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User Guide Dobot Magician User Guide Issue: V1.6.1 Date: 2018-06-12 Shenzhen Yuejiang Technology Co., Ltd
Dobot Magician User Guide
Copyright ShenZhen Yuejiang Technology Co., Ltd 2018. 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 Disclaimer To the maximum extent permitted by applicable law, the products described (including its hardware, software and firmware, etc.) in this document are provided AS IS, which may have flaws, errors or faults. Yuejiang 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. In no event will Yuejiang be liable for any special, incidental, consequential or indirect damages resulting from the use of our products and documents. Before using our product, please thoroughly read and understand the contents of this document and related technical documents that are published online, to ensure that the robotic arm is used on the premise of fully understanding the robotic arm and related knowledge. Please use this document with technical guidance from professionals. Even if follow this document or any other related instructions, Damages or losses will be happen in the using process, Dobot shall not be considered as a guarantee regarding to all security information contained in this document. The user has the responsibility to make sure following the relevant practical laws and regulations of the country, in order that there is no significant danger in the use of the robotic arm. Shenzhen Yuejiang Technology Co., Ltd Address: 4F, A8, Tanglang Industrial Area, Taoyuan Street, Nanshan District, Shenzhen, PRC Website: www.dobot.cc Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. i
Dobot Magician User Guide Preface Purpose Preface 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:
y Customer Engineer y y y Technical Support Engineer Sales Engineer Installation and Commissioning Engineer Change History Date Change Description 2018/09/11 Updated the connection figure between Dobot Magician and sliding rail 2018/06/12 The first release Symbol Conventions The symbols that may be founded in this document are defined as follows. Symbol Description DANGER WARNING NOTICE NOTE Indicates a hazard with a high level of risk which, if not avoided, could result in death or serious injury Indicates a hazard with a medium level or low level of risk which, if not avoided, could result in minor or moderate injury, robotic arm damage Indicates a potentially hazardous situation which, if not avoided, can result in robotic arm damage, data loss, or unanticipated result Provides additional information to emphasize or supplement important points in the main text Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. ii
Dobot Magician User Guide Contents Contents 1. 2. 3. 4. 5. 3.2 3.4 3.3 3.1 2.4 2.2 2.1 2.3 3.3.2 Security Precautions ................................................................................................ 1 1.1 General Security ................................................................................................................. 1 Precautions .......................................................................................................................... 2 1.2 Quick Start ............................................................................................................... 4 Connecting Cables to the Dobot Magician......................................................................... 4 Installing the DobotStudio .................................................................................................. 5 System Requirements ............................................................................................ 5 2.2.1 Obtaining the DobotStudio Package ..................................................................... 6 2.2.2 Installing the DobotStudio .................................................................................... 6 2.2.3 Verifying the Installation ....................................................................................... 8 2.2.4 Powering On/Off the Dobot Magician ............................................................................. 10 Getting Started .................................................................................................................. 10 Introduction ............................................................................................................ 18 Overview ........................................................................................................................... 18 Appearance and Constitute ............................................................................................... 18 Working Principle ............................................................................................................. 18 Workspace ........................................................................................................... 18 3.3.1 Coordinate System .............................................................................................. 20 Motion Function .................................................................................................. 21 3.3.3 Technical Specifications ................................................................................................... 23 Technical Parameters .......................................................................................... 23 3.4.1 Sizes .................................................................................................................... 24 3.4.2 Interface Description ............................................................................................. 26 Interface Board ................................................................................................................. 26 LED Indicator ................................................................................................................... 28 Multiplexed I/O Interface Description ............................................................................. 28 Multiplexed Base I/O Interface Description ....................................................... 28 4.3.1 Multiplexed Forearm I/O Interface Description ................................................. 30 Operation ................................................................................................................ 31 Introduction to the DobotStudio ....................................................................................... 31 Function Modules ............................................................................................... 31 5.1.1 Common Areas of DobotStudio Page ................................................................. 33 5.1.2 Performing Teaching & Playback Tasks........................................................................... 35 Installing a Suction Cup Kit ................................................................................ 35 5.2.1 Installing a Gripper Kit ....................................................................................... 38 5.2.2 Teaching & Playback Page ................................................................................. 40 ARC Motion Mode ............................................................................................. 43 Teaching & Playback Example ........................................................................... 46 5.2.5 Working in Offline Mode ................................................................................................. 52 Writing and Drawing ........................................................................................................ 54 Installing a Writing and drawing kit ................................................................... 54 5.4.1 Connecting the DobotStudio ............................................................................... 55 5.2.3 5.2.4 5.4.2 4.3.2 5.4 5.2 5.3 4.1 4.2 4.3 5.1 Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. iii
Dobot Magician User Guide Contents 5.5 5.6 5.7 5.8 5.9 5.10 5.11 5.12 5.13 5.14 5.15 5.16 5.17 Importing Image Files and Setting Writing Parameters ..................................... 57 5.4.3 Adjust the Position of the Pen Nib ...................................................................... 63 5.4.4 Performing Laser Engraving Tasks .................................................................................. 65 Installing a Laser Kit ........................................................................................... 66 5.5.1 Connecting the DobotStudio ............................................................................... 68 5.5.2 Importing Image Files and Setting Engraving Parameters ................................. 70 5.5.3 Adjust the Laser Focus and Start to Grave ......................................................... 76 5.5.4 Engraving a Grayscale Image ........................................................................................... 81 Installing a Grayscale-engraving Kit .................................................................. 82 5.6.1 Connecting the DobotStudio ............................................................................... 82 5.6.2 Importing Image Files and Setting Engraving Parameters ................................. 84 5.6.3 Adjust the Laser Focus and Start to Engrave...................................................... 87 5.6.4 Controlling with your Hand Gesture ................................................................................ 92 Installing a Leap Motion Controller ................................................................... 92 5.7.1 Leap Motion Demo ............................................................................................. 93 5.7.2 Controlling with your Mouse ........................................................................................... 96 Operating 3D Printing .................................................................................................... 100 Installing 3D Printing Kit .................................................................................. 101 5.9.1 Operating Repetier Host.................................................................................... 106 Operating Cura .................................................................................................. 121 5.9.3 Calibration ...................................................................................................................... 127 Base Calibration ................................................................................................ 127 5.10.1 Sensor Calibration ............................................................................................. 130 Homing .............................................................................................................. 140 5.10.3 Connecting with WIFI Kit .............................................................................................. 141 Connecting with Bluetooth Kit ....................................................................................... 144 Operating Blockly ........................................................................................................... 146 Scripting .......................................................................................................................... 148 Operating Stick Controller Kit ....................................................................................... 149 Operating Sliding Rail ........................................................................ ! Installing sliding rail ............................................................. ! 5.16.1 Sliding Rail Parameter Description ...................................... ! Demo Description ................................................................. ! 5.16.3 Multiplexed I/O Demo .................................................................................................... 152 Level Output ...................................................................................................... 153 5.17.1 Level Input ........................................................................................................ 155 PWM OUTPUT ................................................................................................ 157 5.17.2 5.17.3 5.10.2 5.16.2 5.9.2 Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. iv
Dobot Magician User Guide 1 Security Precautions 1. 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 to be carried out in an environment meeting design specifications, you cannot remold the product without authorization, otherwise it could lead to product failure, and even personal injury, electric shock, fire, etc. The installation personnel, operators, teaching personnel, and programmers of the robotic arm must read this document carefully and use the robotic arm strictly according to the regulations of this document strictly. 1.1 General Security DANGER Robotic arm is an electrical equipment. Non-professional technicians cannot modify the wire, otherwise it is vulnerable to injury the device or the person. The following security rules should be followed when using the robotic arm. y You should comply with local laws and regulations when operating the robotic arm. The security precautions in this document are only supplemental to local laws and regulations. y The DANGER, WARNING, and NOTICE marks in this document are only supplemental to the security precautions. y specifications and load conditions will shorten the service life of the product even Please use the robotic arm in the specified environment scope. If not, exceeding the damage the equipment. y Before operating and maintaining the robotic arm, the personnel responsible for the installation, operation and maintenance must be trained to understand the various security precautions and to master the correct methods of operation and maintenance. y Highly corrosive cleaning is not suited to cleaning the robotic arm. The anodized components are not suitable for immersion cleaning. y If there is a problem with the robotic arm, please contact Dobot technical support People cannot repair and disassemble the robotic arm without professional training. Please comply with the relevant laws to deal with the product which is scrapped, engineer in time. y and protect the environment. y There are small parts in the packing box, Please keep them away from children, to avoid any accidents. y DO NOT let children play with the robotic arm alone. All processes need to be monitored while running. After processes have finished, please turn off the equipment promptly. y DO NOT put hands into the workspace of the robotic arm while running, to avoid Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 1
Dobot Magician User Guide 1 Security Precautions bruising or pinching. y Be careful during the robotic arm carrying or installing. Please follow the instructions on the packing box to put down the robotic arm gently and place it correctly in direction of arrow. y Commissioning of the incomplete machine is prohibited until it has been installed in a machine and the whole machine complies with the provisions of the Machinery Directive (2006/42/EC). y on the robotic arm and the related equipment. y using. It is prohibited to modify or remove the nameplates, instructions, icons and marks Please refer to Dobot Magician User Guide along with the packing box before 1.2 Precautions Please make the Dobot Magician in the workspace with a 45 angle between the y Forearm and Rear Arm (as shown in Figure 1.1) before starting up. If the LED indicator turns red after starting up, it indicates that the Dobot Magician is at a limited position. Please make the Dobot Magician in the workspace. Figure 1.1 The Forearm and Rear Arm position y Dobot Magician will move slowly to the specific position when shutdown. DO NOT put hands into the workspace of the Dobot while running, to avoid bruising or pinching. Only once the LED indicator completely turns off, the Dobot Magician can be powered down. y 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. y During resetting, Dobot Magician will disconnect from the PC automatically and the LED indicator on the base turns yellow. About 5 seconds later, if the LED indicator turns green, it indicates that the reset is successful. y During homing, Dobot Magician will rotate clockwise to the limited position and then return to the homing point automatically, and the LED indicator on the base turns blue and is blinking. After homing, if there is a beep sound and the LED Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 2
