Yuejiang Technology WIRELESS2 WIFI Kit User Manual part2

Shenzhen Yuejiang Technology Co., Ltd WIFI Kit part2

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Figure 5.79 Unselect the Laser

NOTICE

y If you cannot set the laser to be at its minimum focus, it’s 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.

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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.

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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.

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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

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Installing a Grayscale-engraving Kit 5.6.1

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.

Select DobotStudio to upgrade the Dobot firmware, as shown in Figure 5.86. 1.

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

Click Confirm to upgrade the Dobot firmware, as shown in Figure 5.88. When 3.

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.

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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.

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Step 2 Click LaserEngraving, as shown in Figure 5.90.

Figure 5.90 Click LaserEngraving

Importing Image Files and Setting Engraving Parameters 5.6.3

Prerequisites

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.

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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.

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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

Table 5.11 Laser engraving parameters

Items

Description

rayscale range

Set the grayscale range

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Items

Description

Range: 0 - 255

Default value: 20

- 240

Laser power range

Set

the laser power range

Range: 2

- 100

Default value: 20

- 90

Border

Set the border

width.

Unit: pixel

Range: 0

- 50

Default value: 4

Step 4 Set the laser-engraving parameters.

Click Setting on the LaserEngraving page. 1.

Set the JunctionVel (junction velocity), PlanAcc (linear acceleration), and Acc 2.

(acceleration), for example, set all to 5, as shown in Figure 5.96.

Figure 5.96 Set the parameters of laser engraving

Adjust the Laser Focus and Start to Engrave 5.6.4

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.

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Danger

y When using a laser, wear lasing protective eyeglass.

y Never aim the laser at a person’s 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.

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Figure 5.98 Unselect the Laser

NOTICE

y If you cannot set the laser to be at its minimum focus, it’s 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.

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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.

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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.

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Figure 5.103 The effect of laser-engraving

Controlling with your Hand Gesture 5.7

You can use the LeapMotion function module of the DobotStudio to perform tasks, for

example, grab or suck an object with your hand gesture.

Installing a Leap Motion Controller 5.7.1

Prerequisites

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.

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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

Leap Motion Demo 5.7.2

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 The Dobot Magician is powered on and connected to your computer.

y The suction cup kit has been installed. For details, see 5.2.1 Installing a Suction Cup Kit.

Procedure

Step 1 Launch the DobotStudio, and click Connect to connect to the Dobot Magician.

Step 2 Click LeapMotion, as shown in Figure 5.107.

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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.

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Figure 5.109 Set the parameters of the Leap Motion function

Table 5.12 Set the parameters of the Leap Motion function

Items

escription

peed

he velocity percentage of the Dobot Magician:

Unit: %

Value range: 1

- 100

Default value: 50

cale

The scale of the Dobot

Magician:

Unit: %

Value range: 1

- 100

Default value: 100

igh 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.

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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 arm’s movement created with your hand gesture

and gesture

Robotic arm’s movement

ove your pal

m up, down, front,

back, right, or left

The robotic arm moves accordingly

Clench your fist

ontrol the air pump to suck air

nclench 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 it’s

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

the cube.

Step 8 Turn your palm upward and click Stop to stop the hand control.

Controlling with your Mouse 5.8

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.

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Prerequisites

y The Dobot Magician is powered on and connected to your computer.

y 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.

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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

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Table 5.14 Set the parameters of mouse control

Parameters

Description

peed

he velocity percentage of the Dobot Magician:

Unit: %

Value range: 1

- 100

Default value: 50

cale

The scale of the Dobot

Magician:

Unit: %

Value range: 1

- 100

Default value: 100

igh

performance/Low

performance

Choose a performance mode suitable for your computer. Select

Low

performance

(default) for the low configuration

computer to prevent video delay

Step 1 Put a small cube on the work surface in the workspace of the Dobot Magician, such

as point A.

Step 2 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.

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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 arm’s movement created with your mouse

Mouse

action

Robotic arm’s m

ovement

Move your mouse front,

back, right, or left

The robotic arm moves accordingly

croll

the mouse wheel

up or down

The robotic arm moves accordingly

ress

and hold the left

mouse button

Suction cup:

the air pump sucks air in

ripper: increase holding force

Release the left mouse

button

Suction cup:

the air pump is powered off

ripper: open

Right

click the mouse

button

ripper: 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.

