User Guide Dobot Magician Lite User Guide Issue: V1.0.0 Date: 2019-12-04 Shenzhen Yuejiang Technology Co.
Dobot Magician Lite User Guide Copyright © ShenZhen Yuejiang Technology Co., Ltd 2019. 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.
Dobot Magician Lite User Guide Preface Preface Purpose This Document describes the functions, technical specifications, installation guide and system commissioning of Magician Lite, making it easy for users to fully understand and use it.
Dobot Magician Lite User Guide Contents Contents Security Precautions ................................................................................................ 1 1.1 General Security................................................................................................................ 1 Precautions ........................................................................................................................ 2 Quick Start ..........................................................
Dobot Magician Lite User Guide Contents Installing a Writing and drawing kit .................................................................. 55 Connecting the DobotStudio ............................................................................. 57 Importing Image Files and Setting Writing Parameters..................................... 58 Adjust the Position of the Pen Nib .................................................................... 63 Operating Blockly .....................................
Dobot Magician Lite User Guide 1 Security Precautions 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 needs 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.
Dobot Magician Lite User Guide 1 Security Precautions 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 the arrow. 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).
Dobot Magician Lite User Guide 2 Quick Start Quick Start This topic briefly describes how to operate the Magician Lite with the software DobotStudio, allowing you to quickly know and use Magician Lite. Figure 2.1 shows the process of getting started with Magician Lite. Figure 2.1 The process of getting started with Magician Lite Connecting Cables to Magician Lite When not used with Magic Box, connect directly to Magician Lite. Issue V1.0.
Dobot Magician Lite User Guide Figure 2.2 Figure 2.3 2 Quick Start Connect Magician Lite to your computer Connect Magician Lite to the electrical outlet When used with Magic Box, connect Magic Box and Magician Lite. Issue V1.0.0 (2019-12-04) User Guide 4 Copyright © Yuejiang Technology Co., Ltd.
Dobot Magician Lite User Guide Figure 2.4 Figure 2.5 Issue V1.0.0 (2019-12-04) 2 Quick Start Connect Magician Lite and Magic Box Connect Magician Lite to the electrical outlet User Guide 5 Copyright © Yuejiang Technology Co., Ltd.
Dobot Magician Lite User Guide Figure 2.6 2 Quick Start Connect power adaptor Installing the DobotStudio You can control Magician Lite and Magic Box by DobotStudio（V1.8.0 and above）to implement functions such as Teaching & Playback, fully programmable applications. This topic introduces Teaching & Playback.
Dobot Magician Lite User Guide Figure 2.7 2 Quick Start The Select Setup Language dialog box Figure 2.8 Select English During the installation, the Driver Installation dialog box is displayed, two drivers need to be installed, as shown in Figure 2.9. Figure 2.9 Issue V1.0.0 (2019-12-04) The Device Driver Installation Wizard dialog box User Guide 7 Copyright © Yuejiang Technology Co., Ltd.
Dobot Magician Lite User Guide 2 Quick Start When the drivers are installed successfully, the Completing the Device Driver Installation Wizard dialog box is displayed. Click Finish, as shown in Figure 2.10. Figure 2.10 The Completing the Device Driver Installation Wizard dialog box When the installation is complete, the Completing the DobotStudio Setup Wizard dialog box is displayed. Click Finish, as shown in Figure 2.11. Figure 2.
Dobot Magician Lite User Guide 2 Quick Start 2.2.4.2 Verifying the Dobot 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 2.12, the robotic arm driver is installed successfully. Figure 2.12 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. Figure 2.
Dobot Magician Lite User Guide Figure 2.14 2 Quick Start Power on Magician Lite NOTICE If the LED indicator is red after powering on Magician Lite, it means that Magician Lite reaches its limited position. To go back to the workspace, press and hold the unlock button on the Forearm to move Magician Lite to another desired position After releasing the button the LED indicator turns green. Power off: When the LED indicator is green, press the power button to turn off Magician Lite.