Dobot Magician User Guide 1 Security Precautions indicator turns green, it indicates that the homing is successful. Please turn off the Dobot Magician completely first before connecting or y disconnecting external equipment, such as Bluetooth, WIFI, stick controller, infrared Please wear the lasing protective eyeglass when using the laser module. Please sensor, color sensor, etc. Or, it causes damage to your device. y protect your eyes and skin from the laser. y The heating rod will produce high temperature up to 250 when using the 3D printing module, please be careful. y avoid machine damage. Please DO NOT operate or turn off Dobot Magician when burning firmware, to Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 3
Dobot Magician User Guide 2 Quick Start 2. 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. Figure 2.1 The process of getting started with the Dobot Magician 2.1 Connecting Cables to the Dobot Magician Step 1 Connect the Dobot Magician to your computer with the supplied USB cable, as shown in Figure 2.2. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 4
Dobot Magician User Guide 2 Quick Start Figure 2.2 Connect the Dobot Magician to your computer Step 2 Connect the Dobot Magician to the electrical outlet with the supplied power adapter, as shown in Figure 2.3. Figure 2.3 Connect the Dobot Magician to the electrical outlet 2.2 Installing the DobotStudio With the DobotStudio, you can control Dobot Magician to implement functions such as Teaching & Playback, fully programmable applications, and 3D printing. This topic introduces Teaching & Playback. 2.2.1 System Requirements The DobotStudio supports the following Windows and macOS versions. y Windows 7, Windows 8, and Windows 10 (This manual is explained based on this version) Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 5
Dobot Magician User Guide y macOS 10.10, macOS 10.11, and macOS 10.12 2.2.2 Obtaining the DobotStudio Package 2 Quick Start Before using Dobot Magician, download the Windows DobotStudio package from https://www.dobot.cc/downloadcenter.html. The macOS version is also downloadable in this URL. 2.2.3 Prerequisites Installing the DobotStudio The DobotStudio package has been obtained. Procedure Step 1 Unpack the DobotStudio package to a destination directory. 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 2.4. Step 2 Figure 2.4 The Select Setup Language dialog box Step 3 Choose a setup language such as English, as shown in Figure 2.5. You can also select Chinese if needed. Figure 2.5 Select English Step 4 Click OK to follow the on-screen instructions to continue with the installation. During the installation, the Device Driver Installation Wizard dialog box is displayed, as shown in Figure 2.6. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 6
Dobot Magician User Guide 2 Quick Start Figure 2.6 The Device Driver Installation Wizard dialog box Step 5 Click Next to install the Dobot Magician driver. When the driver is installed successfully, the Completing the Device Driver Installation Wizard dialog box is displayed, as shown in Figure 2.7. Figure 2.7 The Completing the Device Driver Installation Wizard dialog box Step 6 Click Finish. Step 7 Click Next to continue to install the DobotStudio by following the prompts on the Setup DobotStudio dialog box. When the installation is complete, the Completing the DobotStudio Setup Wizard dialog box is displayed, as shown in Figure 2.8. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 7
Dobot Magician User Guide 2 Quick Start Figure 2.8 The Completing the DobotStudio Setup Wizard dialog box Step 3 Click Finish. Verifying the Installation 2.2.4 2.2.4.1 Verifying the DobotStudio If the DobotStudio is launched and runs properly by double-clicking the desktop shortcut to this program, it means that it is installed successfully. 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 2.9, the Dobot Magician driver is installed successfully. Figure 2.9 An available COM port is displayed If no COM port is available, check whether the robotic arm driver is successfully installed by following the steps below. Step 1 Connect the Dobot Magician to your computer with the supplied USB cable. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 8
Dobot Magician User Guide 2 Quick Start Step 2 Step 3 Press the power button to apply power. Launch the Device Manager window to locate the Ports (COM & LPT) section. If the item Silicon Labs CP210x USB to UART Bridge (COM6) is displayed, it means the Dobot Magician driver is installed successfully. Figure 2.10 The robotic arm driver in Device Manager window NOTE y To reinstall the Dobot Magician driver after uninstalling it, install the driver Installation corresponding Directory\DobotStudio\attachment\Drive\HardwareV1.0.0. For example, install the 64-bit driver on a 64-bit Windows 10, as shown in Figure 2.11. the Windows version the directory to in Figure 2.11 Install the 64-bit driver on a 64-bit Windows 10 y If the DobotStudio hardware version is 0.0.0, install the driver matching the Installation Please Windows Directory\DobotStudio\attachment\Drive\HardwareV0.0.0. directory version the in connect the DobotStudio to the robotic arm and then click to check the hardware version. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 9
Dobot Magician User Guide Powering On/Off the Dobot Magician 2.3 2 Quick Start y Power on: align the Dobot Magician into its neutral position with its Forearm and Rear Arm constructing a 45-degree angle, and press down the power button in the base, as shown in Figure 2.12. Once the robotic arm is powered on, the LED indicator turns yellow, and all the stepper motors lock. And then wait about seven seconds, a short beep sound will be heard, and the LED indicator turns from yellow to green. 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 unlock button on the Forearm to move the robotic arm to another desired position After releasing the button the LED indicator turns green. Figure 2.12 The gesture of Dobot Magician before power-on y Power off: When the LED indicator is green, press down the power button to turn off the robotic arm. In this case, the Forearm moves slowly to the Rear Arm while the angle between them becomes small. Finally, the two arms reach a specific position. WARNING During the shutdown process, watch your hand. 2.4 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. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 10
Dobot Magician User Guide 2 Quick Start Prerequisites x The DobotStudio has been installed. For details, see 2.2 Installing the DobotStudio. x The Dobot Magician is powered on. For details, see 2.3 Powering On/Off the Dobot Magician. Procedure Step 1 Double-click the desktop shortcut to the DobotStudio. The DobotStudio page with its beginner guide is displayed, as shown in Figure 2.13. Figure 2.13 The DobotStudio page with a beginner guide NOTE After reading the beginner guide of the DobotStudio, click to close it. Step 2 Click Connect on the DobotStudio page, as shown in Figure 2.14. The Question dialog box is displayed, as shown in Figure 2.15. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 11
Dobot Magician User Guide 2 Quick Start Figure 2.14 Click Connect Figure 2.15 The Question dialog box Step 3 Click OK. 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 the Dobot Magician, as shown in Figure 2.16. NOTE To achieve a high accuracy of the robotic arm, click Cancel, and wait 7.53 seconds, and then click Connect again. The time duration is for reference only. For the exact time, see the message from the Question dialog box. Figure 2.16 The DobotStudio is connected to the Dobot Magician Step 4 Use DobotStudio to accomplish a teaching & playback task. 1. Click Teaching & Playback, as shown in Figure 2.17. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 12
Dobot Magician User Guide 2 Quick Start Figure 2.17 Click Teaching & Playback NOTE After reading a beginner guide on the Teaching & Playback page, as shown in Figure 2.18, click to close it. Figure 2.18 Teaching & Playback page 2. Select PTP Point > MOVJ mode in the Save Point area, as shown in Figure 2.19. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 13
Dobot Magician User Guide 2 Quick Start Figure 2.19 Select MOVJ motion mode 3. 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. In this case, the DobotStudio will save the Cartesian coordinate of point A, as shown in Figure 2.20. Figure 2.20 The Cartesian coordinate of point A NOTE:
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 2.21. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 14
Dobot Magician User Guide 2 Quick Start Figure 2.21 Jog the Dobot Magician in the Cartesian or Joint coordinate system 4. 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 2.22. The robotic arm will save the Cartesian coordinates corresponding to these two points. Figure 2.22 The Cartesian coordinates of points B and C 5. Enter 3 in Loop text box. The robotic arm will repeat the sequence of movements for three times, as shown in Figure 2.23. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 15
Dobot Magician User Guide 2 Quick Start Figure 2.23 Enter 3 in the Loop text box 6. Click Start to perform the motions taught above, as shown in Figure 2.24. The robotic arm will stop after playing back the steps for three times. Figure 2.24 Click Start 7. Click to exit the Teaching & Playback page, as shown in Figure 2.25. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 16
Dobot Magician User Guide 2 Quick Start Figure 2.25 Click Exit Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 17
Dobot Magician User Guide 3 Introduction 3. Introduction 3.1 Overview Dobot Magician is a multifunctional desktop robotic arm for practical training education, supporting teaching and playback, blockly graphic programming, script, etc. Installed with different end-effectors, Dobot Magician can realize interesting functions such as 3D printing, laser engraving, writing and drawing. It also supports secondary development by various extensible I/O interfaces, which really makes your creativity and imagination increase without any limitation. 3.2 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 Working Principle 3.3 This topic describes the workspace, principle, size and technical specifications of Dobot Magician. 3.3.1 Workspace Figure 3.2 and Figure 3.3 shows the workspace. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 18
Dobot Magician User Guide 3 Introduction Figure 3.2 Workspace of Dobot Magician (1) Figure 3.3 Workspace of Dobot Magician (2) Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 19
Dobot Magician User Guide 3.3.2 Coordinate System 3 Introduction 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 y y y Joint coordinate system: The coordinates are determined by the motion joints. If the end-effector is not installed, Dobot Magician contains three joints: J1, J2, and J3, which are all the rotating joints. The positive direction of these joints is counter-clockwise. If the end-effector with servo is installed, such as suction cup kit, gripper kit, Dobot Magician contains four joints: J1, J2, J3 and J4, which are all the rotating joints. The positive direction of these joints is counter-clockwise. y Cartesian coordinate system: The coordinates are determined by the base. y y The origin is the center of the three motors (Rear Arm, Forearm, base). The direction of X-axis is perpendicular to the base forward. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 20
Dobot Magician User Guide 3 Introduction y y y The direction of Y-axis is perpendicular to the base leftward. The direction of Z-axis is vertical upward, which is based on the right hand rule. The R-axis is the attitude of the servo center relative to the origin of the robotic arm, of which the positive direction is counter-clockwise. The R-axis only exists once the end-effector with servo is installed. 3.3.3 Motion Function The motion modes of Dobot Magician include Jogging, Point to Point (PTP), ARC. 3.3.3.1 Jogging Mode Jogging mode is the mode jogging Dobot Magician along the Cartesian coordinate system or Joint coordinate system when teaching. NOTE This topic describes jogging mode by the GUI operation of DobotStudio. y Cartesian coordinate system mode y Click X+, X- and Dobot Magician will move along X-axis in the negative or positive direction. y Click Y+, Y- and Dobot Magician will move along Y-axis in the negative or positive direction. y Click Z+, Z- and Dobot Magician will move along Z-axis in the negative or positive direction. y Click R+, R- and Dobot Magician will rotate along R-axis in the positive or negative direction. NOTICE If the end-effector with servo is installed on the Dobot Magician, the R-axis will move together with Y-axis, to make sure that the terminal posture relative to the origin stays constant. Joint coordinate system mode y y Click J1+, J1- and control the base motor to rotate in the negative or positive direction. y Click J2+, J2- and control the Rear Arm motor to rotate in the negative or positive direction. y Click J3+, J3- and control the Forearm motor to rotate in the negative or positive direction. y Click J4+, J4- and control the servo to rotate in the negative or positive direction. 3.3.3.2 Point to Point (PTP) PTP mode supports MOVJ, MOVL, and JUMP, which means point to point movement. The trajectory of playback depends on the motion mode. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 21
Dobot Magician User Guide 3 Introduction y 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 JUMP: From point A to point B, the joints will move in MOVJ mode, of which the y MOVL: Rectilinear movement. The joints will perform a straight line trajectory from point A to point B, as shown in Figure 3.6. y trajectory looks like a door, as shown in Figure 3.7. Move up the lifting Height in MOVJ mode. Move horizontally to a point that is above B by height. Move down to point B. 1. 2. 3. Figure 3.7 JUMP mode 3.3.3.3 ARC The trajectory of ARC mode 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 3.8. NOTICE In ARC mode, it is necessary to confirm the three points with other motion modes, and the three points cannot be in a line. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 22
Dobot Magician User Guide 3 Introduction 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 MOVJ JUMP ARC If the trajectory of playback is required as a straight line, you can choose MOVL If the trajectory of playback is not required but high speed is required, you can choose MOVJ If the movement of two points is required to lift upwards by amount of height, such as sucking up, grabbing, you can choose JUMP If the trajectory of playback is required as an arc, such as dispensing, you can choose ARC Technical Specifications 3.4 3.4.1 Technical Parameters Name Maximum payload Dobot Magician 500g Maximum reach 320mm Motion range Base
-90 to 90 Rear Arm 0 to 85 Forearm
-10 to 90 End-effector
-90 to 90 rotation Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 23
Dobot Magician User Guide 3 Introduction Maximum speed
(with 250g payload) Repeated positioning accuracy Power supply Power in Rotational 320/s speed of Rear arm, Forearm and base Rotational 480/s speed of servo 0.2mm 100V-240V AC, 50/60Hz 12V/7A DC Communication USB, WIFI, Bluetooth 20 extensible I/O interfaces DobotStudio
-10-60 I/O Software Working temperature 3.4.2 Sizes Figure 3.9 shows the size of Dobot Magician and Figure 3.10 shows the size of the end mounting hole. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 24