Step 5 Press V or ESC to disable the mouse control.

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.

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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.

Installing 3D Printing Kit 5.9.1

3D printing kit contains extruder, hot end, motor cable, filament, and filament holder as

shown in Figure 5.117.

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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.

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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

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end. Otherwise, it will cause abnormal discharge.

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.

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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

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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

Operating Repetier Host 5.9.2

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.

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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

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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.

Set the corresponding parameters on the Connection tab as shown in the red 2.

box of Figure 5.127. The other parameters are set by default.

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Figure 5.127 Connection setting

Click Apply. 3.

Unselect the corresponding options on the Printer tab as shown in the red box 4.

of, Figure 5.128 and the other parameters are set by default. Then, click Apply.

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Figure 5.128 Unselect options

Set the corresponding parameters on the Extruder tab as shown in the red box 5.

of Figure 5.129, the other parameters are set by default. Then, Click Apply.

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Figure 5.129 Extruder settings

Set the corresponding parameters on the Printer Shape tab as shown in the red 6.

box of Figure 5.130, the other parameters are set by default. Then, Click Apply.

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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

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Step 3 Text extruder.

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 170ć. 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 200ć 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 250ć, 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

Click the extruder feeder when the heating temperature is up to 200ć and feed 2.

up to10mm-30mm, as shown in Figure 5.133.

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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.

Press the Unlock key on the Forearm and drag Dobot Magician to make the 1.

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.

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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.

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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

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Step 6 Set slicing parameters and slice up.

You need to set the slicing parameters before first printing.

Select Slic3r from Slicer on the Slicer tab of the Repetier Host page, and click 3.

Configuration, as shown in Figure 5.138.

Figure 5.138 Select slicer

The Slic3r page is displayed, as shown in Figure 5.139.

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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.

The path of the configuration sample is Installation

directory\DobotStudio\attachment, as shown in Figure 5.140.

Figure 5.140 Configuration sample

Dobot-2.0-Vase.ini is used for printing a thin-walled vase, while Dobot-2.0-ini

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is used for the filling, the filling rate is 20%.

Save the Printing Settings, Filament Settings and Printer Settings tabs 5.

respectively after importing configuration sample, as shown in Figure 5.141.

Figure 5.141 Save configuration file

Click Slici with Slic3r on the Slicer tab of the Repetier Host page, as shown in 6.

Figure 5.142.

Figure 5.142 Start to slice

Click on the top left corner of the Repetier Host page to print. 7.

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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

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Operating Cura 5.9.3

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.

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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 Launch Cura software.

Step 2 Set slicing parameters.

Select Machine > settings on the Cura page. 1.

The Machine settings page is displayed.

Set the corresponding parameters on the Machine settings and click OK, as 2.

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

Description

Maximum

width

The

maximum width

please set to 80mm

Maximum

depth

The maximum with

please set to 80mm

Maximum

height

The maximum height

Please

set to 150mm

Machine

center 0,0

Machine center, please select it

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Parameter

Description

GCode

Flavor

The style of GCode

Please

select RepRap Marlin/Sprinter

uild area shape

Build

the area shape

Please select

Circular

erial port

Serial

port

Please select the corresponding

serial port

audrate

Baud

rate

Please set to 115200

Set slice parameters, and select File > Open Profile to import these parameters, 3.

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.

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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 , 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 to connect with Dobot Magician. 5.

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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 170ć. 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 250ć, 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.

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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.

Press the Unlock key on the Forearm and drag Dobot Magician to make the 1.

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 lower right of the Operational page to get the 2.

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.

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Figure 5.152 Input command M415

Step 5 Click Print, Dobot Magician moves to the printing origin (System setting) and

starts printing.

Calibration 5.10

Base Calibration 5.10.1

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: 1e-3e) 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.

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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.

Press the Unlock key on the Forearm and drag Dobot Magician to make the nib 2.

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

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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

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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

Sensor Calibration 5.10.2

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

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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

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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.

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Install the writing and drawing kit. For details, please see 5.4.1 Installing a 1.

Writing and drawing kit.

