Issue: V2.3.

1
Date: 1 August, 2023
Shenzhen Yuejiang Technology Co.,Ltd.|China
 Dobot Magician User Guide (DobotLab-based)

Copyright © ShenZhen Yuejiang Technology Co., Ltd 2023. All rights reserved.
No part of this document may be reproduced or transmitted in any form or by any means
without prior written consent of Yuejiang Technology Co., Ltd.

Disclaimer
To the maximum extent permitted by applicable law, the products described (including its
hardware, software and firmware, etc.) in this document are provided AS IS, which may have flaws,
errors or faults. Dobot makes no warranties of any kind, express or implied, including but not limited
to, merchantability, satisfaction of quality, fitness for a particular purpose and non-infringement of
third party rights. In no event will Dobot be liable for any special, incidental, consequential or
indirect damages resulting from the use of our products and documents.
Before using our product, please thoroughly read and understand the contents of this document
and related technical documents that are published online, to ensure that the robotic arm is used on
the premise of fully understanding the robotic arm and related knowledge. Please use this document
with technical guidance from professionals. Even if follow this document or any other related
instructions, damages or losses may happen in the using process. Dobot shall not be considered as
a guarantee regarding to all security information contained in this document.
The user has the responsibility to make sure following the relevant practical laws and
regulations of the country, in order that there is no significant danger in the use of the robotic arm.

Shenzhen Yuejiang Technology Co., Ltd.

Address: Floor 9-10, Building 2, Chongwen Garden, Nanshan iPark, Liuxian Blvd, Nanshan
District, Shenzhen, Guangdong Province, China
Website: www.dobot.cc

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 Dobot Magician User Guide (DobotLab-based) Preface

Preface
Purpose
This document describes the working principle, technical specifications, connection and
functions of Dobot Magician, making it easy for users to fully understand and use it.

Intended Audience
This document is intended for:
 Customer Engineer
 Sales Engineer
 Installation and Commissioning Engineer
 Technical Support Engineer

Change History

Date Change Description

1 August, 2023 Update the acquisition path of 3D printing slice file

8 December, 2022 Update software operations according to latest UI

interface (V2.3.1)

Add wiring description of stick controller kit

27 May, 2022 The first release

Symbol Conventions
The symbols that may be found in this document are defined as follows.

Symbol Description

Indicates a hazard with a high level of risk which, if not

DANGER avoided, could result in death or serious injury

Indicates a hazard with a medium level or low level of risk

WARNING which, if not avoided, could result in minor or moderate
injury, robotic arm damage

Indicates a potentially hazardous situation which, if not

NOTICE avoided, can result in robotic arm damage, data loss, or
unanticipated result

NOTE Provides additional information to emphasize or

supplement important points in the main text

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 Dobot Magician User Guide (DobotLab-based) Contents

Contents
Security Precautions ................................................................................................ 1
1.1 General Security................................................................................................................ 1
Precautions ........................................................................................................................ 2
Introduction .............................................................................................................. 4
Overview........................................................................................................................... 4
Appearance ....................................................................................................................... 4
Working Principle ............................................................................................................. 4
Workspace ........................................................................................................... 4
Coordinate System............................................................................................... 6
Motion Function .................................................................................................. 7
Technical Specifications ................................................................................................... 9
Technical Parameters ........................................................................................... 9
Dimensions ........................................................................................................ 10
Robot Connection................................................................................................... 12
Connecting Cables to Dobot Magician ........................................................................... 12
Powering on/off Dobot Magician ................................................................................... 12
Interface Description ............................................................................................. 14
Interface Board ............................................................................................................... 14
LED Indicator ................................................................................................................. 15
Multiplexed I/O Interface ............................................................................................... 16
Multiplexed Base I/O Interface ......................................................................... 16
Multiplexed Forearm I/O Interface Description ................................................ 19
Internal I/O Circuit ............................................................................................ 21
Example of External Device Connection .......................................................... 22
Operation ................................................................................................................ 23
Introduction on DobotLab............................................................................................... 23
DobotLink Installation .................................................................................................... 24
Blockly ............................................................................................................................ 25
Python Programming ...................................................................................................... 30
Writing and Drawing ...................................................................................................... 34
Installing a Writing and Drawing Kit ................................................................ 34
Drawing Operations (Without Sliding Rail) ...................................................... 35
Installing a Sliding Rail Kit ............................................................................... 40
Drawing Operations (with a Sliding Rail) ......................................................... 43
Laser Engraving .............................................................................................................. 52
Installing a Laser Kit ......................................................................................... 53
Laser Engraving Operations .............................................................................. 54
Teaching and Playback.................................................................................................... 58
Installing a Suction Cup Kit .............................................................................. 58
Installing a Gripper Kit ...................................................................................... 59
Teaching and Playback ...................................................................................... 61
3D Printing ...................................................................................................................... 67
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Installing 3D Printing Kit .................................................................................. 67