Dobot Magician User Guide 3 Introduction Figure 3.9 Size of Dobot Magician Figure 3.10 Size of end mounting hole Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 25
Dobot Magician User Guide 4 Interface Description 4. Interface Description 4.1 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. Figure 4.1 Interfaces in the base Table 4.1 Interface Description Description Reset key: Reset MCU program During resetting, the LED indicator on the base turns yellow. About 5 seconds later, if the LED indicator turns green, it indicates that the reset is successful Functional key:
y y Short press: Start running offline program Long press for 2 seconds: Starting homing procedure Communication interface/UART interface: Connect with Bluetooth, WIFI and so on The Dobot protocol is adopted. USB interface: Connect with PC Power interface: Connect with power adaptor Peripheral interface: Connect with air pump, extruder, sensor and other peripheral equipment. For details about peripheral interfaces, please see Table 4.2 No. 1 2 3 4 5 6 Table 4.2 lists the peripheral interface description. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 26
Dobot Magician User Guide 4 Interface Description Table 4.2 Peripheral interface description Description Power interface of air pump; output 12V of controllable power Output 12V of controllable power User-defined stepper interface; extruder interface (3D printing mode) User-defined stepper interface Signal interface of air pump; color sensor interface; infrared sensor interface;
user-defined general interface User-defined general interface Interface SW1 SW2 Stepper1 Stepper2 GP1 GP2 Figure 4.2 shows the peripheral interface on the Forearm, and Table 4.3 lists the description of the peripheral interfaces. Figure 4.2 Peripheral interface in the Forearm Table 4.3 Peripheral interface description Description GP3, End-effector interface; R-axis servo interface; user-defined general interface GP4, Auto levelling interface, user-defined general interface GP5, Signal interface of laser engraving; user-defined general interface SW3, Hot end interface (3D printing mode); Output 12V of controllable power SW4, Fan interface (3D printing mode); Power interface of laser engraving;
Output 12V of controllable power ANALOG, Thermistor interface (3D printing mode) No. 1 2 3 4 5 6 Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 27
Dobot Magician User Guide 4 Interface Description LED Indicator 4.2 The LED indicator is located on the base, Table 4.4 lists the status description. Table 4.4 LED indicator description Status Description Green On Dobot Magician works normally Yellow On Dobot Magician is in the starting status Blue On Dobot Magician is in the offline mode Blue Blinking Dobot Magician is running homing procedure or auto levelling Red On y y y Dobot Magician is at the limited position Alarm is not cleared Connection of 3D printing kit is abnormal 4.3 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 4.3.1.1 Multiplexed UART Interface Description Figure 4.3 shows the UART interface on the base, Table 4.5 lists the multiplexed I/O description. Figure 4.3 UART interface Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 28
Dobot Magician User Guide 4 Interface Description Table 4.5 Multiplex I/O Description I/O addressing Voltage Level Output PWM Level Input ADC 3.3V 3.3V 3.3V
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18 19 20 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. Figure 4.4 Peripheral Interface Table 4.6 Multiplexed I/O Description I/O addressing Voltage Level Output PWM Level Input ADC 10 11 12 13 14 15 16 5V 3.3V 3.3V 5V 3.3V 3.3V 12V
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Dobot Magician User Guide 4 Interface Description 17 12V
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4.3.2 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 I/O addressing Voltage Level Output PWM Level Input ADC 3.3V 12V 12V 3.3V 3.3V 3.3V 3.3V 3.3V 3.3V
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Dobot Magician User Guide 5. Operation 5.1 5.1.1 Introduction to the DobotStudio Function Modules 5 Operation 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. Figure 5.1 The function modules on the DobotStudio page Table 5.1 The function modules on the DobotStudio page Function Modules Description Teaching & Playback Teach the Dobot Magician how to move and then record the movement to make Dobot Magician accomplish the recorded movements Write & Draw Control the robotic arm to write, draw, or engrave an object using a laser Blockly Script Leap Motion Use Blockly to program the robotic arm in a graphic programming environment. It allows the users to drag and drop the blocks onto a workplace to generate execute code just as intuitive and easy as a block puzzle Control the robotic arm using the script commands Support hand motions as input to control the robotic arm via a Leap Motion controller Mouse Control the robotic arm using a mouse LaserEngraving Engrave a bitmap image on an object using a laser 3DPrinter Capable of 3D printing Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 31
Dobot Magician User Guide Function Modules Description 5 Operation Add More Add more custom functions to manipulate the robotic arm. 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. Figure 5.2 The General Setting page Table 5.2 The General Setting page Items Description Firmware Switch firmware For example, you can switch to the 3D printer firmware to implement 3D printing from the currently selected Dobot firmware Sensor and Base Set the Base Encoder and the angle sensors on the Forearm and Rear Arm Base Calibration Calibrate the base Encoder Manual Levelling Manually calibrate the angle sensors on the Forearm and Rear Arm Auto Levelling Automatically calibrate the angle sensors on the Forearm and Rear Arm. Initial Pos Set the initial pose of the robotic arm. Jog Set the jogging speed and acceleration in the Joint coordinate system and Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 32
Dobot Magician User Guide Items Description Cartesian coordinate system 5 Operation Playback Write Draw Leap Motion Set the joint parameters, coordinate parameters, Jump parameters, handhold teaching and LostStepParam. Set the Write & Draw function, such as speed, Junction velocity, linear acceleration, acceleration, pen up offset and pen down position. Set the parameters such as speed, scale, and performance for hand gesture control. Mouse Set the parameters such as speed, scale, and performance for mouse control. LaserEngraving Set the parameters such as junction velocity, linear acceleration, acceleration, pen down position, and DPI for laser engraving. 5.1.2 Common Areas of DobotStudio Page The DobotStudio offers the following common areas shared by all the function modules to control the robotic arm. y You can select the liner rail or an end-effector on the DobotStudio page, as shown in Figure 5.3. Figure 5.3 The linear rail and end-effector drop-down list Table 5.3 The linear rail and end-effector drop-down list Items Description Linear rail When the robotic arm is connected to a linear rail, click this item to enable the rail End-effector drop-down list When the end-effector is a suction cup kit, gripper kit, laser kit or writing and drawing kit, select the corresponding kit in this list y You can also perform other operations on the DobotStudio page such as Setting, Home, Emergency Stop, and viewing the versions, as shown in Figure 5.4. Figure 5.4 Setting, Home, Emergency Stop, and viewing the versions Table 5.4 Setting, Home, Emergency Stop, and viewing the versions Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 33
Dobot Magician User Guide 5 Operation Items Setting Home Description Set the robotic arm such as firmware upgrade, sensor and base setup. For details, see Table 5.2 Set the Dobot Magician back to its home position to get a correct reference position When the Dobot Magician is moving, if its movement is hindered by an obstacle or the stepper motors lost steps, perform the homing operation Emergency Stop Stop the robotic arm if an emergency occurs View the version information such as DobotStudio version, firmware version, and hardware version With the Operation Panel on the DobotStudio page, you can teach the robotic arm to perform a specific task such as jogging the robotic arm in the Cartesian or joint coordinate system, or controlling a gripper, suction cup, or laser, as shown in Figure 5.5. For details, see Table 5.5. Figure 5.5 Setting the Operation Panel Items Coordinate jogging Table 5.5 Setting the Operation Panel Description Jog the Dobot Magician by clicking X (X+/-), Y (Y+/-), Z (Z+/-), or R (R+/-) in the Cartesian coordinate system Joint jogging Jog the Dobot Magician by clicking J1+/-, J2+/-, J3+/-, or J4+/- in the Joint coordinate Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 34
Dobot Magician User Guide 5 Operation Items Description system Linear control Gripper control Suction cup control Laser control Jogging speed control When the linear rail is enabled (see Table 5.3), click L+/- to move the robotic arm along the rail. Value range: 0 mm - 1000 mm When the end-effector is chosen as a Gripper, you can set the gripper to open, close, or disable in the Gripper drop-down box When the end-effector is chosen as a Suction Cup, select SuctionCup to power on the air pump. If unselected, the air pump is powered off When the end-effector is chosen as a Laser, select Laser to turn on the laser. If unselected, the laser is turned off Set the jogging speed percentage Default value: 50%
Value range: 1% - 100%
5.2 Performing Teaching & Playback Tasks This topic introduces how to perform a teaching & playback task to suck or grab a small cube. Because a suction cup kit or a gripper kit is required, we will explain them first. 5.2.1 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. Figure 5.6 A suction cup kit Procedure Step 1 Connect the air pumps power cable SW1 to the SW1 connector on the Dobot Magician base rear panel and the signal cable GP1 to the GP1 connector, as shown in Figure 5.7. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 35
Dobot Magician User Guide 5 Operation Figure 5.7 Connect the air pump to the Dobot Magician Step 2 Insert a suction cup kit into the ends port, and fasten it with a butterfly nut, as shown in Figure 5.8. Figure 5.8 Install a suction cup kit Step 3 Connect the air pumps air tube to the air tube connector of the suction cup kit, as shown in Figure 5.9. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 36
Dobot Magician User Guide 5 Operation Figure 5.9 Install an air tube Step 4 Connect the servos GP3 cable to the GP3 connector on the Forearm, as shown in Figure 5.10. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 37
Dobot Magician User Guide 5 Operation Figure 5.10 Connect the servos GP3 cable to the GP3 connector 5.2.2 Installing a Gripper Kit An air pump should be used with the gripper kit, as shown in Figure 5.11, to open or close the gripper. Figure 5.11 A gripper kit Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 38
Dobot Magician User Guide 5 Operation Procedure Step 1 Dismantle the suction cup by unfastening its terminal strand with a 1.5mm hexagon wrench, as shown in Figure 5.12. Figure 5.12 Dismantle the suction cup Step 2 Install a gripper kit to the servo with a 2.5mm hexagon wrench, as shown in Figure 5.13. Figure 5.13 Install a gripper kit Step 3 Connect the gripper kit and an air pump to the Dobot Magician in the same way as the suction cup kit is installed. For details, see 5.2.1 Installing a Suction Cup Kit. Figure 5.14 shows the effect of the gripper kit installation. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 39
Dobot Magician User Guide 5 Operation Figure 5.14 The effect of the gripper kit installation 5.2.3 The Teaching & Playback page is shown in Figure 5.15. To access it, select Connect >
Teaching & Playback Page Teaching & Playback on the DobotStudio page. Figure 5.15 The Teaching & Playback page In both Easy and Pro modes, you can switch between Easy and Pro modes, set y loop, speed percentage, and acceleration percentage, as shown in Figure 5.16. Figure 5.16 Set Easy/Pro, Loop, Speed and Acceleration (Acc) Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 40
Dobot Magician User Guide 5 Operation Table 5.6 Set Easy/Pro, Loop, Speed and acceleration (Acc) Items Description Easy/Pro Click this slider to switch between Easy and Pro modes. The default is the Easy mode Apart from all the functions in the Easy mode, the Pro mode offers multiple features such as the offline mode and multiplexed I/O interface Set the loop that the robotic arm plays back the recorded steps Loop Default value: 1 Value range: 1 - 999999 Set the speed ratio when doing playback Speed Default value: 50%
Value range: 0% - 100%
Set the acceleration ratio when doing playback acceleration
(Acc) Default value: 50%
Value range: 0 - 100%
Exit Exit the current Teaching & Playback page to return to the DobotStudio page x In both Easy and Pro modes, you can save points, set the motion mode and the pause time for a save point, as shown in Figure 5.17. Figure 5.17 Set the save points, motion modes and pause time Items
+Point Table 5.7 Set the save points, motion modes, and pause time Description Click to create a new save point in the Save points list Motion mode Choose a PTP (point to point) Point mode or ARC Point mode. In the PTP Point mode, you can select MOVJ, MOVL, or JUMP mode while the ARC Point mode requires a second point cirPoint and a finish point toPoint as well as the start point set via the PTP Point mode Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 41
Dobot Magician User Guide Items Description Pause time Set the pause time for a save point 5 Operation x In both Easy and Pro modes, you can edit a highlighted save point such as copy, paste, cut, switch between motion modes, modify name and coordinates, as shown in Figure 5.18. Figure 5.18 The Save points list Table 5.8 The Save points list Items Description A right-click mouse operation In the right-click popup menu you can edit a highlighted save point such as copy, paste, cut, insert, and delete, as shown in Figure 5.18 A double-click mouse operation Double-clicking a cell to modify its value x Pro mode: To enter the Pro mode from the current Easy mode, click the Easy/Pro slider, as shown in Figure 5.19. Apart from all the functions in the default Easy mode, the Pro mode allows the robotic arm to run a save point each time, detect lost-steps, work in offline mode, and perform the multiplexed I/O interface. For details, see Table 5.9. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 42
Dobot Magician User Guide 5 Operation Figure 5.19 The Pro mode of the Teaching & Playback function Table 5.9 The Pro mode of the Teaching & Playback function No. Description 1 2 3 4 StepRun: run a save point each time in the Save points list. Before clicking StepRun, please select a saved point. Download: download the Save points list to the Dobot Magician for working in offline mode. For details, see 5.3 Working in Offline Mode Check Lost Step: the Dobot Magician detects if lost-steps occur in its movements. The default threshold is 5 degrees. It should be at least 0.5 degrees. You can set the threshold by selecting Setting > Playback > LostStepParam. 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 Multiplexed I/O interface: control the Dobot Magician via the I/O interfaces such as turning on or off the air pump 5.2.4 Application Scenarios ARC Motion Mode The ARC motion mode requires three points in an arc to complete the arc movement process. In the ARC motion mode, only the second point and end point are saved while the start point is determined by the other modes. Prerequisites The Dobot Magician has been powered on and connected to your computer. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 43