Press the Unlock key on the Forearm and drag Dobot Magician to make the nib 2.

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

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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.

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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.

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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

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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 Place Dobot Magician on the flat platform.

NOTICE

Please ensure that the platform is flat. Or, the auto levelling will be failed.

Step 2 Fix the auto-levelling tool on the Dobot Magician with butterfly nut, as shown in

Figure 5.168.

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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

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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.

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Figure 5.171 Auto levelling result

Homing

5.10.3

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

y Please remove the end-effector from the Dobot Magician before homing.

y Please ensure that there are no obstacles in the workspace during homing.

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

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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

Connecting with WIFI Kit 5.11

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.

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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

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 two short beep sounds and the blue LED indicator on the

WIFI module is on.

Step 3 Select the corresponding serial port from the serial drop-down list, and click

Connect.

Step 4 Click Setting > Wi-Fi.

The Set Dobot Wi-Fi page is displayed.

Step 5 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.

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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)

hether to select DHCP

es: Only set SSID and Password

: 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

Set subnet mask

Gateway

Set gateway

DNS

Set DNS

Step 6 Click OK.

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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.

Connecting with Bluetooth Kit 5.12

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.

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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.

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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.

Operating Blockly 5.13

Blockly is a programming platform based on Google Blockly. You can program through the

puzzle format, which is straightforward and easy to understand.

Prerequisites

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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

No.

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 M

agician

The corresponding codes of the blockly module on the

programming window

The demo in Figure 5.181 is described as follows.

Set the end-effector as Gripper. 1.

Set the loop number as 3 and make the Z-axis move back and forth 3 times. 2.

Set the pause time as 3. 3.

Step 3 Click Save on the Blockly page.

The Saving Blockly file page is displayed.

Step 4 Input the use-defined name and the saving path, and click Save. The default path of

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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.

Scripting 5.14

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

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Step 3 Click Save on the Script page.

The Saving Scrip File page is displayed.

Step 4 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.

Operating Stick Controller Kit 5.15

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.

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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.

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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

Button

Function

Power

button

Turn on stick controller

The stick controller will turn off automatically

Turn on the

peripheral motor

Turn off th

e 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

Left

stick: Front/back 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

Left

stick: Left/right

Cartesian coordinate system mode: Dobot

Magician moves along Y-axis in the

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Button

Function

positive/negative direction

Joint coordinate

system mode: Dobot Magician

rotates along J2-

axis in the

positive/negative direction

Right

stick: Front/back y

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

Right

stick: Left/right y

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

Multiplexed I/O Demo 5.16

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.

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Level Output 5.16.1

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



WM

Level

Input

ADC



3.3

√

12V

√

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.

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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 Va l ue on the Output pane, and click

+Point.

ĀThe 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.

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Figure 5.190 Saved point

Step 4 Select this point and click StepRun.

The air pump is humming with intake.

Step 5 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.

Level Input 5.16.2

This topic also takes I/O 12 as an example.

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Table 5.21 Multiplexed I/O description

I/O addressing

Voltage



Level

Output



WM

Level

Input

ADC



3.3

√

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 Select a saved point on the Teaching&Playback page.

Step 3 Select EIO11_Input on the Tr ig g er pane, and set Condition and its Val ue .

Here, Val ue 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

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PWM OUTPUT 5.16.3

This topic also takes I/O 11 as an example.

Table 5.22 Multiplexed I/O description

I/O addressing

Voltage



Level

Output



WM

Level

Input

ADC



3.3

√

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.

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Figure 5.196 EIO setting

Step 4 Set Frequency (Unit: KHZ; Value range: 10HZ-1MHZ) and DutyRatio

(0%-100%) on the EIO Setting page.

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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 user’s authority to operate the equipment.

FCC Radiation Exposure Statement

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:

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'interférences ; et

(2) Ce dispositif doit accepter toute interférence , y compris les interférences qui peuvent causer

un mauvais fonctionnement de l'appareil.

FCC Statement

IC Note:

FCC Statement

For Bluetooth kit and WIFI kit:

Yuejiang Technology WIRELESS2 WIFI Kit User Manual part2

Shenzhen Yuejiang Technology Co., Ltd WIFI Kit part2

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