Yuejiang Technology WIRELESS2 WIFI Kit User Manual part2
Shenzhen Yuejiang Technology Co., Ltd WIFI Kit part2
Contents
- 1. User manual part1
- 2. User manual part2
User manual part2
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| Document ID | 4080727 |
| Application ID | XYt+bqyjIC+2Hy9HZ5rxQg== |
| Document Description | User manual part2 |
| Short Term Confidential | No |
| Permanent Confidential | No |
| Supercede | No |
| Document Type | User Manual |
| Display Format | Adobe Acrobat PDF - pdf |
| Filesize | 421.98kB (5274752 bits) |
| Date Submitted | 2018-11-21 00:00:00 |
| Date Available | 2018-11-21 00:00:00 |
| Creation Date | 2018-11-21 12:09:43 |
| Producing Software | Acrobat Distiller 9.0.0 (Windows) |
| Document Lastmod | 2018-11-21 12:10:34 |
| Document Title | Dobot M1 机器人用户手册 |
| Document Creator | Microsoft® Word 2010 |
| Document Author: | China |
Dobot Magician User Guide Figure 5.79 5 Operation 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. Issue V1.0 (2018-06-12) User Guide 78 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide Figure 5.81 Step 4 5 Operation The point corresponding to the end-effector of the robotic arm Click AutoZ on the Write & Draw page to obtain and save the current value of Z axis. Once this step is complete, the next time you start to engrave, directly import a PLT or SVG image file without adjusting the position of the laser kit, and click SyncPos, and then click Start to start engraving on the paper, as shown in Figure 5.82. Figure 5.82 Lock the height of engraving NOTE The value of the Z axis is the PenDown parameter. This parameter can be set by selecting Setting > Write Draw > PenDown on the Write & Draw page, as shown in Figure 5.83. If the effect of engraving is not satisfactory, slightly raise and lower the height of the laser kit or directly change the value of PenDown. Issue V1.0 (2018-06-12) User Guide 79 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide Figure 5.83 Step 5 5 Operation Set the PenDown parameters Click SyncPos. The Dobot Magician automatically moves above the position (PenUpOffset) of the start point of the laser-engraving. Step 6 Click Start to start engraving on the paper. When engraving, click Pause to pause the engraving and Stop to halt the engraving. Figure 5.84 shows the effect of the laser-engraving. Issue V1.0 (2018-06-12) User Guide 80 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide 5 Operation Figure 5.84 The effect of the laser-engraving 5.6 Engraving a Grayscale Image Figure 5.85 shows the process of engraving a grayscale image. Figure 5.85 Issue V1.0 (2018-06-12) The process of engraving a grayscale image User Guide 81 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide 5.6.1 5 Operation Installing a Grayscale-engraving Kit 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. 5.6.2 Connecting the DobotStudio Step 1 Launch the DobotStudio, and select the COM port, and then click Connect. If the current firmware of the Dobot Magician is the 3D Printing firmware instead of the Dobot firmware, the Select tool dialog box is displayed, asking if you want to switch to the Dobot firmware. In this case, perform the following steps to switch to this firmware. 1. Select DobotStudio to upgrade the Dobot firmware, as shown in Figure 5.86. The Question dialog box is displayed. Figure 5.86 Select the DobotStudio to upgrade the Dobot firmware 2. Click OK, as shown in Figure 5.87. The Dobot firmware upgrade window is displayed. Figure 5.87 3. Confirm the firmware upgrade Click Confirm to upgrade the Dobot firmware, as shown in Figure 5.88. When the upgrade process bar shows 100%, and a short beep sound is heard, it means that the firmware is upgraded successfully, as shown in Figure 5.89. In this case, the LED indicator turns from red to green. Then click Quit to exit. Issue V1.0 (2018-06-12) User Guide 82 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide Figure 5.88 5 Operation Click Confirm Figure 5.89 The firmware upgrade is successful WARNING During the firmware upgrade, do not stop it. Otherwise, errors occur. Issue V1.0 (2018-06-12) User Guide 83 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide Step 2 Click LaserEngraving, as shown in Figure 5.90. Figure 5.90 5.6.3 5 Operation Click LaserEngraving Importing Image Files and Setting Engraving Parameters 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. Issue V1.0 (2018-06-12) User Guide 84 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide Figure 5.91 Figure 5.92 Step 1 5 Operation The image file is located within the annular area The image file is located outside the annular area Choose Laser as the end-effector on the LaserEngraving page, as shown in Figure 5.93. Issue V1.0 (2018-06-12) User Guide 85 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide Figure 5.93 Step 2 Choose Laser as the end-effector Click Open to import an image file such as BMP, JPEG, or PNG, as shown in Figure 5.94. Figure 5.94 Step 3 5 Operation Import an image file 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 Grayscale range Set the grayscale range Issue V1.0 (2018-06-12) User Guide 86 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide Items 5 Operation 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. 1. Click Setting on the LaserEngraving page. 2. Set the JunctionVel (junction velocity), PlanAcc (linear acceleration), and Acc (acceleration), for example, set all to 5, as shown in Figure 5.96. Figure 5.96 5.6.4 Set the parameters of laser engraving Adjust the Laser Focus and Start to Engrave Step 1 Click to display the Operation Panel, and then select Laser to turn on the laser, as shown in Figure 5.97. In this case, the laser gives out a laser beam. Issue V1.0 (2018-06-12) User Guide 87 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide 5 Operation Danger When using a laser, wear lasing protective eyeglass. Never aim the laser at a person’s eye and clothes or stare at the laser from within the beam. In the central laser focus, a high-temperature heat is created and can burn materials such as papers and wooden boards. Never aim the laser at a person and their clothes. 