Dobot Magician User Guide 5 Operation Procedure NOTICE Note the following rules when saving points to prevent the robotic arm from working outside its normal workspace. y Any two points cannot coincide. y y The three points cannot be in the same straight line. The arc trajectory cannot exceed the Dobot Magicians normal workspace. For example the points A, B, and C are on the arc. Point A is the start point; Point B is the second point; Point C is the end point, as shown in Figure 5.20. Figure 5.20 The arc trajectory Step 1 Click Teaching & Playback. The Teaching & Playback page is displayed. Step 2 Save the start point A. 1. Select MOVJ motion mode in the Save Point area. 2. Click to display the Operation Panel, as shown in Figure 5.21. Figure 5.21 Display the Operation Panel Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 44
Dobot Magician User Guide 5 Operation 3. Set the jogging speed percentage to 50 on the Operation Panel. 4. Jog the Dobot Magician in the Cartesian or Joint coordinate system to move the robotic arm to a location called position A. 5. Click +Point to save the coordinate corresponding to the position A, as shown in Figure 5.22. Figure 5.22 Save the start position A Step 3 Save the second point B and the end point C. Select cirPoint to save the second point in the Save Point area. 1. 2. Jogging the Dobot Magician in the Cartesian or Joint coordinate system to move the robotic arm to the second position B as required. 3. Click +Point to save the coordinate corresponding to the position B. In this case, the DobotStudio automatically changes the motion mode to toPoint to get ready to save the end position. 4. Jogging the Dobot Magician in the Cartesian or Joint coordinate system to move the robotic arm to the end position C as needed. Click +Point to save the coordinates corresponding to the positions B and C, 5. as shown in Figure 5.23. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 45
Dobot Magician User Guide 5 Operation Figure 5.23 Save the second position B and the end position C Step 4 Step 5 Step 6 Set the percentage of both speed and acceleration for playback, for example 50. Set Loop to 2. Click Start. The Dobot Magicin perfrom the sequence of ARC trajectory as taught from its memory system, moving from positions A through C, as shown in . Figure 5.24 Move the small cube in the ARC motion mode 5.2.5 Application Scenarios Teaching & Playback Example 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. Prerequisites y The Dobot Magician has been powered on and connected to your computer. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 46
Dobot Magician User Guide 5 Operation y A suction cup kit has been installed. For details, see 5.2.1 Installing a Suction Cup Kit. Procedure Step 1 Choose SuctionCup as the end-effector on the DobotStudio page, as shown in Figure 5.25. Figure 5.25 Choose SuctionCup as the end-effector Step 2 Click Teaching & Playback. The Teaching & Playback page is displayed. NOTE After reading the beginner guide of the DobotStudio, click to close it. Step 3 Save the start point A. 1. Put a small cube on the work surface near the suction cup kit. 2. Select the MOVJ motion mode in the Save Point area. 3. Click to display the Operation Panel, as shown in Figure 5.26. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 47
Dobot Magician User Guide 5 Operation Figure 5.26 Display the Operation Panel 4. Set the jogging speed percentage to 50 on the Operation Panel. NOTE To change the jogging speed, select Setting > Jog to set the speed and acceleration of the joints, linear rail, or the Cartesian coordinate system, as shown in Figure 5.27. Figure 5.27 Adjust the jogging speed Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 48
Dobot Magician User Guide 5 Operation NOTICE Regarding the jogging speed and acceleration in the Joint coordinate system and Cartesian coordinate system, we recommend that it should be less than 500mm/s if loaded and that less than 800mm/s if not loaded. 5. 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 suction cup reaches this location called position A. 6. Select SuctionCup on the Operation Panel to turn on the air pump to pick up the small cube. 7. Set the PauseTime to 1 second in the Save Point area. 8. Click +Point to save the coordinate corresponding to the position A, as shown in Figure 5.28. Figure 5.28 Save the start position A Step 4 Save the end point B. Select the JUMP motion mode in the Save Point area. 1. NOTE To change the jogging speed percentage, drag the speed slider. Set the lifting height (JumpHeight) and the maximum lifting height (Z Limit) 2. by selecting Setting > Playback > JumpParam, as shown in Figure 5.29. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 49
Dobot Magician User Guide 5 Operation Figure 5.29 Jump parameters 3. 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. Click +Point to save the coordinate corresponding to the position B, as shown 4. 5. in Figure 5.30. Figure 5.30 Save the end position B Step 5 NOTE Set the percentage of both speed and acceleration for playback, for example, 50. To change the speed and acceleration of playback, select Setting > Playback >
Copyright Yuejiang Technology Co., Ltd. User Guide Issue V1.0 (2018-06-12) 50
Dobot Magician User Guide 5 Operation JointParam/CoordinateParm to adjust the speed and acceleration of the Cartesian or Joint coordinate system, as shown in Figure 5.31. For details, see Table 5.10. Figure 5.31 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 CoordinateParam Set the speed and acceleration in the Cartesian coordinate system JumpParam Set the Jump height and Z limit, which are required in the JUMP motion mode Handhold Teaching Enable or disable the handhold teaching. Automatically save a point when releasing the unlock button or pressing this button LostStepParam Set the lost-step checking threshold NOTICE We recommend that the motion range of Joint 1 should be 60 to -90, the motion range of Joint 2 should be 0to 85, the motion range of Joint 3 is -5to 85, and the motion range of Joint 4 is -90to 90 Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 51
Dobot Magician User Guide 5 Operation Step 6 Step 7 Set Loop to 2. Place the small object back to the position A, and click Start. The Dobot Magician performs the sequence of JUMP trajectory as taught from its memory system, moving the small cube from positions A through B. Figure 5.32 Move the small cube in the JUMP motion mode 5.3 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 x The Dobot Magician has been powered on. x The Dobot Magician has been connected to the DobotStudio. x The points have been saved. Procedure Step 1 Click the Easy/Pro slider to enter the Pro mode on the Teaching & Playback page. Step 2 Click Download. The Question dialog box is displayed, asking if you want the Dobot Magician to automatically to go back to its homing point before performing the save points in the offline mode, as shown in Figure 5.33. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 52
Dobot Magician User Guide 5 Operation Figure 5.33 Click Download Step 3 Click OK to download the Save points list. When the process bar at the bottom of the DobotStudio page shows 100% and then disappears, it means that the download is complete, as shown in Figure 5.34. Figure 5.34 The process bar at the bottom of the DobotStudio page Step 4 Disconnect the DobotStudio from the Dobot Magician or the USB cable between Step 5 the robotic arm and your computer. Short press the Key button once on the bases rear panel. The Dobot Magician returns to its homing point and performs the downloaded saved points. To stop the robotic arms movement, short press the Key button once. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 53
Dobot Magician User Guide Writing and Drawing 5.4 Figure 5.35 shows the process of writing and drawing. 5 Operation Figure 5.35 The process of writing and draw 5.4.1 Installing a Writing and drawing kit A writing and drawing kit consists of a pen and a pen holder. For detailed steps, see below. Step 1 Step 2 Install a pen in the pen holder. Fasten the writing and drawing kit to the Dobot Magicians end with a butterfly nut, as shown in Figure 5.36. Figure 5.36 Install a writing and drawing kit NOTE Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 54
Dobot Magician User Guide 5 Operation To change to a new pen, unfasten the four M3*5 set screws in the pen holder with a 1.5mm hexagon wrench, as shown in Figure 5.37. Figure 5.37 Change to a new pen Step 3 Position a sheet of paper on the work surface within the workspace of the Dobot Magician. Connecting the DobotStudio 5.4.2 Step 1 Launch the DobotStudio, and select the COM port, and then click Connect. 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. In this case, perform the following steps to switch to this firmware. Select DobotStudio to upgrade the Dobot firmware, as shown in Figure 5.38. 1. The Question dialog box is displayed. Figure 5.38 Select the DobotStudio to upgrade the Dobot firmware Click OK, as shown in Figure 5.39. 2. The Dobot firmware upgrade window is displayed. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 55
Dobot Magician User Guide 5 Operation Figure 5.39 Confirm the firmware upgrade 3. Click Confirm to upgrade the Dobot firmware, as shown in Figure 5.40. 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 5.41. In this case, the LED indicator turns from red to green. Then click Quit to exit. Figure 5.40 Click Confirm Figure 5.41 The firmware upgrade is successful Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 56
Dobot Magician User Guide 5 Operation WARNING During the firmware upgrade, do not stop it. Otherwise, errors occur. Step 2 Click Connect on the DobotStudio page to connect the DobotStudio to the Dobot Magician. Step 3 Click Write & Draw, as shown in Figure 5.42. Figure 5.42 Click Write & Draw Step 4 Choose Pen as the end-effector on the Write & Draw page, as shown in Figure 5.43. Figure 5.43 Choose Pen as the end-effector 5.4.3 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. The built-in file is located in the directory Installation Directory
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Dobot Magician User Guide 5 Operation Prerequisites A PLT or SVG image file has been created. Procedure Step 1 Click Write & Draw on the DobotStudio page, as shown in Figure 5.44. Figure 5.44 Click Write & Draw Step 2 Import an image file using one of the following methods. NOTICE The imported image should be placed within the annular area on the Write & Draw page, as shown in Figure 5.45. If not, the robotic arm reaches its limited position and cannot draw or write. In this case, the image is highlighted with a red border, as shown in Figure 5.46. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 58
Dobot Magician User Guide 5 Operation Figure 5.45 The PLT or SVG image is located within the annular area Figure 5.46 The PLT or SVG image is located outside the annular area x Click Open on the Write & Draw page to import a built-in PLT or SVG image file from the DobotStudio installation directory InstallatonDirectory\DobotStudio\config\prefab\system\source, as shown in Figure 5.47. You can also import your custom PLT or SVG image file. Figure 5.47 Open a PLT or SVG system image file Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 59
Dobot Magician User Guide 5 Operation x Click a shape in the Input Shapes area, as shown in Figure 5.48. Figure 5.48 Insert a system image file x 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 5.49. Figure 5.49 Input text x 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, as shown in Figure 5.50. Once this image is imported, the SVG Converter dialog box is displayed, as shown in Figure 5.51. In this dialog box, drag the slider to set the black and white threshold, and click Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 60
Dobot Magician User Guide 5 Operation Convert Bitmap To SVG to perform the conversion, and then click Plot to Main Scene to display the converted SVG file on the annular area of the Write & Draw page. Figure 5.50 Import an image Figure 5.51 Convert an image to SVG Step 3 Set the writing parameters. Click Setting on the Write & Draw page, as shown in Figure 5.52. 1. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 61
Dobot Magician User Guide 5 Operation Figure 5.52 Click Setting 2. Click Write & Draw to set the Dobot Magicians Velocity (mm/s), junction velocity (JunctionVel: mm/s), PlanAcc (mm/s2), acceleration (Acc: mm/s2), PenUpOffset (mm), PenDown (mm), as shown in Figure 5.53. NOTE We recommend to set the Velocity in the range of 0mm/s to 500mm/s and to adjust the acceleration between 0mm/s2 and 500mm/s2. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 62
Dobot Magician User Guide 5 Operation Figure 5.53 Setting the parameters of the Write & Draw function 5.4.4 Procedure Adjust the Position of the Pen Nib Step 1 Raise and lower the position of the pen nib. Press and hold the unlock button on the Forearm to move the Dobot Magician to raise and lower the pen nib until it slightly squeezes the paper. You can also jog the robotic arm in the Cartesian or Joint coordinate system to slowly pull the Z axis down to a suitable vertical position for writing, as shown in Figure 5.54. Figure 5.54 Adjust the position of the pen nib Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 63
Dobot Magician User Guide NOTE 5 Operation The point marked by a red box, as shown in Figure 5.55, 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. Figure 5.55 The point corresponding to the laser kit of the robotic arm Step 2 Click AutoZ on the Write & Draw page to obtain and save the current value of the Z axis. Once this step is complete, the next time you start to write, directly import a PLT or SVG image file without adjusting the position of the pen nib, and click SyncPos, and then click Start to start writing on the paper, as shown in Figure 5.56. Figure 5.56 Lock the height of writing Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 64
Dobot Magician User Guide NOTE 5 Operation 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 5.57. If the effect of writing is not satisfactory, slightly raise and lower the height of the writing and drawing kit or directly change the value of PenDown. Figure 5.57 The PenDown parameter Step 3 Click SyncPos. The Dobot Magician automatically moves above the position (PenDown) of the start point of the text. Step 4 Click Start to start writing on the paper. When writing, click Pause to pause the writing and Stop to halt the writing. 5.5 Performing Laser Engraving Tasks Figure 5.58 shows the process of laser engraving. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 65
Dobot Magician User Guide 5 Operation Figure 5.58 The process of laser engraving NOTICE The LaserEngraving is different is from the grayscale engraving. The former uses the same firmware and DobotStudio function module as those of the Write & Draw function, and it can only engrave a vector graphics by drawing lines while the latter can engrave a grayscale image. For more information about the grayscale engraving, see 5.6 Engraving a Grayscale Image. Installing a Laser Kit 5.5.1 Procedure A laser kit includes a laser. For detailed steps, see below. Step 1 Fasten the laser kit to the Dobot Magician's end with a butterfly nut, as shown in Figure 5.59. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 66
Dobot Magician User Guide 5 Operation Figure 5.59 Fasten the laser with a butterfly nut Step 2 Connect the lasers power cable to the SW4 connector on the Forearm and the TTL control cable to the GP5 connector, as shown in Figure 5.60. Figure 5.60 Connect the laser to the SW4 and GP5 connectors Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 67
Dobot Magician User Guide 5 Operation Connecting the DobotStudio 5.5.2 Step 1 Launch the DobotStudio, and select the COM port, and then click Connect. 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. In this case, perform the following steps to switch to this firmware. 1. Select DobotStudio to upgrade the Dobot firmware, as shown in Figure 5.61. The Question dialog box is displayed. Figure 5.61 Select the DobotStudio to upgrade the Dobot firmware Click OK, as shown in Figure 5.62. 2. The Dobot firmware upgrade window is displayed. Figure 5.62 Confirm the firmware upgrade 3. Click Confirm to upgrade the Dobot firmware, as shown in Figure 5.63. 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 5.64. In this case, the LED indicator turns from red to green. Then click Quit to exit. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 68