Dobot Magician Lite User Guide 2 Quick Start The DobotStudio has been installed. For details, please refer to 2.2 Installing the DobotStudio. Magician Lite is powered on. For details, please refer to 2.3Powering On/Off Magician Lite. Procedure The DobotStudio page is displayed as shown in Figure 2.15. Figure 2.15 The DobotStudio page Figure 2.16 Issue V1.0.0 (2019-12-04) Click Connect User Guide 11 Copyright © Yuejiang Technology Co., Ltd.
Dobot Magician Lite User Guide 1. Click Teaching & Playback, as shown in Figure 2.17. Figure 2.17 2. 2 Quick Start Click Teaching & Playback Select PTP Point > MOVJ mode in the Save Point area, as shown in Figure 2.18. Figure 2.18 Issue V1.0.0 (2019-12-04) Select MOVJ motion mode User Guide 12 Copyright © Yuejiang Technology Co., Ltd.
Dobot Magician Lite User Guide 3. 2 Quick Start Press and hold the unlock button on the Forearm to move the robotic arm to a position such as a point A, and then release the button. In this case, the DobotStudio will save the Cartesian coordinate of point A, as shown in Figure 2.19. Figure 2.19 The Cartesian coordinate of the point A NOTE: Apart from hand-guided teaching, you can accomplish a teaching task by jogging Magician Lite in the Cartesian or Joint coordinate system, as shown in Figure 2.20.
Dobot Magician Lite User Guide 2 Quick Start referring to the method of creating point A above, as shown in Figure 2.21. The robotic arm will save the Cartesian coordinates corresponding to these two points. Figure 2.21 5. The Cartesian coordinates of points B and C Enter 3 in the Loop text box. The robotic arm will repeat the sequence of movements three times, as shown in Figure 2.22. Figure 2.22 6.
Dobot Magician Lite User Guide Figure 2.23 7. Click Click Start to exit the Teaching & Playback page, as shown in Figure 2.24. Figure 2.24 Issue V1.0.0 (2019-12-04) 2 Quick Start Click Exit User Guide 15 Copyright © Yuejiang Technology Co., Ltd.
Dobot Magician Lite User Guide 3 Introduction Introduction Overview Magician Lite is a multifunctional desktop robotic arm for practical training education, supporting teaching and playback, blockly graphics programming, script, etc. It also supports secondary development by various extensible I/O interfaces provided by Magic Box, which really makes your creativity and imagination increase without any limitation.
Dobot Magician Lite User Guide Figure 3.2 3 Introduction The appearance of Magician Lite Working Principle This topic describes the workspace, principle, size and technical specifications of Magician Lite. Workspace Figure 3.3 and Figure 3.4 shows the workspace. Figure 3.3 Workspace of Magician Lite (1) Issue V1.0.0 (2019-12-04) User Guide 17 Copyright © Yuejiang Technology Co., Ltd.
Dobot Magician Lite User Guide 3 Introduction Figure 3.4 Workspace of Magician Lite (2) Coordinate System Magician Lite has two types of coordinate systems, the joint one and the Cartesian one, as shown in Figure 3.5 and Figure 3.6 respectively. Figure 3.5 Joint coordinate system Issue V1.0.0 (2019-12-04) User Guide 18 Copyright © Yuejiang Technology Co., Ltd.
Dobot Magician Lite User Guide Figure 3.6 3 Introduction Cartesian coordinate system Joint coordinate system: The coordinates are determined by the motion joints. If the end-effector with servo is installed, such as suction cup kit, gripper kit, Magician Lite contains four joints: J1, J2, J3, and J4, which are all the rotating joints. The positive direction of these joints is counter-clockwise. Cartesian coordinate system: The coordinates are determined by the base.
Dobot Magician Lite User Guide 3 Introduction direction. Click Z+, Z- and Magician Lite will move along Z-axis in a negative or positive direction. Click R+, R- and Magician Lite will rotate along R-axis in a positive or negative direction. NOTICE If the end-effector with servo is installed on the Magician Lite, the R-axis will move together with Y-axis, to make sure that the terminal posture relative to the origin stays constant.
Dobot Magician Lite User Guide 3 Introduction Move horizontally to a point that is above B by height. Move down to point B. Figure 3.8 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 3.9. 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. Figure 3.9 ARC mode 3.3.3.