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 Step 2 Select the Laser Adjust the laser focus. Press and hold the unlock button on the Forearm to move the robotic arm to raise and lower the height of the laser kit until the laser is the brightest with a smallest possible spot size. When the laser power level is high enough, the laser beam can burn and cut the paper. After getting a pretty good focus, unselect Laser on the Operation Panel page to turn off the laser, as shown in Figure 5.98. Issue V1.0 (2018-06-12) User Guide 88 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide Figure 5.98 5 Operation 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. Issue V1.0 (2018-06-12) User Guide 89 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide Figure 5.100 Step 3 5 Operation The point corresponding to the laser kit of the robotic arm Click AutoZ on the LaserEngraving page to obtain and save the current value of the Z axis. Once this step is complete, the next time you start to engrave, directly import an image file without adjusting the position of the laser kit, and click SyncPos, and then click Start to start engraving on the paper, as shown in Figure 5.101. Figure 5.101 Lock the height of engraving NOTE The value of Z axis is the PenDown parameter. This parameter can be set by selecting Setting > LaserEngraving > PenDown, as shown in Figure 5.102. If the effect of engraving is not satisfactory, slightly raise and lower the height of the laser kit or directly change the value of PenDown. Issue V1.0 (2018-06-12) User Guide 90 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide Figure 5.102 Step 4 5 Operation Set the PenDown parameters Click SyncPos. The Dobot Magician automatically moves above the position of the start point of the laser-engraving. Step 5 Click Start to start engraving on the paper. When engraving, click Pause to pause the engraving and Stop to halt the engraving. Figure 5.103 shows the effect of the laser-engraving. Issue V1.0 (2018-06-12) User Guide 91 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide 5 Operation Figure 5.103 The effect of laser-engraving 5.7 Controlling with your Hand Gesture You can use the LeapMotion function module of the DobotStudio to perform tasks, for example, grab or suck an object with your hand gesture. 5.7.1 Installing a Leap Motion Controller Prerequisites The Leap Motion controller (a hand gesture controller) has been obtained. The Leap Motion driver software has been obtained. Download the Windows version, as shown in Figure 5.104, from the https://www.leapmotion.com/setup/desktop/windows. Figure 5.104 Download the Leap Motion driver software for Windows Procedure Step 1 Connect a Leap Motion controller to your computer with a USB cable, and put it on the work surface with its face up, as shown in Figure 5.105. Issue V1.0 (2018-06-12) User Guide 92 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide Figure 5.105 Step 2 5 Operation Connect the Leap Motion controller to your computer Install the Leap Motion driver software by following the on-screen instructions, as shown in Figure 5.106. Figure 5.106 The Leap Motion Installation Interface 5.7.2 Leap Motion Demo You can move or sort an object with the LeapMotion function. This topic introduces how to move a small cube with a hand gesture. Prerequisites The Dobot Magician is powered on and connected to your computer. The suction cup kit has been installed. For details, see 5.2.1 Installing a Suction Cup Kit. Procedure Step 1 Launch the DobotStudio, and click Connect to connect to the Dobot Magician. Step 2 Click LeapMotion, as shown in Figure 5.107. Issue V1.0 (2018-06-12) User Guide 93 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide Figure 5.107 Step 3 Click LeapMotion Click Setting on the DobtStudio page, as shown in Figure 5.108. Figure 5.108 Step 4 5 Operation Click Setting Click Leap Motion, as shown in Figure 5.109. Set the parameters, as shown in Table 5.12, and click OK. Issue V1.0 (2018-06-12) User Guide 94 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide Figure 5.109 5 Operation Set the parameters of the Leap Motion function Table 5.12 Set the parameters of the Leap Motion function Items Description Speed The velocity percentage of the Dobot Magician: Unit: % Value range: 1 - 100 Default value: 50 Scale The scale of the Dobot Magician: Unit: % Value range: 1 - 100 Default value: 100 High performance/Low performance Step 5 Choose a performance mode suitable for your computer. Select the Low performance (default) for the low configuration computer to prevent video delay Choose SuctionCup as the end-effector on the DobotStudio page, and click Start to control the Dobot Magician with your hand gesture, as shown in Figure 5.110. To maintain the Dobot Magician in a stable state, move your hand into the workspace of the Leap Motion controller while keeping your palm upward. And turn your palm down, and then move your hand above this area to control the Dobot Magician. Issue V1.0 (2018-06-12) User Guide 95 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide Figure 5.110 5 Operation 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 Hand gesture Robotic arm’s movement Move your palm up, down, front, back, right, or left The robotic arm moves accordingly Clench your fist Control the air pump to suck air Unclench your fist Turn off the air pump 5.8 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 You can use the Mouse function module of the DobotStudio to perform tasks, for example, grab or suck an object with your mouse. This topic introduces how to move a small cube with a mouse. Issue V1.0 (2018-06-12) User Guide 96 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide 5 Operation Prerequisites The Dobot Magician is powered on and connected to your computer. The suction cup kit has been installed. For details, see 5.2.1 Installing a Suction Cup Kit. Procedure Step 1 Click Mouse, as shown in Figure 5.111. Figure 5.111 Click Mouse Step 2 Choose SuctionCup as the end-effector on the DobotStudio page, as shown in Figure 5.112. Figure 5.112 Choose SuctionCup as the end-effector Step 3 Click Setting, as shown in Figure 5.113. Issue V1.0 (2018-06-12) User Guide 97 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide 5 Operation