Dobot Magician User Guide 5 Operation Figure 5.63 Click Confirm Figure 5.64 The firmware upgrade is successful WARNING During the firmware upgrade, do not stop it. Otherwise, errors occur. Step 2 Click Connect on the DobotStudio page to connect the DobotStudio to the Dobot Magician. Step 3 Click Write & Draw module function, as shown in Figure 5.65. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 69
Dobot Magician User Guide 5 Operation Figure 5.65 Click Write & Draw Step 4 Choose Laser as the end-effector, as shown in Figure 5.66. Figure 5.66 Choose Laser as the end-effector 5.5.3 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. Prerequisites A PLT or SVG image file has been created. Procedure Step 1 Click Write & Draw on the DobotStudio page, as shown in Figure 5.67. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 70
Dobot Magician User Guide 5 Operation Figure 5.67 Click Write & Draw Step 2 Import an image file using one of the following methods. NOTICE The imported image should be placed within the annular area on the Write & Draw page, as shown in Figure 5.68. If not, the robotic arm reaches its limited position and thus cannot engrave on an object. In this case, the image is highlighted with a red border, as shown in Figure 5.69. Figure 5.68 The PLT or SVG image is located within the annular area Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 71
Dobot Magician User Guide 5 Operation Figure 5.69 The PLT or SVG image is located outside the annular area x Click Open on the Write & Draw page to import a built-in PLT or SVG image file from the DobotStudio installation directory InstallatonDirectory\DobotStudio\config\prefab\system\source, as shown in Figure 5.70. You can also import your custom PLT or SVG image file. Figure 5.70 Open a PLT or SVG file x Click a shape in the Input Shapes area to directly import a system image file, as shown in Figure 5.71. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 72
Dobot Magician User Guide 5 Operation Figure 5.71 Insert a system image file x 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 5.72. Figure 5.72 Input text x 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, as shown in Figure 5.73. Once this image is imported, the SVG Converter dialog box is displayed, as shown in Figure 5.74. In this dialog box, drag the slider to set the black and white threshold, and click Convert Bitmap To SVG to perform the conversion, and then click Plot to Main Scene Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 73
Dobot Magician User Guide 5 Operation to display the converted SVG file on the annular area of the Write & Draw page. Figure 5.73 Import an image file Figure 5.74 Convert Bitmap to SVG Step 3 Set the laser-engravings parameters. Click Setting on the Write & Draw page, as shown in Figure 5.75. 1. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 74
Dobot Magician User Guide 5 Operation Figure 5.75 Click Setting 2. Click Write & Draw to set the Dobot Magicians Velocity (mm/s), junction velocity (JunctionVel: mm/s), PlanAcc (mm/s2), acceleration (Acc: mm/s2), PenUpOffset (mm), PenDown (mm), as shown in Figure 5.76. NOTE We recommend to set the Velocity in the range of 0mm/s to 500mm/s and to adjust the acceleration between 0mm/s2 and 500mm/s2. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 75
Dobot Magician User Guide 5 Operation Figure 5.76 Setting the parameters of the Write & Draw function Adjust the Laser Focus and Start to Grave 5.5.4 Procedure Step 1 Choose Laser as the end-effector on the Write & Draw page, as shown in Figure 5.77. Figure 5.77 Choose Laser as the end-effector Step 2 Click to display the Operation Panel, and then select Laser to turn on the laser, as shown in Figure 5.78. In this case, the laser gives out a laser beam. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 76
Dobot Magician User Guide 5 Operation Figure 5.78 Turn on the laser Danger y When using a laser, wear lasing protective eyeglass. y Never aim the laser at a persons eye and clothes or stare at the laser from within the beam. y In the central laser focus, a high temperature heat is created and can burn materials such as papers and wooden boards. y Never aim the laser at a person and their clothes. y 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. Step 3 Press and hold the unlock button on the Forearm to move the robotic arm to raise and lower the height of the laser kit until the laser is the brightest with a smallest possible spot size. When the laser power level is high enough, the laser beam can burn and cut the paper. After getting a pretty good focus, unselect Laser on the Operation Panel page to turn off the laser, as shown in Figure 5.79. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 77
1 | User manual part2 | Users Manual | 5.03 MiB |
Dobot Magician User Guide 5 Operation Figure 5.79 Unselect the Laser NOTICE y If you cannot set the laser to be at its minimum focus, its probably because the focal length is long. To shorten the focal length, slightly turn the sliver lens screw
(as shown in Figure 5.80) on the bottom of the laser kit. Figure 5.80 Adjust the laser focus y The point marked by a red box, as shown in Figure 5.81, 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. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 78
Dobot Magician User Guide 5 Operation Figure 5.81 The point corresponding to the end-effector of the robotic arm Step 4 Click AutoZ on the Write & Draw page to obtain and save the current value of Z axis. Once this step is complete, the next time you start to engrave, directly import a PLT or SVG image file without adjusting the position of the laser kit, and click SyncPos, and then click Start to start engraving on the paper, as shown in Figure 5.82. Figure 5.82 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 5.83. If the effect of engraving is not satisfactory, slightly raise and lower the height of the laser kit or directly change the value of PenDown. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 79
Dobot Magician User Guide 5 Operation Figure 5.83 Set the PenDown parameters Step 5 Click SyncPos. The Dobot Magician automatically moves above the position (PenUpOffset) of the start point of the laser-engraving. Step 6 Click Start to start engraving on the paper. When engraving, click Pause to pause the engraving and Stop to halt the engraving. Figure 5.84 shows the effect of the laser-engraving. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 80
Dobot Magician User Guide 5 Operation Figure 5.84 The effect of the laser-engraving Engraving a Grayscale Image 5.6 Figure 5.85 shows the process of engraving a grayscale image. Figure 5.85 The process of engraving a grayscale image Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 81
Dobot Magician User Guide 5.6.1 Installing a Grayscale-engraving Kit 5 Operation Both grayscale-engraving and laser-engraving use the laser kit as the end-effector. For the installation method, see 5.5.1 Installing a Laser Kit. Connecting the DobotStudio 5.6.2 Step 1 Launch the DobotStudio, and select the COM port, and then click Connect. 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. In this case, perform the following steps to switch to this firmware. 1. Select DobotStudio to upgrade the Dobot firmware, as shown in Figure 5.86. The Question dialog box is displayed. Figure 5.86 Select the DobotStudio to upgrade the Dobot firmware Click OK, as shown in Figure 5.87. 2. The Dobot firmware upgrade window is displayed. Figure 5.87 Confirm the firmware upgrade 3. Click Confirm to upgrade the Dobot firmware, as shown in Figure 5.88. 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 5.89. In this case, the LED indicator turns from red to green. Then click Quit to exit. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 82
Dobot Magician User Guide 5 Operation Figure 5.88 Click Confirm Figure 5.89 The firmware upgrade is successful WARNING During the firmware upgrade, do not stop it. Otherwise, errors occur. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 83
Dobot Magician User Guide Step 2 Click LaserEngraving, as shown in Figure 5.90. 5 Operation Figure 5.90 Click LaserEngraving 5.6.3 Prerequisites Importing Image Files and Setting Engraving Parameters An image file has been created. Procedure NOTICE The imported image should be placed within the annular area on the LaserEngraving page, as shown in Figure 5.91. If not, the robotic arm reaches its limited position and thus cannot engrave on an object. In this case, the image is highlighted with a red border, as shown in Figure 5.92. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 84
Dobot Magician User Guide 5 Operation Figure 5.91 The image file is located within the annular area Figure 5.92 The image file is located outside the annular area Step 1 Choose Laser as the end-effector on the LaserEngraving page, as shown in Figure 5.93. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 85
Dobot Magician User Guide 5 Operation Figure 5.93 Choose Laser as the end-effector Step 2 Click Open to import an image file such as BMP, JPEG, or PNG, as shown in Figure 5.94. Figure 5.94 Import an image file Step 3 Set the Grayscale range, Laser power range, and Border, as shown in Figure 5.95. For details, see Table 5.11. Figure 5.95 Set the grayscale range, laser power range, and border Items Table 5.11 Laser engraving parameters Description Grayscale range Set the grayscale range Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 86
Dobot Magician User Guide 5 Operation Items Description Range: 0 - 255 Default value: 20 - 240 Laser power range Set the laser power range Border Range: 2 - 100 Default value: 20 - 90 Set the border width. Unit: pixel Range: 0 - 50 Default value: 4 Step 4 Set the laser-engraving parameters. 1. 2. Click Setting on the LaserEngraving page. Set the JunctionVel (junction velocity), PlanAcc (linear acceleration), and Acc
(acceleration), for example, set all to 5, as shown in Figure 5.96. Figure 5.96 Set the parameters of laser engraving 5.6.4 Adjust the Laser Focus and Start to Engrave Step 1 Click to display the Operation Panel, and then select Laser to turn on the laser, as shown in Figure 5.97. In this case, the laser gives out a laser beam. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 87
Dobot Magician User Guide 5 Operation Danger y When using a laser, wear lasing protective eyeglass. y Never aim the laser at a persons eye and clothes or stare at the laser from within the beam. y In the central laser focus, a high-temperature heat is created and can burn materials such as papers and wooden boards. y Never aim the laser at a person and their clothes. y 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 5.97 Select the Laser Step 2 Adjust the laser focus. Press and hold the unlock button on the Forearm to move the robotic arm to raise and lower the height of the laser kit until the laser is the brightest with a smallest possible spot size. When the laser power level is high enough, the laser beam can burn and cut the paper. After getting a pretty good focus, unselect Laser on the Operation Panel page to turn off the laser, as shown in Figure 5.98. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 88
Dobot Magician User Guide 5 Operation Figure 5.98 Unselect the Laser NOTICE y If you cannot set the laser to be at its minimum focus, its probably because the focal length is long. To shorten the focal length, slightly turn the sliver lens screw
(as shown in Figure 5.99) on the bottom of the laser kit. Figure 5.99 Adjust the focus y The point marked by a red box, as shown in Figure 5.100, 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. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 89
Dobot Magician User Guide 5 Operation Figure 5.100 The point corresponding to the laser kit of the robotic arm Step 3 Click AutoZ on the LaserEngraving page to obtain and save the current value of the Z axis. Once this step is complete, the next time you start to engrave, directly import an image file without adjusting the position of the laser kit, and click SyncPos, and then click Start to start engraving on the paper, as shown in Figure 5.101. Figure 5.101 Lock the height of engraving NOTE The value of Z axis is the PenDown parameter. This parameter can be set by selecting Setting > LaserEngraving > PenDown, as shown in Figure 5.102. If the effect of engraving is not satisfactory, slightly raise and lower the height of the laser kit or directly change the value of PenDown. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 90
Dobot Magician User Guide 5 Operation Figure 5.102 Set the PenDown parameters Step 4 Click SyncPos. The Dobot Magician automatically moves above the position of the start point of the laser-engraving. Step 5 Click Start to start engraving on the paper. When engraving, click Pause to pause the engraving and Stop to halt the engraving. Figure 5.103 shows the effect of the laser-engraving. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 91
Dobot Magician User Guide 5 Operation Figure 5.103 The effect of laser-engraving 5.7 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. 5.7.1 Prerequisites Installing a Leap Motion Controller x The Leap Motion controller (a hand gesture controller) has been obtained. x The Leap Motion driver software has been obtained. Download the Windows version, as shown in Figure 5.104, from the https://www.leapmotion.com/setup/desktop/windows. Figure 5.104 Download the Leap Motion driver software for Windows Procedure Step 1 Connect a Leap Motion controller to your computer with a USB cable, and put it on the work surface with its face up, as shown in Figure 5.105. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 92
Dobot Magician User Guide 5 Operation Figure 5.105 Connect the Leap Motion controller to your computer Step 2 Install the Leap Motion driver software by following the on-screen instructions, as shown in Figure 5.106. Figure 5.106 The Leap Motion Installation Interface 5.7.2 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 y y 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 Step 1 Step 2 Click LeapMotion, as shown in Figure 5.107. Launch the DobotStudio, and click Connect to connect to the Dobot Magician. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 93
Dobot Magician User Guide 5 Operation Figure 5.107 Click LeapMotion Step 3 Click Setting on the DobtStudio page, as shown in Figure 5.108. Figure 5.108 Click Setting Step 4 Click Leap Motion, as shown in Figure 5.109. Set the parameters, as shown in Table 5.12, and click OK. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 94
Dobot Magician User Guide 5 Operation Items Speed Figure 5.109 Set the parameters of the Leap Motion function Table 5.12 Set the parameters of the Leap Motion function Description The velocity percentage of the Dobot Magician:
Unit: %
Value range: 1 - 100 Default value: 50 Scale The scale of the Dobot Magician:
Unit: %
Value range: 1 - 100 Default value: 100 High performance/Low performance Choose a performance mode suitable for your computer. Select the Low performance (default) for the low configuration computer to prevent video delay Step 5 Choose SuctionCup as the end-effector on the DobotStudio page, and click Start to control the Dobot Magician with your hand gesture, as shown in Figure 5.110. To maintain the Dobot Magician in a stable state, move your hand into the workspace of the Leap Motion controller while keeping your palm upward. And turn your palm down, and then move your hand above this area to control the Dobot Magician. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 95