Dobot Magician Lite User Guide 3 Introduction Motion mode Application scenario MOVJ If the trajectory of playback is not required but high speed is required, you can choose MOVJ JUMP If the movement of two points is required to lift upwards by amount of height, such as sucking up, grabbing, you can choose JUMP ARC If the trajectory of playback is required as an arc, such as dispensing, you can choose ARC Technical Specifications Technical Parameters Table 3.
Dobot Magician Lite User Guide Table 3.3 Magic Box technical parameters Name Magic Box Control chip ARM 32-bit Cortex-M4 Frequency 168 MHz Power supply 100V~240V AC，50/60Hz Power in 12V/5A DC Working Temperature -5°C - 45°C Capacity 60W Max Communication mode USB virtual serial/serial/Bluetooth Program language MicroPython Software DobotStudio/DobotScratch Weight 98g Size 95 mm×80 mm×21.
Dobot Magician Lite User Guide Working temperature 3 Introduction 0℃~40℃ Size 95 mm×80 mm×28.5 mm Battery energy 27Wh Power interface Black port, 4 PIN, 12V-3A max Sizes Figure 3.10 shows the size of Magician Lite and Figure 3.11 shows the size of the end mounting hole. Figure 3.10 Issue V1.0.0 (2019-12-04) Size of Magician Lite User Guide 24 Copyright © Yuejiang Technology Co., Ltd.
Dobot Magician Lite User Guide Figure 3.11 Issue V1.0.0 (2019-12-04) 3 Introduction Size of end mounting hole User Guide 25 Copyright © Yuejiang Technology Co., Ltd.
Dobot Magician Lite User Guide 4 Interface Description Interface Description Interface Board The interfaces of Magician Lite are located on the back of the base. Figure 4.1 shows the interfaces on the back of the base, and Table 4.1 lists the description. Figure 4.1 Interfaces in the base Table 4.1 Interface description No.
Dobot Magician Lite User Guide Table 4.
Dobot Magician Lite User Guide Figure 4.2 4 Interface Description Power Box interface description Table 4.3 Power Box LED description State Description Flashing In discharge Water lights Charging All on Charging complete Turn off after all flashing Low battery, automatic shutdown Multiplexed I/O Interface Description The addresses of the I/O interfaces in Magician Lite are unified. Most of I/O interfaces have multiple functions, to control the peripheral equipment.
Dobot Magician Lite User Guide Pin Description Figure 4.3 Communication interface Table 4.4 Multiplex I/O Description Level Output PWM Level Input 4 Interface Description ADC Whether Pulling undefined - - - - - - GND ground - - - - - EIO1 General 3.3V_10mA - 3.3V/5V_10mA - No pulling - No pulling I/O interface EIO2 Reset General output I/O input 3.3V_10mA - 3.3V/5V_10mA interface output input Outside reset 3.3V_6mA 3.
Dobot Magician Lite User Guide Figure 4.4 Communication Interface 1 Figure 4.5 Communication Interface 2 Table 4.5 Interface Communication Interface 1 Magic Box multiplexed I/O description Pin Description undefined - GND ground EIO1 EIO2 Reset EIO3 Issue V1.0.0 (2019-12-04) 4 Interface Description General I/O interface General Level Level Input ADC - - - - - - - - - - - No pulling - No pulling Output 3.3V_10m A output I/O interface - 3.3V_10m A output - 3.
Dobot Magician Lite User Guide Interface Pin Description interface Level Output PWM A output Level Input 4 Interface Description ADC input Whether Pulling 10K to 3.3V EIO4 EIO5 General interface General power GND ground undefined GND EIO7 Reset 3.3V_10m A output I/O interface 5V EIO6 I/O - 3.3V/5V_10 mA input 3.3V_10m 3.
Dobot Magician Lite User Guide Figure 4.6 Table 4.6 Interface SW1 Pin EIO12 GND EIO11 SW2 GND Peripheral interface Peripheral multiplexed I/O description Descripti Level on Output Controlled power Controlled PWM _3A STP1 - 2_2A _3A Pulling - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - output - 8V~12.6V /0.9A output 2_2B Issue V1.0.0 (2019-12-04) Whether 8V~12.6V Ground - ADC output 2_1A 2_1B Level Input 8V~12.