Figure 5.113 Click Setting Click Mouse, as shown in Figure 5.114. Set the parameters, as shown in Table 5.14, and click OK. Figure 5.114 Set the parameters of mouse control Issue V1.0 (2018-06-12) User Guide 98 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide 5 Operation Table 5.14 Set the parameters of mouse control Parameters Description Speed The velocity percentage of the Dobot Magician: Unit: % Value range: 1 - 100 Default value: 50 Scale The scale of the Dobot Magician: Unit: % Value range: 1 - 100 Default value: 100 High 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. Issue V1.0 (2018-06-12) User Guide 99 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide 5 Operation Figure 5.115 Move the robotic arm in the red annular area Step 3 Move the Dobot Magician above the cube by dragging the mouse and then place it close to the cube. NOTE For details on how to use the mouse to control the robotic arm on the Mouse page, see Table 5.15. Table 5.15 The robotic arm’s movement created with your mouse 5.9 Mouse action Robotic arm’s movement Move your mouse front, back, right, or left The robotic arm moves accordingly Scroll the mouse wheel up or down The robotic arm moves accordingly Press and hold the left mouse button Suction cup: the air pump sucks air in Release the left mouse button Suction cup: the air pump is powered off Right-click the mouse button Gripper: close Gripper: increase holding force Gripper: open 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 After installing 3D printing kit, you can import 3D module into the 3D printing software for 3D printing. Figure 5.116 shows the 3D printing process. Issue V1.0 (2018-06-12) User Guide 100 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide Figure 5.116 5 Operation 3D printing process During 3D printing, the 3D printing control software is required. You can use Repetier Host or Cura software for 3D printing. y Reptier-Host: Reptier-Host can slice with the third party slicing (such as CuraEngine, Slic3r, etc), check and modify G-Code, control 3D printing manually. More parameter settings make Reptier-Host very flexible. y Cure: The slicing of Cura is fast and stable. It has strong inclusiveness to 3D model structure and less parameter settings. NOTICE This section uses Windows as an example to describe how to perform 3D printing with Repetier Host and Cura. For Mac OS, only Cura is supported. 5.9.1 Installing 3D Printing Kit 3D printing kit contains extruder, hot end, motor cable, filament, and filament holder as shown in Figure 5.117. Issue V1.0 (2018-06-12) User Guide 101 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide Figure 5.117 5 Operation 3D printing kit Procedure Step 1 Press down the lever on the extruder, and push down the filament to the bottom of the hole via the pulley, as shown in Figure 5.118. Issue V1.0 (2018-06-12) User Guide 102 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide Figure 5.118 Step 2 5 Operation Push down the filament Connec the end of the PTFE tube to the hot end and push it down to the bottom of the hot end, and connect the other end to the extruder, as shown in Figure 5.119 Connect extruder and hot end Step 3 Insert the filament into the PTFE tube and push it down to the bottom of the hot end. NOTICE Please make sure that the PTFE tube has been pushed down to the bottom of the hot Issue V1.0 (2018-06-12) User Guide 103 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide 5 Operation 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 Step 5 Fix hot end Insert the heating cable to the interface 4 on the Forearm, the fan cable to the interface 5 and the thermistor cable to the interface 6, as shown in Figure 5.121. Issue V1.0 (2018-06-12) User Guide 104 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide Figure 5.121 Step 6 5 Operation Connect hot end to the Forearm 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 Issue V1.0 (2018-06-12) Connect with extruder User Guide 105 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide Step 7 Place the filament and the extruder to the filament holder, as shown in Figure 5.123. Figure 5.123 5.9.2 5 Operation Place filament and extruder to the Filament holder Operating Repetier Host Repeiter Host has been built into DobotStudio. After burning 3D printing firmware, the Repetier Host page will be displayed automatically. Prerequisites 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. Dobot Magician has been powered on. y Dobot Magician has been connected to DobotStudio successfully (Only USB connection is supported). The 3D printing kit has been installed. 5.9.2.1 Burning Firmware Procedure Step 1 Click 3DPrinter on the DobotStudio page. The 3D Printing FM page is displayed, as shown in Figure 5.124. Issue V1.0 (2018-06-12) User Guide 106 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide Figure 5.124 Step 2 5 Operation Burn firmware 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 Issue V1.0 (2018-06-12) Repetier Host page User Guide 107 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide 5 Operation NOTICE If the current firmware is set for 3D printing when operating 3D printing, you can click Connect directly on the DobotStudio page. And then Click OK on the Select tool page to switch to Repetier Host, as shown in Figure 5.126. Figure 5.126 Switch into 3D printing automatically 5.9.2.2 Performing 3D Printing Procedure Step 1 Set printing parameters. Printing parameters only need to be set for the first time. 1. Click Printer Settings on the top right corner of the Pepetier Host page. The Printer Settings page is displayed. 2. Set the corresponding parameters on the Connection tab as shown in the red box of Figure 5.127. The other parameters are set by default. Issue V1.0 (2018-06-12) User Guide 108 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide Figure 5.127 5 Operation Connection setting 3. Click Apply. 