Burning Firmware ............................................................................................. 71
Operating Repetier Host .................................................................................... 73
Operating Cura .................................................................................................. 84
Calibration ...................................................................................................................... 89
Base Calibration ................................................................................................ 89
Sensor Calibration ............................................................................................. 94
Homing ............................................................................................................ 101
Working in Offline Mode .............................................................................................. 103
Operating Stick Controller Kit ...................................................................................... 104
Multiplexed I/O Demo .................................................................................................. 108
Level Output .................................................................................................... 110
Level Input ...................................................................................................... 112
PWM Output ................................................................................................... 113

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Security Precautions

This topic describes the security precautions that should be noticed when using this product.
Please read this document carefully before using the robotic arm for the first time. This product
needs to be used in an environment meeting design specifications. You cannot remold the product
without authorization, otherwise it could lead to product failure, and even personal injury, electric
shock, fire, etc. The installation personnel, operators, teaching personnel, and programmers of the
robotic arm must read this document carefully and use the robotic arm strictly according to the
regulations of this document strictly.

1.1 General Security

DANGER

Robotic arm is an electrical equipment. Non-professional technicians cannot modify the

wire, otherwise it is vulnerable to injury the device or the person.

The following security rules should be followed when using the robotic arm.
 You should comply with local laws and regulations when operating the robotic arm. The
security precautions in this document are only supplemental to local laws and regulations.
 The DANGER, WARNING, and NOTICE marks in this document are only supplemental
to the security precautions.
 Please use the robotic arm in the specified environment scope. If not, exceeding the
specifications and load conditions will shorten the service life of the product even damage
the equipment.
 Before operating and maintaining the robotic arm, the personnel responsible for the
installation, operation and maintenance must be trained to understand the various security
precautions and to master the correct methods of operation and maintenance.
 Highly corrosive cleaning is not suited to cleaning the robotic arm. The anodized
components are not suitable for immersion cleaning.
 People cannot repair and disassemble the robotic arm without professional training. If
there is a problem with the robotic arm, please contact Dobot technical support engineer
in time.
 Please comply with the relevant laws to deal with the product which is scrapped, and
protect the environment.
 There are small parts in the packing box, Please keep them away from children, to avoid
any accidents.
 DO NOT let children play with the robotic arm alone. All processes need to be monitored
while running. After processes have finished, please turn off the equipment promptly.
 DO NOT put hands into the workspace of the robotic arm while running, to avoid bruising
or pinching.
 Be careful during the robotic arm carrying or installing. Please follow the instructions on
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the packing box to put down the robotic arm gently and place it correctly in direction of
arrow.
 Commissioning of the incomplete machine is prohibited until it has been installed in a
machine and the whole machine complies with the provisions of the Machinery Directive
(2006/42/EC).
 It is prohibited to modify or remove the nameplates, instructions, icons and marks on the
robotic arm and the related equipment.
 Please refer to Dobot Magician User Guide along with the packing box before using.

Precautions
 Please make the Dobot Magician in the workspace with a 45° angle between the Forearm
and Rear Arm (as shown in Figure 1.1) before starting up. If the LED indicator turns red
after starting up, it indicates that the Dobot Magician is at a limited position. Please make
the Dobot Magician in the workspace.

