depending on the types of base metal or screws. When it is not specified, please contact Dobot technical support engineers. Issue V1.3（2023-01-16） User Guide Copyright © Yuejiang Technology Co., Ltd.

  • Page 35: Warranty

    12 months (15 months at most if the shipping time is included) after the device is put into use, Dobot shall provide the necessary spare part, and the user (customer) shall offer personnel to replace the spare part, using another part that represents the latest technology level to replace or repairing the related part.

  • Page 36: Appendix Technical Specifications

    Dobot Magician E6 User Guide Appendix Technical Specifications Parameter Value Weight 7.2kg Freedom degree Maximum load 750g Maximum working radius 450mm Repeatability ±0.1mm Maximum tool speed 0.5m/s ±360° ±135° ±154° Joint working range ±160° ±173° ±360° Maximum joint speed (J1-J6) 120°/s...
  • Page 37 Dobot Magician E6 User Guide Installation method Floor mounting Material Aluminum alloy, ABS Issue V1.3（2023-01-16） User Guide Copyright © Yuejiang Technology Co., Ltd.

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