4. Unselect the corresponding options on the Printer tab as shown in the red box of, Figure 5.128 and the other parameters are set by default. Then, click Apply. Issue V1.0 (2018-06-12) User Guide 109 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide Figure 5.128 5 Operation Unselect options 5. Set the corresponding parameters on the Extruder tab as shown in the red box of Figure 5.129, the other parameters are set by default. Then, Click Apply. Issue V1.0 (2018-06-12) User Guide 110 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide Figure 5.129 5 Operation Extruder settings 6. Set the corresponding parameters on the Printer Shape tab as shown in the red box of Figure 5.130, the other parameters are set by default. Then, Click Apply. Issue V1.0 (2018-06-12) User Guide 111 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide Figure 5.130 5 Operation Printer shape settings 7. Click OK 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 Issue V1.0 (2018-06-12) Connect to Dobot Magician User Guide 112 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide Step 3 5 Operation 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. 1. Set the heating temperature to 200ć on the Manual Control tab of the 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 2. Click the extruder feeder when the heating temperature is up to 200ć and feed up to10mm-30mm, as shown in Figure 5.133. Issue V1.0 (2018-06-12) User Guide 113 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide Figure 5.133 5 Operation Extrude filament If the melted filament flows from the nozzle of the extruder, the extruder is working properly. NOTICE If the filament extrusion is in the opposite direction. Please remove the filament, and turn the extruder around, then re-push down the filament. Step 4 Adjust the printing space and get the printing coordinates. NOTE During printing, if the distance from Dobot Magician to the printing platform is too large or too small to paste the first layer, it can lead to the nozzle blockage. For increasing the stickiness of the first layer, placing a masking paper on the platform is recommended. 1. Press the Unlock key on the Forearm and drag Dobot Magician to make the printing head contact the surface of the masking paper (The distance between the printing head and the surface of the masking paper is the thickness of a sheet of A4 paper), then release the Unlock key. 2. Input command M415 on the G-Code command window and press Enter to Issue V1.0 (2018-06-12) User Guide 114 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide 5 Operation get the current coordinates, as shown in Figure 5.134. Also, you can press the Key button on the bace of the base to get the current coordinates. Figure 5.134 Input M415 NOTE If you cannot find the G-Code command window, please click EASY to close Easy Mode, as shown in Figure 5.135. Figure 5.135 Step 5 Easy mode Click Load to import the prepared 3D printing model, as shown in Figure 5.136. Issue V1.0 (2018-06-12) User Guide 115 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide 5 Operation The format of 3D model is STL. You can design 3D model and transform it into STL format. Figure 5.136 Import 3D printing Model After importing the model, you can center, zoom, or rotate the model on the Object Placement page, as shown in Figure 5.137. Figure 5.137 Issue V1.0 (2018-06-12) Model operation User Guide 116 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide Step 6 5 Operation Set slicing parameters and slice up. You need to set the slicing parameters before first printing. 3. Select Slic3r from Slicer on the Slicer tab of the Repetier Host page, and click Configuration, as shown in Figure 5.138. Figure 5.138 Select slicer The Slic3r page is displayed, as shown in Figure 5.139. Issue V1.0 (2018-06-12) User Guide 117 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide Figure 5.139 5 Operation Slic3r page 4. Set the slicing parameters on the Slic3r page. 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 directory\DobotStudio\attachment, as shown in Figure 5.140. Figure 5.140 Installation Configuration sample Dobot-2.0-Vase.ini is used for printing a thin-walled vase, while Dobot-2.0-ini Issue V1.0 (2018-06-12) User Guide 118 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide 5 Operation is used for the filling, the filling rate is 20%. 5. Save the Printing Settings, Filament Settings and Printer Settings tabs respectively after importing configuration sample, as shown in Figure 5.141. Figure 5.141 Save configuration file 6. Click Slici with Slic3r on the Slicer tab of the Repetier Host page, as shown in Figure 5.142. Figure 5.142 7. Click Issue V1.0 (2018-06-12) Start to slice on the top left corner of the Repetier Host page to print. User Guide 119 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide Figure 5.143 5 Operation Start printing Here we choose vase mode to print, and the product after printing as shown in Figure 5.144. Figure 5.144 Issue V1.0 (2018-06-12) The product of printing User Guide 120 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide 5.9.3 5 Operation Operating Cura If you need to use Cura software for 3D printing, please launch the Cura software after burning firmware. Prerequisites 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. The 3D printing model has been prepared. y The printing platform has been prepared and please place it in the workspace of Dobot Magician. Dobot Magician has been powered on. Dobot Magician has been connected to DobotStudio successfully (Only USB connection is supported). 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 Step 2 Burn firmware Click Confirm to start burning 3D printing firmware. Issue V1.0 (2018-06-12) User Guide 121 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide 5 Operation After burning 3D printing firmware, if the LED indicator on the base turns red, it indicates that the connection of the 3D printing kit is abnormal.. WARNING Please DO NOT operate or turn off Dobot Magician when burning firmware, to avoid machine damage. 5.9.3.2 Performing 3D Printing Procedure Step 1 Launch Cura software. Step 2 Set slicing parameters. 1. Select Machine > settings on the Cura page. The Machine settings page is displayed. 