Dobot Magician User Guide 5 Operation Figure 5.110 Click Start NOTE Move your hand in the workspace of the Leap Motion controller to control the Dobot Magician to perform a particular task, as shown in Table 5.13. Table 5.13 The robotic arms movement created with your hand gesture Hand gesture Robotic arms movement Move your palm up, down, front, back, right, or left The robotic arm moves accordingly Clench your fist Control the air pump to suck air Unclench your fist Turn off the air pump Step 6 Put a small cube on the work surface in the workspace of the Dobot Magician, such as point A, and use the hand gesture to move robotic arm above the cube until its close to the cube. Step 7 Clench your fist to control the air pump to suck the small cube, and move your fist to make Dobot Magician take the cube to another position while clenching your fist, such as position B, and then unclench your fist to turn off the air pump to drop 5.8 the cube. Turn your palm upward and click Stop to stop the hand control. Step 8 Controlling with your Mouse You can use the Mouse function module of the DobotStudio to perform tasks, for example, grab or suck an object with your mouse. This topic introduces how to move a small cube with a mouse. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 96
Dobot Magician User Guide Prerequisites 5 Operation y y 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 Step 1 Click Mouse, as shown in Figure 5.111. Figure 5.111 Click Mouse Step 2 Choose SuctionCup as the end-effector on the DobotStudio page, as shown in Figure 5.112. Figure 5.112 Choose SuctionCup as the end-effector Step 3 Click Setting, as shown in Figure 5.113. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 97
Dobot Magician User Guide 5 Operation Figure 5.113 Click Setting Click Mouse, as shown in Figure 5.114. Set the parameters, as shown in Table 5.14, and click OK. Figure 5.114 Set the parameters of mouse control Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 98
Dobot Magician User Guide 5 Operation 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:
Unit: %
Value range: 1 - 100 Default value: 100 Choose a performance mode suitable for your computer. Select Low performance (default) for the low configuration computer to prevent video delay High performance/Low performance Step 1 Step 2 Put a small cube on the work surface in the workspace of the Dobot Magician, such as point A. Press V to enable the mouse control of the Dobot Magician. Press and hold the left mouse button to drag the mouse within the red annular area to move the robotic arm, as shown in Figure 5.115. NOTICE Do not move the mouse outside the red annular area. If not, the robotic arm reaches its limited position. In this case, drag the mouse to into the annular area. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 99
Dobot Magician User Guide 5 Operation Figure 5.115 Move the robotic arm in the red annular area Step 3 Move the Dobot Magician above the cube by dragging the mouse and then place it close to the cube. NOTE For details on how to use the mouse to control the robotic arm on the Mouse page, see Table 5.15. Table 5.15 The robotic arms movement created with your mouse Mouse action Robotic arms movement Move your mouse front, back, right, or left Scroll the mouse wheel up or down Press and hold the left mouse button Release the left mouse button Right-click the mouse button The robotic arm moves accordingly The robotic arm moves accordingly Suction cup: the air pump sucks air in Gripper: increase holding force Suction cup: the air pump is powered off Gripper: open Gripper: close Step 4 Press and hold the left mouse button to control the air pump to suck air to move the mouse to drag the robotic arm to take the cube to another position, such as point B, and release the left mouse button, and the air pump stops working to drop the cube here. Press V or ESC to disable the mouse control. Step 5 Operating 3D Printing 5.9 After installing 3D printing kit, you can import 3D module into the 3D printing software for 3D printing. Figure 5.116 shows the 3D printing process. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 100
Dobot Magician User Guide 5 Operation Figure 5.116 3D printing process During 3D printing, the 3D printing control software is required. You can use Repetier Host or Cura software for 3D printing. y Reptier-Host: Reptier-Host can slice with the third party slicing (such as CuraEngine, Slic3r, etc), check and modify G-Code, control 3D printing manually. More parameter settings make Reptier-Host very flexible. y Cure: The slicing of Cura is fast and stable. It has strong inclusiveness to 3D model structure and less parameter settings. NOTICE This section uses Windows as an example to describe how to perform 3D printing with Repetier Host and Cura. For Mac OS, only Cura is supported. 5.9.1 Installing 3D Printing Kit 3D printing kit contains extruder, hot end, motor cable, filament, and filament holder as shown in Figure 5.117. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 101
Dobot Magician User Guide 5 Operation Figure 5.117 3D printing kit Procedure Step 1 Press down the lever on the extruder, and push down the filament to the bottom of the hole via the pulley, as shown in Figure 5.118. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 102
Dobot Magician User Guide 5 Operation Figure 5.118 Push down the filament Step 2 Connec the end of the PTFE tube to the hot end and push it down to the bottom of the hot end, and connect the other end to the extruder, as shown in Figure 5.119 Connect extruder and hot end Step 3 Insert the filament into the PTFE tube and push it down to the bottom of the hot end. NOTICE Please make sure that the PTFE tube has been pushed down to the bottom of the hot Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 103
Dobot Magician User Guide end. Otherwise, it will cause abnormal discharge. 5 Operation Step 4 Fix the hot end on the Dobot Magician with butterfly nut, as shown in Figure 5.120. Figure 5.120 Fix hot end Step 5 Insert the heating cable to the interface 4 on the Forearm, the fan cable to the interface 5 and the thermistor cable to the interface 6, as shown in Figure 5.121. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 104
Dobot Magician User Guide 5 Operation Figure 5.121 Connect hot end to the Forearm Step 6 Connect the extruder to the Stepper1 interface on the back of the base with motor cable, as shown in Figure 5.122. Figure 5.122 Connect with extruder Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 105
Dobot Magician User Guide 5 Operation Step 7 Place the filament and the extruder to the filament holder, as shown in Figure 5.123. Figure 5.123 Place filament and extruder to the Filament holder 5.9.2 Operating Repetier Host Repeiter Host has been built into DobotStudio. After burning 3D printing firmware, the Repetier Host page will be displayed automatically. Prerequisites y The 3D printing model has been prepared. y The printing platform has been prepared and please place it in the workspace of the Dobot Magician. y Dobot Magician has been powered on. y Dobot Magician has been connected to DobotStudio successfully (Only USB connection is supported). y The 3D printing kit has been installed. 5.9.2.1 Burning Firmware Procedure Step 1 Click 3DPrinter on the DobotStudio page. The 3D Printing FM page is displayed, as shown in Figure 5.124. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 106
Dobot Magician User Guide 5 Operation Figure 5.124 Burn firmware Step 2 Click Confirm to start burning 3D printing firmware. After burning 3D printing firmware, the Repetier Host page is displayed automatically, as shown in Figure 5.125. 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. Figure 5.125 Repetier Host page Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 107
Dobot Magician User Guide 5 Operation 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 5.126. Figure 5.126 Switch into 3D printing automatically 5.9.2.2 Performing 3D Printing Procedure Step 1 Set printing parameters. Printing parameters only need to be set for the first time. Click Printer Settings on the top right corner of the Pepetier Host page. 1. The Printer Settings page is displayed. 2. Set the corresponding parameters on the Connection tab as shown in the red box of Figure 5.127. The other parameters are set by default. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 108
Dobot Magician User Guide 5 Operation Figure 5.127 Connection setting 3. 4. Click Apply. Unselect the corresponding options on the Printer tab as shown in the red box of, Figure 5.128 and the other parameters are set by default. Then, click Apply. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 109
Dobot Magician User Guide 5 Operation Figure 5.128 Unselect options 5. Set the corresponding parameters on the Extruder tab as shown in the red box of Figure 5.129, the other parameters are set by default. Then, Click Apply. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 110
Dobot Magician User Guide 5 Operation Figure 5.129 Extruder settings 6. Set the corresponding parameters on the Printer Shape tab as shown in the red box of Figure 5.130, the other parameters are set by default. Then, Click Apply. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 111
Dobot Magician User Guide 5 Operation Figure 5.130 Printer shape settings Click OK 7. Step 2 Click Connect on the Repetier Host page to connect Dobot Magician. After the connection is successful, the current heating temperature will be shown on the below of the Repetier Host page, as shown in Figure 5.131. Figure 5.131 Connect to Dobot Magician Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 112
Dobot Magician User Guide Step 3 Text extruder. 5 Operation 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. Set the heating temperature to 200 on the Manual Control tab of the 1. Repetier Host page and click
, as shown in Figure 5.132. DANGER The heating rod will produce high temperature up to 250, please be careful. Do not let children play with it alone. The process needs to be monitored when it is running. After the process is completed, please turn off the equipment promptly. Figure 5.132 Heat the extruder 2. Click the extruder feeder when the heating temperature is up to 200 and feed up to10mm-30mm, as shown in Figure 5.133. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 113
Dobot Magician User Guide 5 Operation Figure 5.133 Extrude filament If the melted filament flows from the nozzle of the extruder, the extruder is working properly. NOTICE If the filament extrusion is in the opposite direction. Please remove the filament, and turn the extruder around, then re-push down the filament. Step 4 Adjust the printing space and get the printing coordinates. 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. 1. Press the Unlock key on the Forearm and drag Dobot Magician to make the printing head contact the surface of the masking paper (The distance between the printing head and the surface of the masking paper is the thickness of a sheet of A4 paper), then release the Unlock key. Input command M415 on the G-Code command window and press Enter to 2. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 114
Dobot Magician User Guide 5 Operation get the current coordinates, as shown in Figure 5.134. Also, you can press the Key button on the bace of the base to get the current coordinates. Figure 5.134 Input M415 NOTE If you cannot find the G-Code command window, please click EASY to close Easy Mode, as shown in Figure 5.135. Figure 5.135 Easy mode Step 5 Click Load to import the prepared 3D printing model, as shown in Figure 5.136. Issue V1.0 (2018-06-12) Copyright Yuejiang Technology Co., Ltd. User Guide 115
Dobot Magician User Guide 5 Operation The format of 3D model is STL. You can design 3D model and transform it into STL format. Figure 5.136 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 5.137. Figure 5.137 Model operation Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 116
Dobot Magician User Guide Step 6 Set slicing parameters and slice up. 5 Operation You need to set the slicing parameters before first printing. 3. Select Slic3r from Slicer on the Slicer tab of the Repetier Host page, and click Configuration, as shown in Figure 5.138. Figure 5.138 Select slicer The Slic3r page is displayed, as shown in Figure 5.139. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 117
Dobot Magician User Guide 5 Operation Figure 5.139 Slic3r page Set the slicing parameters on the Slic3r page. 4. 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. is The directory\DobotStudio\attachment, as shown in Figure 5.140. configuration sample path the of Installation Figure 5.140 Configuration sample Dobot-2.0-Vase.ini is used for printing a thin-walled vase, while Dobot-2.0-ini Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 118
Dobot Magician User Guide 5 Operation is used for the filling, the filling rate is 20%. 5. Save the Printing Settings, Filament Settings and Printer Settings tabs respectively after importing configuration sample, as shown in Figure 5.141. Figure 5.141 Save configuration file 6. Click Slici with Slic3r on the Slicer tab of the Repetier Host page, as shown in Figure 5.142. Figure 5.142 Start to slice Click 7. on the top left corner of the Repetier Host page to print. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 119
Dobot Magician User Guide 5 Operation Figure 5.143 Start printing Here we choose vase mode to print, and the product after printing as shown in Figure 5.144. Figure 5.144 The product of printing Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 120
Dobot Magician User Guide 5.9.3 Operating Cura 5 Operation If you need to use Cura software for 3D printing, please launch the Cura software after burning firmware. Prerequisites y Slice software Cura has been installed. The download path is https://ultimaker.com/en/products/ultimaker-cura-software/list. Please download the recommended version V14.07. The way how to install and use is not descripted in this topic. y The 3D printing model has been prepared. y The printing platform has been prepared and please place it in the workspace of Dobot Magician. y Dobot Magician has been powered on. y Dobot Magician has been connected to DobotStudio successfully (Only USB connection is supported). y The 3D printing kit has been installed. 5.9.3.1 Burning Firmware Procedure Step 1 Click 3DPrinter on the DobotStudio page. The 3D Printing FM page is displayed, as shown in Figure 5.145. Figure 5.145 Burn firmware Step 2 Click Confirm to start burning 3D printing firmware. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 121
Dobot Magician User Guide 5 Operation 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 Step 1 Step 2 Launch Cura software. Set slicing parameters. Select Machine > settings on the Cura page. 1. The Machine settings page is displayed. 2. Set the corresponding parameters on the Machine settings and click OK, as shown in Figure 5.146. Table 5.16 lists the values of the parameters that need to be set. The other parameters are set by default. Figure 5.146 Parameters setting Table 5.16 3D printing parameters description Parameter Maximum width Maximum depth Maximum height Description The maximum width please set to 80mm The maximum with please set to 80mm The maximum height Please set to 150mm Machine center 0,0 Machine center, please select it Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 122
Dobot Magician User Guide 5 Operation Parameter GCode Flavor Build area shape Serial port Baudrate Description The style of GCode Please select RepRap Marlin/Sprinter Build the area shape Please select Circular Serial port Please select the corresponding serial port Baud rate Please set to 115200 3. Set slice parameters, and select File > Open Profile to import these parameters, as shown in Figure 5.147. Figure 5.147 Import slice parameters The 3D printing effect depends on the slice parameters. This topic provides a configuration sample, you can import it directly for printing. The path of the configuration sample is Installation directory\DobotStudio
\attachment\, as shown in Figure 5.148. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 123
Dobot Magician User Guide 5 Operation Figure 5.148 Configuration sample Dobot-2.0-Vase-Cura.ini is used for printing a thin-walled vase, while Dobot-2.0-Cura.ini is used for the filling, the filling rate is 20%. Click 4.