Figure 1.1 The Forearm and Rear Arm position

 Dobot Magician will move slowly to the specific position when shutdown. DO NOT put
hands into the workspace of the Dobot while running, to avoid bruising or pinching. Only
once the LED indicator completely turns off, the Dobot Magician can be powered down.
 If the coordinates of the Dobot Magician shown on DobotLab are abnormal, please press
the Reset button on the back of the base to reset Dobot Magician or click Home on
DobotLab to perform homing.
 During resetting, Dobot Magician will disconnect from the PC automatically and the
LED indicator on the base turns yellow. About 5 seconds later, if the LED indicator
turns green, it indicates that the reset is successful.
 During homing, Dobot Magician will rotate clockwise to the limited position and
then return to the homing point automatically, and the LED indicator on the base
turns blue and is blinking. After homing, if there is a beep sound and the LED
indicator turns green, it indicates that the homing is successful.
 Please turn off the Dobot Magician completely first before connecting or disconnecting
external equipment, such as Bluetooth, WIFI, stick controller, infrared sensor, color
sensor, etc. Or, it causes damage to your device.

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 Please wear the lasing protective eyeglass when using the laser module. Please protect
your eyes and skin from the laser.
 The heating rod will produce high temperature up to 250℃ when you use the 3D printing
module. Please be careful.
 Please DO NOT operate or turn off Dobot Magician when burning firmware, to avoid
machine damage.

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Introduction

Overview
Dobot Magician is a multifunctional desktop robotic arm for practical training education,
supporting teaching and playback, blockly programming, script programming, writing and drawing,
laser engraving, 3D printing, etc. It also supports secondary development by various extensible I/O
interfaces.

Appearance
Dobot Magician consists of a base, rear arm, forearm, and end-effector, etc. Figure 2.1 shows
the appearance.

Figure 2.1 Appearance of Dobot Magician

Working Principle
This section describes the workspace, principle, size and technical specifications of Dobot
Magician.

Workspace

Figure 2.2 and Figure 2.3 shows the workspace of Dobot Magician.

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Figure 2.2 Workspace of Dobot Magician (1)

Figure 2.3 Workspace of Dobot Magician (2)

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Coordinate System

Dobot Magician has two types of coordinate system, the joint one and the Cartesian one, as
shown in Figure 2.4 and Figure 2.5 respectively.

Figure 2.4 Joint coordinate system

Figure 2.5 Cartesian coordinate system

Joint coordinate system: The coordinates are determined by motion joints.

 If the end-effector is not installed, Dobot Magician contains three joints: J1, J2 and
J3, which are all rotating joints. The positive direction of these joints is counter-
clockwise.
 If the end-effector with servo is installed, such as suction cup kit, gripper kit, Dobot
Magician contains four joints: J1, J2, J3 and J4, which are all rotating joints. The
positive direction of these joints is counter-clockwise.
Cartesian coordinate system: The coordinates are determined by the base.
 The origin is the center of the three motors (rear arm, forearm, base).
 The direction of X-axis is perpendicular to the base forward.

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 The direction of Y-axis is perpendicular to the base leftward.

 The direction of Z-axis is vertical upward, which is based on the right hand rule.
 The R-axis is the attitude of the servo center relative to the origin of the robotic arm,
of which the positive direction is counter-clockwise. The R-axis only exists once the
end-effector with servo is installed.

Motion Function

The motion modes of Dobot Magician include Jogging, Point to Point (PTP), ARC.

2.3.3.1 Jogging Mode

Jogging mode is the mode jogging Dobot Magician along the Cartesian coordinate system or
Joint coordinate system when teaching.
Cartesian coordinate system mode
 Click X+, X- and Dobot Magician will move along X-axis in the negative or positive
direction.
 Click Y+, Y- and Dobot Magician will move along Y-axis in the negative or positive
direction.
 Click Z+, Z- and Dobot Magician will move along Z-axis in the negative or positive
direction.
 Click R+, R- and Dobot Magician will rotate along R-axis in the positive or negative
direction.

NOTICE

If the end-effector with servo is installed on the Dobot Magician, the R-axis will move
together with Y-axis, to make sure that the terminal posture relative to the origin stays
constant.

Joint coordinate system mode

 Click J1+, J1- and control the base motor to rotate in the negative or positive
direction.
 Click J2+, J2- and control the rear Arm motor to rotate in the negative or positive
direction.
 Click J3+, J3- and control the forearm motor to rotate in the negative or positive
direction.
 Click J4+, J4- and control the servo to rotate in the negative or positive direction.

