Issue: V1.5 Date: 2023-02-20 Shenzhen Yuejiang Technology Co.,Ltd.
Dobot MG400 User Guide Copyright © Shenzhen Yuejiang Technology Co., Ltd 2023. All rights reserved. No part of this document may be reproduced or transmitted in any form or by any means without the 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.
Dobot MG400 User Guide Preface Purpose This document describes the functions, technical specifications and installation procedure of Dobot MG400 robot, which is convenient for users to understand and use the robot. Intended Audience This document is intended for: Customer Sales Engineer Installation and Commissioning Engineer Technical Support Engineer Change History Date Change Description 2023/03/20 Reconstruct and update the document 2022/03/03 Update the sequence of 3.
Dobot MG400 User Guide Contents Security Precautions ................................................................................................ 1 Liability ............................................................................................................................. 1 Validity and Responsibility.................................................................................. 1 Limitation of Liability .....................................................................................
Dobot MG400 User Guide Safety Instructions .......................................................................................................... 25 Body Maintenance .......................................................................................................... 25 Certification ............................................................................................................ 27 Collaborative robot certification ......................................................................
Dobot MG400 User Guide Security Precautions Liability Validity and Responsibility The information in this document does not cover designing, installing and operating a complete robot system, nor does it cover all peripheral equipment that can affect the safety of the complete system. The complete system must be designed and installed in accordance with the safety requirements set forth in the standards and regulations of the country where the robot is installed.
Dobot MG400 User Guide Safety warning signs The following safety warning signs may appear in this document, and their meanings are described as follows. Sign Description Indicates a high degree of potential danger, which, if not avoided, will result in death DANGER or serious injury. May cause dangerous power consumption soon, which, if not avoided, will cause ELECTRICITY personal injury or serious damage to the equipment. May cause dangerous hot surfaces, which, if touched, may cause personal injury.
Dobot MG400 User Guide NOTICE The personnel responsible for installation, operation and maintenance of equipment must first receive strict training, understand various safety precautions, and master correct operation and maintenance methods before they can operate and maintain equipment. Personnel without professional training shall not disassemble and repair the equipment without authorization. If the device fails, please contact Dobot technical support engineer in time.
Dobot MG400 User Guide If necessary, wear corresponding safety protective equipment, such as safety helmets, safety shoes (with non-slip soles), face shields, protective glasses and gloves. Inappropriate clothing may cause personal injury. In order to prevent personnel from entering the working space of the robot arm by mistake, please set up safety barriers to prevent personnel from entering the hazardous area.
Dobot MG400 User Guide WARNING Before the operation, please wear protective clothing, such as antistatic uniform, protective gloves, and protective shoes. It is prohibited to modify or remove the nameplates, instructions, icons and marks on the robot and the related equipment. Before operating the equipment, please find and be familiar with the operation method of the emergency stop function to ensure that the robot arm can be stopped urgently in the case of sudden stress.
Dobot MG400 User Guide Even if the power switch of the controller is already in the OFF status, touching the terminal blocks or removing the interval circuit components is not allowed, so as to avoid an electric shock since there is residual capacitance inside the controller. When working with robots, do not wear loose clothing or jewelry. When operating the robot, make sure that you have bundle your hair behind your head.
Dobot MG400 User Guide Transportation The robot should be restored to its packaging posture during transportation, as shown below, and transported with its original packaging. The robot arm has four joints: J1, J2, J3 and J4, and the corresponding joint angles of the factory posture are: J1= 0°, J2= 0°, J3= 60°, J4= 0°. You can adjust the joint angles through jogging or programming. See the corresponding software guide for details. Figure 2.
Dobot MG400 User Guide Product Introduction Overview MG400 is an ultra-compact desktop robot arm. It is designed integrating the controller and the robot arm body. The controller is installed in the base. MG400 robot arm includes 4 rotating joints, and two connecting rods (upper arm and forearm), as shown in Figure 3.1. Figure 3.1 MG400 Robot base The base is equipped with core computing and electrical components of MG400.
Dobot MG400 User Guide Flash Position limit alarm End button and interface MG400 is equipped with a button and two interfaces on its forearm. Hand-guiding button: When the robot arm is enabled and not running a program, long press the button and then you can drag the joints for teaching. After dragging the robot arm to the teaching point, press the end button again and the joints will be locked (cannot be dragged).