, the Open 3D model page is displayed, and select the 3D printing model prepared. The format of 3D model is STL. You can design 3D model and transform it into STL format. After importing the model, click the model itself, you can center, zoom or rotate, and so on, as shown in Figure 5.149. Figure 5.149 Zoom and rotate Click 5. to connect with Dobot Magician. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 124
Dobot Magician User Guide 5 Operation The printing window is displayed and the current printing temperature is shown on the top corner of the window, as shown in Figure 5.150. Figure 5.150 Printing window Set Temperature to 200 and press down Enter to heat the extruder. 6. The temperature of the extruder should be above 170. Dobot Maigicain will not start 3D printing until the filament is in the melting state. So you need to heat the extruder first. DANGER The heating rod will produce high temperature up to 250, please be careful. Do not let children play with it alone. The process needs to be monitored when it is running. After the process is completed, please turn off the equipment promptly. Step 3 Test the extruder. Before printing, you need to test the extruder to check whether the melted filament flows from the nozzle of the extruder. Click the feedstock extruder or click the given stepper, such as 10, 1, 0.1 (10 is recommended) on the Operational page and feed up to 10mm-30mm, as shown in Figure 5.151. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 125
Dobot Magician User Guide 5 Operation Figure 5.151 Click feedstock extruder If the melted filament flows from the nozzle of the extruder, the extruder is working properly. NOTICE If the filament extrusion is in the opposite direction, please remove the filament, and turn the extruder around, then re-push down the filament. Step 4 Adjust the printing space and get printing coordinates. 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. 1. Press the Unlock key on the Forearm and drag Dobot Magician to make the printing head contact the surface of the masking paper(The distance between 2. the printing head and the surface of the masking paper is the thickness of a sheet of A4 paper), then release the Unlock key. Input command M415 on the lower right of the Operational page to get the current coordinates, as shown in Figure 5.152. Also, you can press the Key button on the bace of the base to get the current coordinates. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 126
Dobot Magician User Guide 5 Operation Figure 5.152 Input command M415 Step 5 Click Print, Dobot Magician moves to the printing origin (System setting) and starts printing. 5.10 5.10.1 Calibration Base Calibration The base Encoder has been calibrated before being shipped out. Generally, the J1-coordinate is 0 after homing, where the homing point is the system default. Namely, the Forearm is located at the middle in front of the base. If the J1-coordinate is not 0 (error range: 1-3) after homing, you need to re-calibrate the base Encoder. Prerequisites y The writing and drawing kit has been installed. For details, please see 5.4.1 Installing a Writing and drawing kit. y Dobot Magician has been powered on. y Dobot Magician has been connected to DobotStudio successfully. y The sensor calibration board has been prepared. Procedure Step 1 Place the Dobot Magician at the right position on the sensor calibration board, as shown in Figure 5.153. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 127
Dobot Magician User Guide 5 Operation Figure 5.153 Location of Dobot Magician Step 2
(Optional) Set the homing point and make the nib contact the surface of the calibration board. This step is used for observing the nib position on the calibration board when moving J1-axis in Step 5, to improve calibration accuracy. Click Teaching&Playback on the DobotStudio page. 1. The Teaching&Playback page is displayed. 2. 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. Select this point and right-click SetHome, as shown in Figure 5.154. 3. Figure 5.154 Set homing position Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 128
Dobot Magician User Guide 5 Operation Step 3 Click Setting > Base Calibration on the DobotStudio page. The Base Calibration page is displayed. Step 4 Click Next on the Base Calibration page. Dobot will start homing. Please ensure that there are no obstacles in the workspace during homing. Step 5 Click +J1 or -J1 to make the nib at a point on the line between A3 and B3 on the calibration board, as shown in Figure 5.155 and Figure 5.156. If the speed is too fast when moving J1-axis, you can drag Speed slider to adjust speed. Figure 5.155 Move J1-axis Figure 5.156 Nib position Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 129
Dobot Magician User Guide 5 Operation Step 6 Click Calibration to start calibrating the base Encoder. You can check the J1-coordinate on the Operation Panel page, as shown in Figure 5.157. Figure 5.157 J1-coordinate 5.10.2 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. y Manual Levelling: It is more accurate to calibrate manually with DobotStudio, sensor calibration board, and writing and drawing kit, which is suitable for the application scenarios with high requirements for absolute positioning accuracy. y Auto Levelling: It is simple and quick to calibrate automatically with DobotStudio and auto-levelling tool, which is suitable for the application scenarios without high Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 130
Dobot Magician User Guide 5 Operation requirements for absolute positioning accuracy, such as writing and drawing, 3D printing. 5.10.2.1 Manual Levelling Prerequisites y Dobot Magician has been powered on. y Dobot Magician has been connected to DobotStudio successfully. y The sensor calibration board has been prepared. Procedure Step 1 Place the Dobot Magician at the right position on the sensor calibration board, as shown in Figure 5.158. Figure 5.158 Location of Dobot Magician Step 2 Click Setting > Manual Levelling on the DobotStudio page. The Manual Levelling page is displayed. Step 3 Click Next on the Manual Levelling page. Dobot Magician will finish the auto-compensation of the angle senor coefficients of the Forearm and Rear Arm move according to the system settings. The result is as shown in Figure 5.159. NOTICE Please remove all end-effectors from Dobot Magician before calibrating Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 131
Dobot Magician User Guide 5 Operation Figure 5.159 Get the angle sensor coefficients Step 4 Click Next and set Angle Precision, Distance Precision, Result Range. In this step, please keep the default values, as shown in Figure 5.160. Figure 5.160 Set precisions Step 5 Click Next and follow the instructions on the Manual Levelling page to move Dobot Magician to the first calibrated point. If the calibrated point is A3 on the Calibration board. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 132
Dobot Magician User Guide 5 Operation 1. 2. 3. 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. Click coordinate buttons on the Manual Levelling page (as shown in Figure 5.161) to make the nib align to the center of A3 point on the calibration board, as shown in Figure 5.162. If the speed is too fast when clicking coordinate buttons, you can drag Speed slider to adjust speed. Figure 5.161 Fine-tune page Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 133
Dobot Magician User Guide 5 Operation Figure 5.162 Nib position Step 6 Click Next and follow the instructions on the Manual Levelling page (as shown in Figure 5.163) to move Dobot Magician to make the nib in the center of the second calibrated point. If the calibrated point is B3 on the calibration board, as shown in Figure 5.164. 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. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 134
Dobot Magician User Guide 5 Operation Figure 5.163 Fine-tune page Figure 5.164 Nib position on the second calibrated point Step 7 Click Next and set the distance between the two calibrated points, as shown in Figure 5.165. The distance between the two calibrated points on the Calibration board is 80mm, so please keep the default value in this step. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 135
Dobot Magician User Guide 5 Operation Figure 5.165 Set the distance between the two calibrated points Step 8 Click Next to start calibrating. The result is shown as Figure 5.166. Figure 5.166 Calibrating result 5.10.2.2 Auto Levelling Prerequisites Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 136
Dobot Magician User Guide 5 Operation y Dobot Magician has been connected to a PC via USB cable. y Dobot Magician has been connected to the power adapter. y The auto-levelling tool has been obtained, as shown in Figure 5.167. Figure 5.167 Auto-levelling tool Procedure Step 1 Step 2 Place Dobot Magician on the flat platform. NOTICE Please ensure that the platform is flat. Or, the auto levelling will be failed. Fix the auto-levelling tool on the Dobot Magician with butterfly nut, as shown in Figure 5.168. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 137
Dobot Magician User Guide 5 Operation Figure 5.168 Fix auto-levelling tool Step 3 Insert the cable of the auto-levelling tool to the interface 2 on the Forearm, as shown in Figure 5.169. Figure 5.169 Insert the cable of the auto-levelling Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 138
Dobot Magician User Guide 5 Operation Step 4 Power on Dobot Magician and connect it to DobotStudio. Step 5 Click Setting > Auto Levelling on the DobotStudio page. The Auto Levelling page is displayed, as shown in Figure 5.170. NOTICE Please ensure that there are no obstacles in the workspace during auto levelling. Figure 5.170 Auto levelling page Step 6 Click Start on the Auto Levelling page. Dobot Magician starts auto levelling. The levelling process will takes about 2 minutes. The result is shown as Figure 5.171. NOTE If the auto levelling is failed, please check if the platform is flat and try again. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 139
Dobot Magician User Guide 5 Operation Figure 5.171 Auto levelling result 5.10.3 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. Prerequisites y Dobot Magician has been powered on. y Dobot Magician has been connected to DobotStudio successfully. Procedure Click Home on the DobotStudio page, as shown in Figure 5.172. NOTICE Please remove the end-effector from the Dobot Magician before homing. Please ensure that there are no obstacles in the workspace during homing. y y Figure 5.172 Operate homing Dobot Magician will rotate clockwise to the limited position and then return to the default homing point automatically and the LED indicator on the base turns blue and is blinking. After the Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 140
Dobot Magician User Guide 5 Operation homing is successful, there is a beep sound and the LED indicator turns green. Also, the homing point can be use-defined, you can select a saved point on the Teachong&Playback page and right-click SetHome to set this saved point as the homing point, as shown in Figure 5.173. Figure 5.173 Set homing point 5.11 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 5.174 shows the WIFI kit. Figure 5.174 WIFI kit Prerequisites y Dobot Magician has been connected to a PC via USB cable. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 141
Dobot Magician User Guide 5 Operation y Dobot Magician has been connected to the power adapter. y The WIFI name and password have been obtained and must be the same as that of PC. Procedure Step 1 Connect the WIFI kit to the UART interface on the base, as shown in Figure 5.175. Figure 5.175 Connect with WIFI kit Step 2 Step 3 NOTICE Please turn off the Dobot Magician completely first before connecting or disconnecting external equipment. Or, it causes serious damage to your device Press down the power button to turn on the Dobot Magician. After turning on, there are two short beep sounds and the blue LED indicator on the WIFI module is on. Select the corresponding serial port from the serial drop-down list, and click Connect. Step 4 Click Setting > Wi-Fi. Step 5 The Set Dobot Wi-Fi page is displayed. Set the related parameters on the Set Dobot Wi-Fi page. In this topic, please select Dynamic Host Configuration Protocol (DHCP) and set SSID and Password to obtain the IP address of Dobot Magician, as shown in Figure 5.176. If you unselect Dynamic Host Configuration Protocol (DHCP), you need to set IP address, Netmask, Gateway. For details, please see Table 5.17. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 142
Dobot Magician User Guide 5 Operation Figure 5.176 Set WIFI Table 5.17 Parameter description Parameter Description SSID Set WIFI name The WIFI name and password have been obtained and must be the same as that of PC Password Set WIFI password Dynamic Host Configuration Protocol (DHCP) Whether to select DHCP 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 Gateway DNS Set subnet mask Set gateway Set DNS Step 6 Click OK. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 143
Dobot Magician User Guide 5 Operation About 5 seconds later, the green LED indicator on the WIFI module is on, indicating that the Dobot Magician has been connected with WLAN, as shown in Figure 5.177. Figure 5.177 Status of LED indicator Step 7 Click Disconnect on the left pane of the DobotStudio page. Step 8 After 2 seconds later, select the IP address from the drop-down list on the upper left pane of the DobotStudio page and click Connect, as shown in Figure 5.178. Figure 5.178 IP address of Dobot Magician After the connection is successful, you can control Dobot Magician without USB cable. 5.12 Connecting with Bluetooth Kit Dobot Magician can be connected to smart phone with Bluetooth. Figure 5.179 shows the Bluetooth kit. Please download the matched DobotStudio APP from the website https://cn.dobot.cc/downloadcenter.html?sub_cat=69#sub-download. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 144
Dobot Magician User Guide 5 Operation Figure 5.179 Bluetooth kit Prerequisites y Dobot Magician has been connected to the power adapter. y The DobotStudio APP has been downloaded. Procedure Step 1 Connect the Bluetooth kit to the UART interface on the base, as shown in Figure 5.180. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 145
Dobot Magician User Guide 5 Operation Figure 5.180 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. Step 2 Press down the power button to turn on the Dobot Magician. 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. Turn on the Bluetooth and launch DobotStudio APP on your phone. And click Connect to connect with Dobot Magician. This topic only describes how to connect Bluetooth kit. For details how to operate Dobot Magician with DobotStudio APP, please see https://www.youtube.com/watch?v=kyeXwuf17IY. 5.13 Operating Blockly Blockly is a programming platform based on Google Blockly. You can program through the puzzle format, which is straightforward and easy to understand. Prerequisites Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 146