2.3.3.2 Point to Point (PTP)

PTP mode, which means point to point movement. supports MOVJ, MOVL and JUMP. The
trajectory of playback depends on the motion mode.
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 MOVJ: Joint movement. From point A to point B, each joint runs from initial angle to its
target angle, regardless of the trajectory, as shown in Figure 2.6.

Figure 2.6 MOVL & MOVJ mode

 MOVL: Rectilinear movement. The joints perform a straight-line trajectory from point A
to point B, as shown in Figure 2.6.
 JUMP: From point A to point B, the joints move in MOVJ mode, of which the trajectory
looks like a door, as shown in Figure 2.7.
1. Move up the lifting Height in MOVJ mode.
2. Move horizontally to a point that is above B by Height.
3. Move down to point B.

Figure 2.7 JUMP mode

2.3.3.3 ARC
The trajectory of ARC mode is an arc, which is determined by three points (the current point,
any point on the arc and the end point), as shown in Figure 2.8.

NOTICE

In ARC mode, it is necessary to confirm the three points combined with other motion
modes, and the three points cannot be in a line.

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Figure 2.8 ARC mode

2.3.3.4 Application Scenarios

The application scenario depends on the trajectory in a motion mode, as shown in Table 2.1.

Table 2.1 Application scenario

Motion mode Application scenario

MOVL If the trajectory of playback is required as a straight line, you can select MOVL

MOVJ If the trajectory of playback is not required but high speed is required, you can
select MOVJ

JUMP If the movement of two points is required to lift upwards by amount of height,
such as sucking up, grabbing, you can select JUMP

ARC If the trajectory of playback is required as an arc, such as dispensing, you can
select ARC

Technical Specifications
Technical Parameters

Table 2.2 Technical parameters

Name Dobot Magician

Maximum payload 500g

Maximum reach 320mm

Motion range Base ﹣90°~+90°

Rear Arm 0°~85°

Forearm ﹣10°~+90°

End-effector rotation ﹣90°~+90°

Maximum speed (with 250g Rotational speed of Rear arm, Forearm and base 320°/s

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payload) Rotational speed of servo 480°/s

Repeated positioning accuracy 0.2mm

Power supply 100V-240V AC, 50/60Hz

Power in 12V/7A DC

Communication USB, WIFI, Bluetooth

I/O 20 extensible I/O interfaces

Software DobotLab

Working temperature -10°C~60°C

Dimensions

Figure 2.9 shows the size of Dobot Magician and Figure 2.10 shows the size of the end
mounting hole.

Figure 2.9 Size of Dobot Magician

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Figure 2.10 Size of end mounting hole

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Robot Connection

This section describes how to connect the Dobot Magician and power it on/off .

Connecting Cables to Dobot Magician

Figure 3.1 Connect the Dobot Magician to your computer

Powering on/off Dobot Magician

 Power on: align the Dobot Magician into its neutral position with its Forearm and Rear
Arm constructing a 45-degree angle, and press down the power button in the base, as
shown in Figure 3.2. Once the robotic arm is powered on, the LED indicator turns yellow,
and all the stepper motors lock. And then wait about seven seconds, a short beep sound
will be heard, and the LED indicator turns from yellow to green. Now the Dobot Magician
is powered on.

NOTICE

If the LED indicator is red after the Dobot Magician is powered on, it means that the
robotic arm reaches its limited position. To return to the workspace, press and hold the

unlock button on the forearm to move the robotic arm to another desired position.

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Figure 3.2 Gesture of Dobot Magician before power-on

 Power off: When the LED indicator is green, press down the power button to turn off the
robotic arm. In this case, the forearm moves slowly to the rear arm while the angle
between them becomes small. Finally, the two arms reach a specific position.

NOTICE

Watch your hand during the shutdown process.

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Interface Description

Interface Board
The interfaces of Dobot Magician are located on the back of the base and the forearm
respectively. Figure 4.1 shows the interfaces on the back of the base, and Table 4.1 lists the
description.

Figure 4.1 Interfaces in the base

Table 4.1 Interface Description

No. Description

1 Reset key: Reset MCU program

During resetting, the LED indicator on the base turns yellow. About 5 seconds later,
if the LED indicator turns green, it indicates that the reset is successful

2 Functional key:

 Short press: Start running offline program

 Long press for 2 seconds: Starting homing procedure

3 Communication interface/UART interface: Connect with Bluetooth, WIFI and so on

The Dobot protocol is adopted.