Dobot Magician Lite User Guide Interface STP2 Pin Descripti Level on Output Whether Pulling - - - 1_1B - - - - 1_2A - - - - 1_2B - - - - - - - 5V/1A - GND Ground 5V Power EIO16 I/O interface EIO15 I/O interface GND Ground 5V Power General EIO13 I/O interface General EIO14 I/O interface 3.3V_10m √ output 3.3V_10m - output - - 5V/1A - 3.3V_10mA A output 3.3V_10m - A output 3.3V_10mA 3.3V_10mA input 3.
Dobot Magician Lite User Guide Interface Pin Descripti Level on Output General EIO22 I/O interface GND Ground 5V Power General Port5 EIO20 I/O interface General EIO19 I/O interface GND Ground 5V Power General Port6 EIO18 I/O interface General EIO17 I/O interface Issue V1.0.0 (2019-12-04) 3.3V_10m A output PWM 5V/1A output 3.3V_10m A output 3.3V_10m A output output 3.3V_10m A output √ √ User Guide 34 ADC √ Whether Pulling No pulling - - - - - - - - 3.
Dobot Magician Lite User Guide 5 Operation Operation Introduction to the DobotStudio Function Modules You can use the DobotStudio to control the Magician Lite to accomplish multiple functions such as Teaching & Playback, Write & Draw, Blockly graphics programming, and Script control, as shown in Figure 5.1. For details, refer to Table 5.1. Figure 5.1 The function modules on the DobotStudio page Table 5.
Dobot Magician Lite User Guide Figure 5.2 The General Setting page Table 5.2 The General Setting page 5 Operation Items Description General Set a device name and collision detection Update Set firmware detection frequency and view the current firmware, software version Firmware Upgrade firmware DobotStudio displays different firmware when connecting different devices. When connecting Magician Lite, firmware shows Magician Lite firmware. You can click Confirm to upgrade firmware.
Dobot Magician Lite User Guide Figure 5.3 The linear rail and end-effector drop-down list Table 5.
Dobot Magician Lite User Guide Figure 5.5 Setting the Operation Panel Table 5.5 Setting the Operation Panel 5 Operation Items Description Coordinate jogging Jog Magician Lite by clicking X (X+/-), Y (Y+/-), Z (Z+/-), or R (R+/-) in the Cartesian coordinate system Joint jogging Jog Magician Lite by clicking J1+/-, J2+/-, J3+/-, or J4+/- in the Joint coordinate system When the linear rail is enabled (refer to Table 5.3), click L+/- to move the robotic arm along the rail.
Dobot Magician Lite User Guide 5 Operation Prerequisites Magician Lite has been powered on. Magician Lite has been connected to DobotStudio successfully. Procedure Click Home on the DobotStudio page, as shown in Figure 5.6. NOTICE Please remove the end-effector from Magician Lite before homing. Please ensure that there are no obstacles in the workspace during homing. Figure 5.
Dobot Magician Lite User Guide 5 Operation Figure 5.8. Figure 5.8 A suction cup kit Procedure Figure 5.9 Issue V1.0.0 (2019-12-04) Install a suction cup kit User Guide 40 Copyright © Yuejiang Technology Co., Ltd.
Dobot Magician Lite User Guide Figure 5.10 5 Operation Install an air tube 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 Install the gripper kit to Magician Lite in the same way as the suction cup kit is installed. For details, please refer to 5.3.1 Installing a Suction Cup Kit. Figure 5.12 shows the effect of the gripper kit installation. Issue V1.0.
Dobot Magician Lite User Guide Figure 5.12 5 Operation The effect of the gripper kit installation Teaching & Playback Page The Teaching & Playback page is shown in Figure 5.13 when connect to Magic Box+Magician Lite. To access it, select Connect > Teaching & Playback on the DobotStudio page. Figure 5.13 The Teaching & Playback page You can switch mode between Easy and Pro modes, set loop, speed ratio, as shown in Figure 5.14. Figure 5.14 Issue V1.0.
Dobot Magician Lite User Guide Table 5.6 Items 5 Operation Set Easy/Pro, Loop, Speed ratio Description Click this slider to switch between Easy and Pro modes. The default is the Easy mode Easy/Pro 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 NOTE The Pro mode is only available when connecting Magic Box + Magician Lite.