Dobot Magician User Guide 5 Operation y Dobot Magician has been powered on. y Dobot Magician has been connected to DobotStudio successfully. Procedure Step 1 Click Blockly on the DobotStudio page. The Blockly page is displayed. Step 2 Drag the blockly module on the left pane of the Blockly page to program, as shown in Figure 5.181. Figure 5.181 Blockly graphic programming Table 5.18 lists the description of blockly module. Table 5.18 Blockly description Description The selection area of blockly module, including logistic, loop, math, and 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 5.181 is described as follows. No. 1 2 3 4 Set the end-effector as Gripper. Set the loop number as 3 and make the Z-axis move back and forth 3 times. Set the pause time as 3. 1. 2. 3. Step 3 Click Save on the Blockly page. Step 4 The Saving Blockly file page is displayed. Input the use-defined name and the saving path, and click Save. The default path of Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 147
Dobot Magician User Guide 5 Operation the programing file is Installation directory/DobotStudio/config/bystore. Please replace the path based on site requirements. Step 5 Click Start on the Blockly page, and Dobot Magician will move according to the program. 5.14 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. The download path is https://www.dobot.cc/downloadcenter.html?sub_cat=72#sub-download. Prerequisites y Dobot Magician has been powered on. y Dobot Magician has been connected to DobotStudio successfully. Procedure Step 1 Click Script on the DobotStudio page. The Script page is displayed. Step 2 Write a script. You can call the interface by double-clicking on the left pane of the Script page, the corresponding interface will be displayed on the middle pane, as shown in Figure 5.182. You can also click icon of the corresponding interface to view the way how to set the parameters. The scripting examples (including Jog, PTP, and Pallet) can refer to Installation directory/DobotStudio/config/ststore/. Figure 5.182 Write a script Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 148
Dobot Magician User Guide Step 3 Click Save on the Script page. 5 Operation Step 4 The Saving Scrip File page is displayed. Input the use-defined name and the saving path, and click Save. The default path of the script is Installation directory/DobotStudio/config/ststore. Please replace the path based on site requirements. Step 5 Click Start, and Dobot Magician will move according to the script file. The running log will be displayed on the lower pane of the Script page for checking. 5.15 Operating Stick Controller Kit Dobot Magician can be controlled by stick controller kit without DobotStudio. Figure 5.183 shows the stick controller kit. From left to right: Stick controller, USB Host module, USB cable
(used for charging stick controller), Transceiver. Figure 5.183 Stick controller kit Prerequisites y Dobot Magician has been connected to a PC over USB cable. y Dobot Magician has been connected to the power adapter. Procedure Step 1 Connect the transceiver to the USB module. Step 2 Connect the USB Host module to the UART interface on the base, as shown in Figure 5.184. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 149
Dobot Magician User Guide 5 Operation Figure 5.184 Connect with USB Host module Step 3 Press down the power button to turn on the Dobot Magician. The blue LED indicator on the USB Host module is on. After turning on, there are four short beep sounds and the green one is on. NOTICE Please turn off the Dobot Magician completely first before connecting or disconnecting external equipment. Or, it causes serious damage to your device. Step 4 Press down the power button on the stick controller, as shown in Figure 5.185. 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 V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 150
Dobot Magician User Guide 5 Operation Figure 5.185 Power button of the stick controller Table 5.19 lists the functions of buttons on the stick controller. Table 5.19 Button function Function Turn on stick controller The stick controller will turn off automatically Turn on the peripheral motor Turn off the peripheral motor off Switch to Cartesian coordinate system mode Switch to Joint coordinate system mode Control the outtake of the air pump Control the intake of the air pump Turn off the air pump y y y Cartesian coordinate system mode: Dobot Magician moves along X-axis in the positive/negative direction Joint coordinate system mode: Dobot Magician rotates along J1-axis in the positive/negative direction Cartesian coordinate system mode: Dobot Magician moves along Y-axis in the Button Power button LT RT RB LB X Y B Left stick: Front/back Left stick: Left/right Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 151
Dobot Magician User Guide Button Function 5 Operation Right stick: Front/back Right stick: Left/right y y y y y positive/negative direction Joint coordinate system mode: Dobot Magician rotates along J2-axis in the positive/negative direction Cartesian coordinate system mode: Dobot Magician moves along Z-axis in the positive/negative direction Joint coordinate system mode: Dobot Magician rotates along J3-axis in the positive/negative direction Cartesian coordinate system mode: Dobot Magician rotates along R-axis in the positive/negative direction Joint coordinate system mode: Dobot Magician rotates along J4-axis in the positive/negative direction 5.16 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 5.186. Figure 5.186 I/O setting page Now, demos of level output, level input, and PWM output are given below. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 152
Dobot Magician User Guide 5.16.1 Level Output 5 Operation Normally, air pump can be controlled by the I/O interfaces. The I/O 11 controls its intake
(High level) and outtake (Low level) and the I/O 16 controls its start-stop. Table 5.20 lists the multiplexed descriptions of I/O 11 and I/O 16. Table 5.20 Multiplexed I/O description I/O addressing Voltage Level Output PWM Level Input ADC 11 16 3.3V 12V
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The I/O 11 and I/O 16 are located at the peripheral interface of the base, as shown in Figure 5.187. Figure 5.187 Peripheral Interface on the base Prerequisites y The air pump has been connected to Dobot Magician. For details, please see 5.2.1 Installing a Suction Cup Kit. y Dobot Magician has been powered on. y Dobot Magician has been connected to DobotStudio successfully. Procedure Step 1 Select Pen from the end-effector drop-down list on the DobotStudio page, as shown in Figure 5.188. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 153
Dobot Magician User Guide 5 Operation Figure 5.188 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. Step 2 Click icon on the Teaching&Playback page, as shown in Figure 5.189. Figure 5.189 Switch advanced function Step 3 Select IO_11, IO_16 and their corresponding Value on the Output pane, and click
+Point.
The saved point is displayed on the Teaching&Playback page, as shown in Figure 5.190. NOTE If the intake is not obvious, please modify PauseTime of this saved point. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 154
Dobot Magician User Guide 5 Operation Figure 5.190 Saved point Step 4 Step 5 Select this point and click StepRun. The air pump is humming with intake. Select IO_11, IO_16 and the corresponding Value of IO_16 on the Output pane, and click +Point. The saved point is displayed on the Teaching&Playback page, as shown in Figure 5.191. Figure 5.191 Saved point Step 6 Select this point and click StepRun. The air pump is humming with outtake. 5.16.2 Level Input This topic also takes I/O 12 as an example. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 155
Dobot Magician User Guide 5 Operation Table 5.21 Multiplexed I/O description I/O addressing Voltage Level Output PWM Level Input ADC 12 3.3V
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Prerequisites y Dobot Magician has been powered on. y Dobot Magician has been connected to DobotStudio successfully. y The saved points list has been existed on the Teaching&Playback page. Procedure Step 1 Click icon on the Teaching&Playback page, as shown in Figure 5.192. Figure 5.192 Switch advanced function Step 2 Step 3 Select a saved point on the Teaching&Playback page. Select EIO11_Input on the Trigger pane, and set Condition and its Value. Here, Value only can be set to 0 or 1. 1: High level; 0: Low level. Step 4 Click ADD, as shown in Figure 5.193. Figure 5.193 Saved point Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 156
Dobot Magician User Guide 5.16.3 PWM OUTPUT This topic also takes I/O 11 as an example. 5 Operation Table 5.22 Multiplexed I/O description I/O addressing Voltage Level Output PWM Level Input ADC 11 3.3V
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Prerequisites y Dobot Magician has been powered on. y Dobot Magician has been connected to DobotStudio successfully. Procedure Step 1 Click icon on the Teaching&Playback page, as shown in Figure 5.194. Figure 5.194 Switch advanced function Step 2 Select IO_11 on the Output pane, and click +Point, as shown in Figure 5.195. Figure 5.195 Saved point Step 3 Double-click EIO11 cell and select from the drop-down list. The EIO Setting page is displayed, as shown in Figure 5.196. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 157
Dobot Magician User Guide 5 Operation Figure 5.196 EIO setting Set Frequency (Unit: KHZ; Value range: 10HZ-1MHZ) and DutyRatio
(0%-100%) on the EIO Setting page. Step 4 Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 158
Dobot Magician User Guide 5 Operation FCC Statement FCC Statement This device complies with Part 15 of the FCC rules. Operation is subject to the following two conditions: 1) this device may not cause harmful interference, and 2) this device must accept any interference received, including interference that may cause undesired operation. Note: This equipment has been tested and found to comply with the limits for a Class B digital device, pursuant to part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference in a residential installation. This equipment generates uses and can radiate radio frequency energy and, if not installed and used in accordance with the instructions, may cause harmful interference to radio communications. However, there is no guarantee that interference will not occur in particular installation. If this equipment does cause harmful interference to radio or television reception, which can be determined by turning the equipment off and on, the user is encouraged to try to correct the interference by one or more of the following measures:
--Reorient or relocate the receiving antenna.
--Increase the separation between the equipment and receiver.
--Connect the equipment into an outlet on a circuit different from that to which the receiver is connected.
--Consult the dealer or an experienced radio/TV technician for help. Changes or modifications not expressly approved by the party responsible for compliance could void the users authority to operate the equipment. FCC Radiation Exposure Statement For Bluetooth kit and WIFI kit:
This device complies with FCC RF radiation exposure limits set forth for an uncontrolled environment. This transmitter must not be co-located or operating in conjunction with any other antenna or transmitter. This device must operate with a minimum distance of 20 cm between the radiator and user body. IC Note:
IC Note:
This device complies with Industry Canada's licence-exempt RSSs. Operation is subject to the following two conditions:
(1) This device may not cause interference; and
(2) This device must accept any interference, including interference that may cause undesired operation of the device. Cet appareil est conforme aux CNR exemptes de licence d'Industrie Canada . Son fonctionnement est soumis aux deux conditions suivantes :
(1) Ce dispositif ne peut causer d'interfrences ; et
(2) Ce dispositif doit accepter toute interfrence , y compris les interfrences qui peuvent causer un mauvais fonctionnement de l'appareil. Issue V1.0 (2018-06-12) User Guide Copyright Yuejiang Technology Co., Ltd. 158
frequency | equipment class | purpose | ||
---|---|---|---|---|
1 | 2018-11-21 | 2402 ~ 2480 | DTS - Digital Transmission System | Original Equipment |
app s | Applicant Information | |||||
---|---|---|---|---|---|---|
1 | Effective |
2018-11-21
|
||||
1 | Applicant's complete, legal business name |
Shenzhen Yuejiang Technology Co., Ltd
|
||||
1 | FCC Registration Number (FRN) |
0025327404
|
||||
1 | Physical Address |
Bldg C2, 18/F, Nanshan iPark, No. 1001 Xueyuan
|
||||
1 |
Shenzhen, N/A 518000
|
|||||
1 |
China
|
|||||
app s | TCB Information | |||||
1 | TCB Application Email Address |
j******@eurofins.com
|
||||
1 | TCB Scope |
A4: UNII devices & low power transmitters using spread spectrum techniques
|
||||
app s | FCC ID | |||||
1 | Grantee Code |
2AHI4
|
||||
1 | Equipment Product Code |
WIRELESS1
|
||||
app s | Person at the applicant's address to receive grant or for contact | |||||
1 | Name |
H****** S******
|
||||
1 | Telephone Number |
86-13********
|
||||
1 | Fax Number |
0755-********
|
||||
1 |
k******@dobot.cc
|
|||||
app s | Technical Contact | |||||
n/a | ||||||
app s | Non Technical Contact | |||||
n/a | ||||||
app s | Confidentiality (long or short term) | |||||
1 | Does this application include a request for confidentiality for any portion(s) of the data contained in this application pursuant to 47 CFR § 0.459 of the Commission Rules?: | Yes | ||||
1 | Long-Term Confidentiality Does this application include a request for confidentiality for any portion(s) of the data contained in this application pursuant to 47 CFR § 0.459 of the Commission Rules?: | No | ||||
if no date is supplied, the release date will be set to 45 calendar days past the date of grant. | ||||||
app s | Cognitive Radio & Software Defined Radio, Class, etc | |||||
1 | Is this application for software defined/cognitive radio authorization? | No | ||||
1 | Equipment Class | DTS - Digital Transmission System | ||||
1 | Description of product as it is marketed: (NOTE: This text will appear below the equipment class on the grant) | Bluetooth Kit | ||||
1 | Related OET KnowledgeDataBase Inquiry: Is there a KDB inquiry associated with this application? | No | ||||
1 | Modular Equipment Type | Does not apply | ||||
1 | Purpose / Application is for | Original Equipment | ||||
1 | Composite Equipment: Is the equipment in this application a composite device subject to an additional equipment authorization? | No | ||||
1 | Related Equipment: Is the equipment in this application part of a system that operates with, or is marketed with, another device that requires an equipment authorization? | No | ||||
1 | Grant Comments | Output Power listed is peak conducted. | ||||
1 | Is there an equipment authorization waiver associated with this application? | No | ||||
1 | If there is an equipment authorization waiver associated with this application, has the associated waiver been approved and all information uploaded? | No | ||||
app s | Test Firm Name and Contact Information | |||||
1 | Firm Name |
Shenzhen United Testing Technology Co., Ltd.
|
||||
1 | Name |
L**** Z****
|
||||
1 | Telephone Number |
86-75********
|
||||
1 |
h******@uni-lab.hk
|
|||||
Equipment Specifications | |||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
Line | Rule Parts | Grant Notes | Lower Frequency | Upper Frequency | Power Output | Tolerance | Emission Designator | Microprocessor Number | |||||||||||||||||||||||||||||||||
1 | 1 | 15C | 2402.00000000 | 2480.00000000 | 0.0016000 |
some individual PII (Personally Identifiable Information) available on the public forms may be redacted, original source may include additional details
This product uses the FCC Data API but is not endorsed or certified by the FCC