4 USB interface: Connect with PC

5 Power interface: Connect with power adaptor

6 Peripheral interface: Connect with air pump, extruder, sensor and other peripheral
equipment. For details about peripheral interfaces, see Table 4.2

Table 4.2 lists the description on peripheral interface.

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Table 4.2 Peripheral interface description

Interface Description

SW1 Power interface of air pump; output 12V of controllable power

SW2 Output 12V of controllable power

Stepper1 User-defined stepper interface; extruder interface (3D printing mode)

Stepper2 User-defined stepper interface

GP1 Signal interface of air pump; color sensor interface; infrared sensor interface;
user-defined general interface

GP2 User-defined general interface

Figure 4.2 shows the peripheral interface on the forearm, and Table 4.3 lists the description of
the peripheral interfaces.

Figure 4.2 Peripheral interface in the Forearm

Table 4.3 Peripheral interface description

No. Description

1 GP3, End-effector interface; R-axis servo interface; user-defined general interface

2 GP4, Auto levelling interface, user-defined general interface

3 GP5, Signal interface of laser engraving; user-defined general interface

4 SW3, Hot end interface (3D printing mode); Output 12V of controllable power

5 SW4, Fan interface (3D printing mode); Power interface of laser engraving; Output
12V of controllable power

6 ANALOG, Thermistor interface (3D printing mode)

LED Indicator
The LED indicator is located on the base, Table 4.4 lists the description on its status.
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Table 4.4 LED indicator description

Status Description

Green On Dobot Magician works normally

Yellow On Dobot Magician is in the starting status

Blue On Dobot Magician is in the offline mode

Blue Blinking Dobot Magician is running homing procedure or auto levelling

Red On  Dobot Magician is at the limited position

 Alarm is not cleared

 Connection of 3D printing kit is abnormal

Multiplexed I/O Interface

The addresses of the I/O interfaces in Dobot Magician are unified. Most of I/O interfaces have
multiple functions. You can obtain the level output and input through I/O interfaces to control the
peripheral equipment.

Multiplexed Base I/O Interface

4.3.1.1 Multiplexed UART Interface

Figure 4.3 shows the UART interface on the base, Table 4.5 lists the description on multiplexed
I/O interfaces.

Figure 4.3 UART interface

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Table 4.5 Multiplex I/O Description

Whether pull up
Pin Description Level output PWM Level input ADC
or pull down

5V - 5V/1A output - - - -

GND Ground - - - - -

3.3V_20mA
E2 (EIO18) - - - - No pulling
output

3.3V/5V_20mA Pull up 1M to
E1 (EIO19) - - - -
input 3.3V

3.3V_20mA Pull up 1M to
nRST Hardware reset - - -
input 3.3V

STOP KEY 3.3V/5V_20mA Pull up 10K to

- - - -
(EIO20) input 3.3V

3.3V/5V_20mA Pull up 1M to
RX UART receive - - -
input 3.3V

3.3V/5V_20mA
TX UART send - - No pulling
output

5V - 5V/1A output - - - -

GND Ground - - - - -

4.3.1.2 Multiplexed Peripheral Interface Description

Figure 4.4 shows the peripheral interface on the base, and Table 4.6 lists the multiplexed I/O
description.

Figure 4.4 Peripheral Interface

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Table 4.6 Multiplexed I/O Description

Whether pull
Level Level
Interface Pin Description PWM ADC up or pull
output input
down

VALVE 12V/1A
- - - - -
SW1 (EIO16) output

GND Ground - - - - -

PUMP 12V/1A
- - - - -
(EIO17) output
SW2

GND Ground - - - - -

5_1A - - - -

5_1B - - - -
Stepper1 Default
5_2A phase - - - -
voltage and
5_2B - - - -
current:
4_1A 12V/0.9A - - - -
output
4_1B - - - -
Stepper2
4_2A - - - -

4_2B - - - -

3.3V/5V_
ADC Pull up 1M to
- - - 20mA
(EIO12) 3.3V
input

PWM 3.3V_20mA
- √ - - No pulling
GP1 (EIO11) output

REV 5V/1A
- - - - -
(EIO10) output

GND Ground - - - - -

3.3V_20mA Notice: The

3.3V/5V_
ADC maximum Pull down 1M
- output - 20mA
(EIO15) input voltage to GND
input
GP2 is 5V in ADC
mode.