Dobot Magician Lite User Guide 5 Operation 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 5.16. Figure 5.16 Table 5.8 The Save points list 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.
Dobot Magician Lite User Guide Figure 5.17 Table 5.9 5 Operation The Pro mode of the Teaching & Playback function The Pro mode of the Teaching & Playback function No. Description 1 StepRun: run a save point each time in the Save points list. Before clicking StepRun, please select a saved point 2 Download: download the Save points list to Magician Lite or Magic Box for working in offline mode. For details, see 5.
Dobot Magician Lite User Guide 5 Operation Procedure NOTICE Note the following rules when saving points to prevent the robotic arm from working outside its normal workspace. Any two points cannot coincide. The three points cannot be in the same straight line. The arc trajectory cannot exceed the Magician Lite 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 endpoint, as shown in Figure 5.18. Figure 5.
Dobot Magician Lite User Guide 5 Operation 3. Set the jogging speed percentage to 50 on the Operation Panel. 4. Jog Magician Lite 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 5.20. Figure 5.20 Save the start position A Select cirPoint to save the second point in the Save Point area.
Dobot Magician Lite User Guide Figure 5.21 5 Operation Save the second position B and the end position C Set the percentage of speed for playback, such as 50. Set Loop to 2. Click Start. Magician Lite performs the sequence of ARC trajectory as taught from its memory system, moving from positions A through C, as shown in Figure 5.22. Figure 5.
Dobot Magician Lite User Guide Figure 5.23 5 Operation Choose SuctionCup as the end-effector The Teaching & Playback page is displayed. 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 5.24. Figure 5.24 4. Display the Operation Panel Set the jogging speed percentage to 50 on the Operation Panel. Issue V1.0.
Dobot Magician Lite User Guide Figure 5.25 5 Operation Set jogging speed ratio 5. Jog Magician Lite 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.
Dobot Magician Lite User Guide 5 Operation Select the JUMP motion mode in the saving point area. NOTE To change the jogging speed percentage, drag the speed slider. Set the lifting height (JumpHeight) and the maximum lifting height (Z Limit) by selecting Setting > Playback > JumpParam, as shown in Figure 5.27. Figure 5.27 Jump parameters Jogging Magician Lite in the Cartesian or Joint coordinate system to move the small cube to the end position B as required.
Dobot Magician Lite User Guide Figure 5.28 Figure 5.29 5 Operation Save the end position B Set the speed ratio of the playback Table 5.10 Set the Playback Items Description SpeedRatioParam Set speed ratio of Magician Lite and linear rail JumpParam Set the Jump height and Z limit, which are required in the JUMP motion mode Handhold Teaching Enable or disable handhold teaching. Automatically saves a point when releasing the unlock button Issue V1.0.
Dobot Magician Lite User Guide Items Description LostStepParam Set the lost-step checking threshold Figure 5.30 5 Operation Move the small cube in the JUMP motion mode Working in Offline Mode Magician Lite and Magic Box support offline mode, they download a saving list and perform it without keeping the USB connection. We will take Magic box as an example in this chapter. Prerequisites Magic Box+Magician Lite has been powered on. Magic Box+Magician Lite has been connected to the DobotStudio.
Dobot Magician Lite User Guide Figure 5.31 5 Operation Click Download The Name dialog box is displayed, input the name of download save points, and click Download as shown in Figure 5.32. Figure 5.32 The process bar at the bottom of the DobotStudio page NOTICE Issue V1.0.0 (2019-12-04) User Guide 54 Copyright © Yuejiang Technology Co., Ltd.
Dobot Magician Lite User Guide 5 Operation When connecting only Magician Lite, Save points are downloaded to Magician Lite, you have to disconnect the DobotStudio from Magician Lite or the USB cable between Magician Lite and your computer, and then press the button Key on the base of Magician Lite to perform the downloaded save points. Writing and Drawing Figure 5.33 shows the process of writing and drawing. Figure 5.