Dobot MG400 User Guide Product Features Coordinate system Joint coordinate system The joint coordinate system is determined based on all motion joints. All joints are rotating joints, and the positive rotating direction is shown in Figure 4.1. Figure 4.1 Joint coordinate system User coordinate system The user coordinate system is a movable coordinate system which is used for representing equipment like fixtures, workbenches.
Dobot MG400 User Guide Figure 4.2 User coordinate system Tool coordinate system The tool coordinate system defines the tool center point (TCP) and tool posture, of which the origin and orientations vary with the position and angle of the workpiece at the end of robot. The default tool coordinate system is determined based on the end of the robot, as shown in Figure 4.3. Figure 4.
Dobot MG400 User Guide Figure 4.4 Home point sticker If the home point of the robot arm changes due to the replacement of the transmission parts or the collision, you can calibrate using the calibration block through the control software. See the corresponding software guide for details. Braking time and braking angle When the J1~J4 axes triggers an emergency stop at maximum speed, maximum load and maximum arm span, the maximum braking angle and braking time of each joint are shown in the table below.
Dobot MG400 User Guide Mechanical Specifications Dimensions Figure 5.1 MG400 Dimensions Base installation dimensions Issue V1.5 (2023-03-20) User Guide 13 Copyright © Yuejiang Technology Co.
Dobot MG400 User Guide Figure 5.2 Base installation dimensions End dimensions Figure 5.3 Issue V1.5 (2023-03-20) End flange dimensions User Guide 14 Copyright © Yuejiang Technology Co.
Dobot MG400 User Guide Figure 5.4 End reserved holes DANGER Make sure the tools are properly and safely installed in place. Ensure the safe architecture of tools to prevent accidental fall of any parts. Workspace Figure 5.5 shows the workspace of MG400 robot. NOTICE When operating the robot, be sure to operate within the workspace. Issue V1.5 (2023-03-20) User Guide 15 Copyright © Yuejiang Technology Co.
Dobot MG400 User Guide Figure 5.5 Workspace Load curve The load capacity of the robot is negatively correlated with the eccentric distance of the load mass center. The load curve is shown below. Issue V1.5 (2023-03-20) User Guide 16 Copyright © Yuejiang Technology Co.
Dobot MG400 User Guide Figure 5.6 Issue V1.5 (2023-03-20) MG400 load curve User Guide 17 Copyright © Yuejiang Technology Co.
Dobot MG400 User Guide Electrical Specifications Base Interface Interface overview The base interface board is shown in Figure 6.1 and described in Table 6.1. Figure 6.1 Interface board of the base Table 6.1 Screen printing Description LAN1 LAN interface Interface description The default IP address is 192.168.1.6, which cannot be modified. It can be used for software debugging. LAN2 LAN interface For connecting to external equipment. The default IP address is 192.168.2.6, which can be modified.
Dobot MG400 User Guide Screen printing Description For connecting to DC 48V power supply I/O I/O interface AIR Air source interface. The corresponding air pipe diameter was 4mm The ENC interface of the MG400 is shown in Figure 6.2, and described in Table 6.2. Figure 6.2 Table 6.2 No.
Dobot MG400 User Guide below. Figure 6.4 DI connected to simple switch The wiring of DI connected to external DO is shown in Figure 6.5, which takes PNP-type DO without power supply as an example. If DO has its own power supply, you do not need to connect V+ cable. Figure 6.5 DI connected to PNP-type DO DO wiring The wiring of DO connected to external load (without external power supply) is shown in Figure 6.6. Figure 6.6 Issue V1.
Dobot MG400 User Guide Figure 6.7 DO connected to external load (with external power supply) Tool I/O interface The tool I/O needs to be used with an aerial plug (WEIPU: SF810/P6). Figure 6.8 Tool I/O interface DANGER When connecting end tools, ensure that power interruptions do not cause any hazards, such as a workpiece falling off the tool. Issue V1.5 (2023-03-20) User Guide 21 Copyright © Yuejiang Technology Co.
Dobot MG400 User Guide Installation Installation Environment To maintain the robot performance and ensure safety, please place them in an environment with the following conditions. NOTICE Install indoors with good ventilation. Keep away from excessive and shock. Keep away from direct sunlight. Keep away from dust, oily smoke, salinity, metal powder, corrosive gases, and other contaminants. Do not use in a closed environment.
Dobot MG400 User Guide Figure 7.1 Robot base size Wiring and powering on 1. Connect the emergency stop switch cable using wiring terminals, as shown below. 2. Connect the power cable. The other end of the power cable is connected to an external power supply via a power adapter. 3. Connect the base LAN1 interface using a network cable to the computer for debugging. If you have purchased a WiFi module, you can also plug the WiFi module into the base USB interface and connect wirelessly. 4.