2. Set the corresponding parameters on the Machine settings and click OK, as shown in Figure 5.146. Table 5.16 lists the values of the parameters that need to be set. The other parameters are set by default. Figure 5.146 Parameters setting Table 5.16 3D printing parameters description Parameter 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 Issue V1.0 (2018-06-12) Machine center, please select it User Guide 122 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide 5 Operation Parameter Description GCode Flavor The style of GCode Please select RepRap Marlin/Sprinter Build area shape Build the area shape Please select Circular Serial port Serial port Please select the corresponding serial port Baudrate Baud rate Please set to 115200 3. Set slice parameters, and select File > Open Profile to import these parameters, as shown in Figure 5.147. Figure 5.147 Import slice parameters The 3D printing effect depends on the slice parameters. This topic provides a configuration sample, you can import it directly for printing. The path of the configuration sample is Installation directory\DobotStudio \attachment\, as shown in Figure 5.148. Issue V1.0 (2018-06-12) User Guide 123 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide Figure 5.148 5 Operation 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%. 4. 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 5. Click Issue V1.0 (2018-06-12) Zoom and rotate to connect with Dobot Magician. User Guide 124 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide 5 Operation The printing window is displayed and the current printing temperature is shown on the top corner of the window, as shown in Figure 5.150. Figure 5.150 Printing window 6. Set Temperature to 200 and press down Enter to heat the extruder. 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. Issue V1.0 (2018-06-12) User Guide 125 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide Figure 5.151 5 Operation Click feedstock extruder If the melted filament flows from the nozzle of the extruder, the extruder is working properly. NOTICE If the filament extrusion is in the opposite direction, please remove the filament, and turn the extruder around, then re-push down the filament. Step 4 Adjust the printing space and get printing coordinates. NOTE During printing, if the distance from Dobot Magician to the printing platform is too large or too small to paste the first layer, it can lead to the nozzle blockage. For increasing the stickiness of the first layer, placing a masking paper on the platform is recommende. 1. Press the Unlock key on the Forearm and drag Dobot Magician to make the printing head contact the surface of the masking paper(The distance between the printing head and the surface of the masking paper is the thickness of a sheet of A4 paper), then release the Unlock key. 2. Input command M415 on the lower right of the Operational page to get the current coordinates, as shown in Figure 5.152. Also, you can press the Key button on the bace of the base to get the current coordinates. Issue V1.0 (2018-06-12) User Guide 126 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide Figure 5.152 Step 5 5 Operation Input command M415 Click Print, Dobot Magician moves to the printing origin (System setting) and starts printing. 5.10 Calibration 5.10.1 Base Calibration The base Encoder has been calibrated before being shipped out. Generally, the J1-coordinate is 0° after homing, where the homing point is the system default. Namely, the Forearm is located at the middle in front of the base. If the J1-coordinate is not 0° (error range: 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. Dobot Magician has been powered on. Dobot Magician has been connected to DobotStudio successfully. The sensor calibration board has been prepared. Procedure Step 1 Place the Dobot Magician at the right position on the sensor calibration board, as shown in Figure 5.153. Issue V1.0 (2018-06-12) User Guide 127 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide Figure 5.153 Step 2 5 Operation Location of Dobot Magician (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. 1. Click Teaching&Playback on the DobotStudio page. The Teaching&Playback page is displayed. 2. Press the Unlock key on the Forearm and drag Dobot Magician to make the nib contact the surface of the calibration board, then release the Unlock key. The coordinates of this point will be displayed on the Teaching&Playback page. 3. Select this point and right-click SetHome, as shown in Figure 5.154. Figure 5.154 Issue V1.0 (2018-06-12) Set homing position User Guide 128 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide Step 3 5 Operation 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 Figure 5.156 Issue V1.0 (2018-06-12) Move J1-axis Nib position User Guide 129 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide Step 6 5 Operation 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 5.10.2 J1-coordinate Sensor Calibration The angle sensors of the Forearm and Rear Arm have been calibrated before being shipped out. Generally, the Z-coordinate will remain the same when moving Dobot Magician in the same horizontal plane. If changed, you need to recalibrate the angle sensors by manual levelling or auto levelling to improve the positioning accuracy. y Manual Levelling: It is more accurate to calibrate manually with DobotStudio, sensor calibration board, and writing and drawing kit, which is suitable for the application scenarios with high requirements for absolute positioning accuracy. y Auto Levelling: It is simple and quick to calibrate automatically with DobotStudio and auto-levelling tool, which is suitable for the application scenarios without high Issue V1.0 (2018-06-12) User Guide 130 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide 5 Operation requirements for absolute positioning accuracy, such as writing and drawing, 3D printing. 5.10.2.1 Manual Levelling Prerequisites Dobot Magician has been powered on. Dobot Magician has been connected to DobotStudio successfully. 