Dobot Magician Lite User Guide Figure 5.34 5 Operation Install a writing and drawing kit NOTE When using the pen for the first time, unscrew the suction tube inside the pen, and then replace it with the ink tube that came with the box. After replacement, keep the pen straight down for 2 minutes to use it. As shown in Figure 5.35. Figure 5.35 Change ink-straw If you want to absorb ink, please remove pen-cap and rotate suction tube to absorb ink as shown in Figure 5.36. Figure 5.36 Issue V1.0.
Dobot Magician Lite User Guide 5 Operation Connecting the DobotStudio Figure 5.37 Connect Magician Lite Figure 5.38 Issue V1.0.0 (2019-12-04) Click Write & Draw User Guide 57 Copyright © Yuejiang Technology Co., Ltd.
Dobot Magician Lite User Guide Figure 5.39 5 Operation Choose Pen as the end-effector 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 \DobotStudio\config\prefab\system\source. Prerequisites A PLT or SVG image file has been created. Procedure Issue V1.0.
Dobot Magician Lite User Guide Figure 5.40 5 Operation Click Write & Draw NOTICE The imported image should be placed within the annular area on the Write & Draw page, as shown in Figure 5.41. 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 5.42. Figure 5.41 Figure 5.
Dobot Magician Lite User Guide Figure 5.43 Issue V1.0.0 (2019-12-04) 5 Operation Open a PLT or SVG system image file User Guide 60 Copyright © Yuejiang Technology Co., Ltd.
Dobot Magician Lite User Guide Click a shape in the Input Shapes area, as shown in Figure 5.44. Figure 5.44 Insert a system image file 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 5.45. Figure 5.
Dobot Magician Lite User Guide Figure 5.46 Figure 5.47 5 Operation Import an image Convert an image to SVG NOTICE After image is converted to SVG，if there are single colors and fewer lines in the image, you need to adjust threshold, otherwise, the image can not be uploaded to DobotStudio. Figure 5.48 Issue V1.0.0 (2019-12-04) Error tip User Guide 62 Copyright © Yuejiang Technology Co., Ltd.
Dobot Magician Lite User Guide 5 Operation Click Setting on the Write & Draw page, as shown in Figure 5.49. Figure 5.49 Click Setting Click Write & Draw to set ArmSpeedRatio (%), PenUpOffset (mm), PenDown (mm), as shown in Figure 5.50. Figure 5.50 Setting the parameters of the Write & Draw function Adjust the Position of the Pen Nib Procedure Press and hold the unlock button on the Forearm to move Magician Lite to raise and Issue V1.0.
Dobot Magician Lite User Guide 5 Operation 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 5.51. Figure 5.51 Adjust the position of the pen nib NOTE The point marked by a red box, as shown in Figure 5.52, corresponds to the position of the writing and drawing kit of Magician Lite.
Dobot Magician Lite User Guide Figure 5.53 5 Operation Lock the height of writing 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 5.54. 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.
Dobot Magician Lite User Guide 5 Operation of the text. Click Start to start writing on the paper. When writing, click Pause to pause the writing and Stop to halt the writing. NOTE You can click Download to download the file to Magic Box or Magician Lite to perform in offline mode. For the detail, please refer to 5.4Working in Offline Mode Operating Blockly Blockly is a programming platform for Magician Lite based on Google Blockly.
Dobot Magician Lite User Guide 5 Operation No. Description 3 The running log of Magician Lite 4 The corresponding codes of the blockly module on the programming window The demo in Figure 5.55 is described as follows. 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. The Saving Blockly file page is displayed.
Dobot Magician Lite User Guide 5 Operation how to set the parameters. The scripting examples (including Jog, PTP) can refer to Installation directory/DobotStudio/config/ststore/. Figure 5.56 Write a script The Saving Scrip File page is displayed. The running log will be displayed on the lower pane of the Script page for checking. Issue V1.0.0 (2019-12-04) User Guide 68 Copyright © Yuejiang Technology Co., Ltd.
11. FCC Notification This device complies with part 15 of the FCC Rules. Operation is subject to the condition that this device does not cause harmful interference. (1) this device may not cause harmful interference, and (2) this device must accept any interference received, including interference that may cause undesired operation. Changes or modifications not expressly approved by the party responsible for compliance could void the user's authority to operate the equipment.