Dobot MG400 User Guide ⚫ Set the specifications and installation method of external cables in compliance with local power distribution laws and regulations. ⚫ Do not remove the controller by yourself, otherwise it may cause electricity leakage. ⚫ Make sure the device is grounded. ⚫ Do not bend the cable excessively, otherwise it may cause poor contact or cable breakage.
Dobot MG400 User Guide Maintenance and Repair Maintenance and repairing must be performed in compliance with all safety instructions in this manual. The purpose of maintenance and repairing is to ensure that the system is kept operational, or to return the system to an operational state in the event of a fault. Repairing includes troubleshooting in addition to the actual repair itself. Repairing must be performed by an authorized system integrator or Dobot technical engineers.
Dobot MG400 User Guide Observe the moving part of the cable, check whether the cable is damaged, whether there is Cable, cable protective cover and √ air pipe local bending or distortion; Check whether the cable protective cover is damaged. Check whether the air pipe is locally bent, twisted, damaged, etc. Check the torque based on Table 8.2 (push aside Joint bolts √ the joint rubber to check) Tool mounting bolts Check the torque based on Table 8.2.
Dobot MG400 User Guide Certification Collaborative robot certification Issue V1.5 (2023-03-20) User Guide 27 Copyright © Yuejiang Technology Co.
Dobot MG400 User Guide Robot reliability certification Issue V1.5 (2023-03-20) User Guide 28 Copyright © Yuejiang Technology Co.
Dobot MG400 User Guide FCC SDoC certification Issue V1.5 (2023-03-20) User Guide 1 Copyright © Yuejiang Technology Co.
Dobot MG400 User Guide CE-MD certification Issue V1.5 (2023-03-20) User Guide 2 Copyright © Yuejiang Technology Co.
Dobot MG400 User Guide CE-EMC certification Issue V1.5 (2023-03-20) User Guide 3 Copyright © Yuejiang Technology Co.
Dobot MG400 User Guide RoHS Issue V1.5 (2023-03-20) User Guide 4 Copyright © Yuejiang Technology Co.
Dobot MG400 User Guide RCM certification Issue V1.5 (2023-03-20) User Guide 5 Copyright © Yuejiang Technology Co.
Dobot MG400 User Guide KCs certification Issue V1.5 (2023-03-20) User Guide 6 Copyright © Yuejiang Technology Co.
Dobot MG400 User Guide Warranty Product warranty Without prejudice to any claim agreement that the user (customer) may reach with the distributor or retailer, the manufacturer shall guarantee the quality of the products to the customer in accordance with the terms and conditions below: If defects caused by manufacturing and/or improper material occur in a new device and its components within 12 months (15 months at most if the shipping time is included) after the device is put into use, Dobot shall provide
Dobot MG400 User Guide Appendix A Technical Specifications Product DOBOT MG400 Model DT-MG400-4R075-01 Weight 8kg Max load 500g Reach 440mm Power adapter 100V~240V AC, 50/60Hz, Max. 240W Rated voltage DC48V Installation Table installation, indoor Rated power 150W Repeatability ±0.
Dobot MG400 User Guide Working temperature: 0℃~40℃ Operating altitude range ≤ 1000 m Safety Standard EN ISO 10218-1:2011 Steel wire and wire products. General. Test methods EN 60204-1:2018 Safety of machinery. Electrical equipment of machines. General requirements EN ISO 12100:2010 Safety of machinery. General principles for design. Risk assessment and risk reduction EMC Standard EN 61000-6-2:2019 Electromagnetic compatibility (EMC). Generic standards.
Dobot MG400 User Guide Appendix B I/O Simple Circuit Digital Input The figure below shows the simple digital input circuit and the table below lists the technical specifications. Item Specification Input channel 16 channels Connection method Crimping terminal Input type PNP Input voltage (DC) 24V±10% Isolation method Optical coupling isolation Digital Output The figure below shows the simple digital output circuit and the table below lists the technical specifications.
Dobot MG400 User Guide Item Specification Connection method Crimping terminal Output type PNP Power supply (DC) 24V±10% Load current of single channel 500mA Output current 2A Isolation method Magnetic isolation Issue V1.5 (2023-03-20) User Guide 11 Copyright © Yuejiang Technology Co.