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 Step 2 Location of Dobot Magician Click Setting > Manual Levelling on the DobotStudio page. The Manual Levelling page is displayed. Step 3 Click Next on the Manual Levelling page. Dobot Magician will finish the auto-compensation of the angle senor coefficients of the Forearm and Rear Arm move according to the system settings. The result is as shown in Figure 5.159. NOTICE Please remove all end-effectors from Dobot Magician before calibrating Issue V1.0 (2018-06-12) User Guide 131 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide Figure 5.159 Step 4 5 Operation Get the angle sensor coefficients 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 Step 5 Set precisions Click Next and follow the instructions on the Manual Levelling page to move Dobot Magician to the first calibrated point. If the calibrated point is A3 on the Calibration board. Issue V1.0 (2018-06-12) User Guide 132 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide 5 Operation 1. Install the writing and drawing kit. For details, please see 5.4.1 Installing a Writing and drawing kit. 2. Press the Unlock key on the Forearm and drag Dobot Magician to make the nib near the A3 point on the calibration board, then release the Unlock key. 3. Click coordinate buttons on the Manual Levelling page (as shown in Figure 5.161) to make the nib align to the center of A3 point on the calibration board, as shown in Figure 5.162. If the speed is too fast when clicking coordinate buttons, you can drag Speed slider to adjust speed. Figure 5.161 Fine-tune page Issue V1.0 (2018-06-12) User Guide 133 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide Figure 5.162 Step 6 5 Operation Nib position Click Next and follow the instructions on the Manual Levelling page (as shown in Figure 5.163) to move Dobot Magician to make the nib in the center of the second calibrated point. If the calibrated point is B3 on the calibration board, as shown in Figure 5.164. NOTICE Please DO NOT drag Dobot Magician in this step, to avoid manual levelling failure. If the speed is too fast when clicking coordinate buttons, you can drag Speed slider to adjust speed. Issue V1.0 (2018-06-12) User Guide 134 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide Figure 5.163 Figure 5.164 Step 7 5 Operation Fine-tune page Nib position on the second calibrated point Click Next and set the distance between the two calibrated points, as shown in Figure 5.165. The distance between the two calibrated points on the Calibration board is 80mm, so please keep the default value in this step. Issue V1.0 (2018-06-12) User Guide 135 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide Figure 5.165 Step 8 5 Operation Set the distance between the two calibrated points Click Next to start calibrating. The result is shown as Figure 5.166. Figure 5.166 Calibrating result 5.10.2.2 Auto Levelling Prerequisites Issue V1.0 (2018-06-12) User Guide 136 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide 5 Operation Dobot Magician has been connected to a PC via USB cable. Dobot Magician has been connected to the power adapter. 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. Issue V1.0 (2018-06-12) User Guide 137 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide Figure 5.168 Step 3 5 Operation Fix auto-levelling tool Insert the cable of the auto-levelling tool to the interface 2 on the Forearm, as shown in Figure 5.169. Figure 5.169 Issue V1.0 (2018-06-12) Insert the cable of the auto-levelling User Guide 138 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide 5 Operation Step 4 Power on Dobot Magician and connect it to DobotStudio. Step 5 Click Setting > Auto Levelling on the DobotStudio page. The Auto Levelling page is displayed, as shown in Figure 5.170. NOTICE Please ensure that there are no obstacles in the workspace during auto levelling. Figure 5.170 Step 6 Auto levelling page Click Start on the Auto Levelling page. Dobot Magician starts auto levelling. The levelling process will takes about 2 minutes. The result is shown as Figure 5.171. NOTE If the auto levelling is failed, please check if the platform is flat and try again. Issue V1.0 (2018-06-12) User Guide 139 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide Figure 5.171 5.10.3 5 Operation Auto levelling result Homing Dobot Magician has been calibrated before being shipped out. If the Dobot Magician has been hit or the motor has lost step, leading data abnormal, you need to operate homing to improve the positioning accuracy. Prerequisites Dobot Magician has been powered on. Dobot Magician has been connected to DobotStudio successfully. Procedure Click Home on the DobotStudio page, as shown in Figure 5.172. NOTICE Please remove the end-effector from the Dobot Magician before homing. Please ensure that there are no obstacles in the workspace during homing. Figure 5.172 Operate homing Dobot Magician will rotate clockwise to the limited position and then return to the default homing point automatically and the LED indicator on the base turns blue and is blinking. After the Issue V1.0 (2018-06-12) User Guide 140 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide 5 Operation homing is successful, there is a beep sound and the LED indicator turns green. Also, the homing point can be use-defined, you can select a saved point on the Teachong&Playback page and right-click SetHome to set this saved point as the homing point, as shown in Figure 5.173. Figure 5.173 Set homing point 5.11 Connecting with WIFI Kit You can connect Dobot Magician to a PC via WIFI kit without USB cable, making Dobot Magician and PC in the same WLAN. Figure 5.174 shows the WIFI kit. Figure 5.174 WIFI kit Prerequisites Dobot Magician has been connected to a PC via USB cable. Issue V1.0 (2018-06-12) User Guide 141 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide 5 Operation 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. Issue V1.0 (2018-06-12) User Guide 142 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide Figure 5.176 Table 5.17 Parameter Description SSID Set WIFI name 5 Operation Set WIFI Parameter description The WIFI name and password have been obtained and must be the same as that of PC Password Set WIFI password Dynamic Host Configuration Whether to select DHCP Protocol (DHCP) Yes: Only set SSID and Password No: Only set IPAddress, Netmask and Gateway IPAddress Set the IP address of Dobot Magician. The IP address of Dobot Magician and the PC must be in the same WLAN without conflict. Netmask Set subnet mask Gateway Set gateway DNS Set DNS Step 6 Click OK. Issue V1.0 (2018-06-12) User Guide 143 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide 5 Operation About 5 seconds later, the green LED indicator on the WIFI module is on, indicating that the Dobot Magician has been connected with WLAN, as shown in Figure 5.177. Figure 5.177 Status of LED indicator Step 7 Click Disconnect on the left pane of the DobotStudio page. Step 8 After 2 seconds later, select the IP address from the drop-down list on the upper left pane of the DobotStudio page and click Connect, as shown in Figure 5.178. Figure 5.178 IP address of Dobot Magician After the connection is successful, you can control Dobot Magician without USB cable. 5.12 Connecting with Bluetooth Kit Dobot Magician can be connected to smart phone with Bluetooth. Figure 5.179 shows the Bluetooth kit. Please download the matched DobotStudio APP from the website https://cn.dobot.cc/downloadcenter.html?sub_cat=69#sub-download. Issue V1.0 (2018-06-12) User Guide 144 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide Figure 5.179 5 Operation Bluetooth kit Prerequisites Dobot Magician has been connected to the power adapter. The DobotStudio APP has been downloaded. Procedure Step 1 Connect the Bluetooth kit to the UART interface on the base, as shown in Figure 5.180. Issue V1.0 (2018-06-12) User Guide 145 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide Figure 5.180 5 Operation Connect with Bluetooth kit NOTICE Please turn off the Dobot Magician completely first before connecting or disconnecting external equipment. Or, it causes serious damage to your device. Step 2 Press down the power button to turn on the Dobot Magician. After turning on, there are three short beep sounds and the blue LED indicator on the Bluetooth module is on and the green one is blinking. Turn on the Bluetooth and launch DobotStudio APP on your phone. And click Connect to connect with Dobot Magician. This topic only describes how to connect Bluetooth kit. For details how to operate Dobot Magician with DobotStudio APP, please see https://www.youtube.com/watch?v=kyeXwuf17IY. 5.13 Operating Blockly Blockly is a programming platform based on Google Blockly. You can program through the puzzle format, which is straightforward and easy to understand. Prerequisites Issue V1.0 (2018-06-12) User Guide 146 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide 5 Operation Dobot Magician has been powered on. 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 Magician The corresponding codes of the blockly module on the programming window The demo in Figure 5.181 is described as follows. 1. Set the end-effector as Gripper. 2. Set the loop number as 3 and make the Z-axis move back and forth 3 times. 3. Set the pause time as 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 Issue V1.0 (2018-06-12) User Guide 147 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide 5 Operation the programing file is Installation directory/DobotStudio/config/bystore. Please replace the path based on site requirements. Step 5 Click Start on the Blockly page, and Dobot Magician will move according to the program. 5.14 Scripting You can control Dobot Magician over scripting. Dobot Magician supports various API, such as velocity/acceleration setting, motion mode setting, and I/O configuration, which uses Python language for secondary development. For details about the Dotob Magician API interface and function description, please see Dobot Magician API Description. The download path https://www.dobot.cc/downloadcenter.html?sub_cat=72#sub-download. is Prerequisites Dobot Magician has been powered on. Dobot Magician has been connected to DobotStudio successfully. Procedure Step 1 Click Script on the DobotStudio page. The Script page is displayed. Step 2 Write a script. You can call the interface by double-clicking on the left pane of the Script page, the corresponding interface will be displayed on the middle pane, as shown in Figure 5.182. You can also click icon of the corresponding interface to view the way how to set the parameters. The scripting examples (including Jog, PTP, and Pallet) can refer to Installation directory/DobotStudio/config/ststore/. Figure 5.182 Write a script Issue V1.0 (2018-06-12) User Guide 148 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide Step 3 5 Operation 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. 5.15 Operating Stick Controller Kit Dobot Magician can be controlled by stick controller kit without DobotStudio. Figure 5.183 shows the stick controller kit. From left to right: Stick controller, USB Host module, USB cable (used for charging stick controller), Transceiver. Figure 5.183 Stick controller kit Prerequisites Dobot Magician has been connected to a PC over USB cable. Dobot Magician has been connected to the power adapter. Procedure Step 1 Connect the transceiver to the USB module. Step 2 Connect the USB Host module to the UART interface on the base, as shown in Figure 5.184. Issue V1.0 (2018-06-12) User Guide 149 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide Figure 5.184 Step 3 5 Operation Connect with USB Host module Press down the power button to turn on the Dobot Magician. The blue LED indicator on the USB Host module is on. After turning on, there are four short beep sounds and the green one is on. NOTICE Please turn off the Dobot Magician completely first before connecting or disconnecting external equipment. Or, it causes serious damage to your device. Step 4 Press down the power button on the stick controller, as shown in Figure 5.185. The red LED indicator on the middle of the stick controller is blinking, indicating that the Dobot Magician can be controlled by the stick controller. Issue V1.0 (2018-06-12) User Guide 150 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide Figure 5.185 5 Operation 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 LT Turn on the peripheral motor RT Turn off the peripheral motor off RB Switch to Cartesian coordinate system mode LB 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 Cartesian coordinate system mode: Dobot Magician moves along X-axis in the positive/negative direction Joint coordinate system mode: Dobot Magician along J1-axis positive/negative direction rotates Left stick: Left/right User Guide 151 the Cartesian coordinate system mode: Dobot Magician Issue V1.0 (2018-06-12) in moves along Y-axis in the Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide Button 5 Operation Function positive/negative direction Joint coordinate system mode: Dobot Magician along J2-axis positive/negative direction rotates Right stick: Front/back in the Cartesian coordinate system mode: Dobot along Z-axis in the positive/negative direction Magician moves Joint coordinate system mode: Dobot Magician along J3-axis positive/negative direction rotates Right stick: Left/right in the Cartesian coordinate system mode: Dobot Magician rotates along R-axis in the positive/negative direction Joint coordinate system mode: Dobot Magician along J4-axis positive/negative direction rotates in the 5.16 Multiplexed I/O Demo The addresses of the I/O interfaces in Dobot Magician are unified. Most of I/O interfaces have multiple functions. For details, please see 4.3 Multiplexed I/O Interface Description. You can set I/O interfaces on the advanced Teaching&Playback page to control the peripheral equipment, as shown in Figure 5.186. Figure 5.186 I/O setting page Now, demos of level output, level input, and PWM output are given below. Issue V1.0 (2018-06-12) User Guide 152 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide 5.16.1 5 Operation Level Output Normally, air pump can be controlled by the I/O interfaces. The I/O 11 controls its intake (High level) and outtake (Low level) and the I/O 16 controls its start-stop. Table 5.20 lists the multiplexed descriptions of I/O 11 and I/O 16. Table 5.20 Multiplexed I/O description I/O addressing Voltage Level Output PWM Level Input ADC 11 3.3V √ √ 16 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. Dobot Magician has been powered on. Dobot Magician has been connected to DobotStudio successfully. Procedure Step 1 Select Pen from the end-effector drop-down list on the DobotStudio page, as shown in Figure 5.188. Issue V1.0 (2018-06-12) User Guide 153 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide Figure 5.188 5 Operation 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 Step 3 Switch advanced function Select IO_11, IO_16 and their corresponding Value 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. Issue V1.0 (2018-06-12) User Guide 154 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide Figure 5.190 Step 4 5 Operation Saved point 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 Step 6 Saved point Select this point and click StepRun. The air pump is humming with outtake. 5.16.2 Level Input This topic also takes I/O 12 as an example. Issue V1.0 (2018-06-12) User Guide 155 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide 5 Operation Table 5.21 Multiplexed I/O description I/O addressing Voltage Level Output PWM Level Input ADC 12 √ 3.3V Prerequisites Dobot Magician has been powered on. Dobot Magician has been connected to DobotStudio successfully. 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 Trigger pane, and set Condition and its Value. Here, Value only can be set to 0 or 1. 1: High level; 0: Low level. Step 4 Click ADD, as shown in Figure 5.193. Figure 5.193 Issue V1.0 (2018-06-12) Saved point User Guide 156 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide 5.16.3 5 Operation PWM OUTPUT This topic also takes I/O 11 as an example. Table 5.22 Multiplexed I/O description I/O addressing Voltage Level Output PWM Level Input ADC 11 √ √ 3.3V Prerequisites Dobot Magician has been powered on. 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 Step 2 Switch advanced function Select IO_11 on the Output pane, and click +Point, as shown in Figure 5.195. Figure 5.195 Step 3 Saved point Double-click EIO11 cell and select … from the drop-down list. The EIO Setting page is displayed, as shown in Figure 5.196. Issue V1.0 (2018-06-12) User Guide 157 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide Figure 5.196 Step 4 5 Operation EIO setting Set Frequency (Unit: KHZ; Value range: 10HZ-1MHZ) and DutyRatio (0%-100%) on the EIO Setting page. Issue V1.0 (2018-06-12) User Guide 158 Copyright © Yuejiang Technology Co., Ltd. Dobot Magician User Guide 5 Operation FCC Statement This device complies with Part 15 of the FCC rules. Operation is subject to the following two conditions: 1) this device may not cause harmful interference, and 2) this device must accept any interference received, including interference that may cause undesired operation. Note: This equipment has been tested and found to comply with the limits for a Class B digital device, pursuant to part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference in a residential installation. This equipment generates uses and can radiate radio frequency energy and, if not installed and used in accordance with the instructions, may cause harmful interference to radio communications. However, there is no guarantee that interference will not occur in particular installation. If this equipment does cause harmful interference to radio or television reception, which can be determined by turning the equipment off and on, the user is encouraged to try to correct the interference by one or more of the following measures: --Reorient or relocate the receiving antenna. --Increase the separation between the equipment and receiver. --Connect the equipment into an outlet on a circuit different from that to which the receiver is connected. --Consult the dealer or an experienced radio/TV technician for help. Changes or modifications not expressly approved by the party responsible for compliance could void the user’s authority to operate the equipment. FCC Radiation Exposure Statement For Bluetooth kit and WIFI kit: This device complies with FCC RF radiation exposure limits set forth for an uncontrolled environment. This transmitter must not be co-located or operating in conjunction with any other antenna or transmitter. This device must operate with a minimum distance of 20 cm between the radiator and user body. IC Note: 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. Issue V1.0 (2018-06-12) User Guide 158 Copyright © Yuejiang Technology Co., Ltd.
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