PWM 3.3V_20mA 3.3V/5V_ Pull up 1M to

- √ -
(EIO14) output 10mA 3.3V

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input

REV 5V/1A
- - - - -
(EIO13) output

GND Ground - - - - -

Multiplexed Forearm I/O Interface Description

Figure 4.5 shows the peripheral interface on the forearm, Table 4.7 lists the multiplexed I/O
description.

Figure 4.5 Peripheral interface in the Forearm

Table 4.7 Multiplexed I/O description

Whether
Level Level
Interface Pin Description PWM ADC pull up or
output input
pull down

Temp Pull up 4.7K

- - - - -
ANALOG (EIO1) to 3.3V

GND Ground - - - - -

FAN_12V 12V/1A
Fan power - - - -
SW4 (EIO2) output

GND Ground - - - - -

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HEAT_12V Heating- 12V/3A

- - - -
(EIO3) wire power output
SW3
GND Ground - - - - -

GND Ground - - - - -

3.3V/5V
ADC Pull up 1M to
- - - _20mA
(EIO5) 3.3V
input

3.3V_20m
PWM
- A √
GP5 (EIO4) No pulling
output

5V/1A
5V - - - - -
output

GND Ground - - - -

3.3V/5V
ADC Pull up 1M to
- - - _20mA
(EIO7) 3.3V
input

3.3V_20m
PWM
GP4 - A √ - - No pulling
(EIO6)
output

5V/1A
5V - - - - -
output

GND Ground - - - - -

Notice: The
3.3V/5V maximum
ADC Pull down
- - - _20mA input
(EIO9) 1M to GND
input voltage is
5V in ADC
mode.
GP3
3.3V_20m
PWM
- A √ - - No pulling
(EIO8)
output

5V/1A
5V - - - - -
output

GND Ground - - - - -

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Internal I/O Circuit

Pull up 1M to 3.3V

Figure 4.6 Pull up 1M to 3.3V

3.3V Pull up 10K to 3.3V

Figure 4.7 Pull up 10K to 3.3V

Pull down 1M to ground

Figure 4.8 Pull down 1M to ground

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No pulling

Figure 4.9 No pulling

Example of External Device Connection

This section takes air-pump connection as an example to illustrate the external device
connection. The red box in Figure 4.10 shows the external drive circuit.
 12(I/O) is the output voltage of the I/O interface, OUTx is the output of the I/O interface
(assuming that OUT1), GND is the ground of the I/O interface. Please select the proper
outputs based on site requirements.
 12V(External) is the external voltage, GND(External) is the ground corresponding to the
external voltage.

Figure 4.10 Example of external device connection

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Operation

Introduction on DobotLab
Dobot Magician has multiple functions including teaching and playback, writing and drawing,
blockly programming, script control, etc., which can be realized through DobotLab, an integrated
software platform specially designed for artificial intelligence (AI) education. You can enter
DobotLab through https://dobotlab.dobot.cc/.
The main interface of DobotLab is shown in Figure 5.1, and its specific modules are described
in Table 5.1.

Figure 5.1 DobotLab main page

Table 5.1 Description on DobotLab main page

No. Modules Description

1 Main page Click to return DobotLab main page

2 Menu Currency: View the guidance for using DobotLab

Help: View and download documents related to DobotLab

Feedback: Enter your feedback about DobotLab experience

About: View the basic information of DobotLab

3 Language Select a language

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No. Modules Description

4 Login Log in with your account

5 My Course Provide free online courses

6 Personal Works View and edit the saved project

7 DobotBlock Lab Control the Dobot Magician through blockly programming

8 Python Lab Control the Dobot Magician through script programming

9 Writing and Drawing Lab Control the Dobot Magician to write and draw

10 Laser Engraving Lab Control the Dobot Magician to engrave a bitmap image using a laser

11 Teaching and Playback Lab Teach the Dobot Magician how to move and then record the movement
to make Dobot Magician accomplish the recorded movements

12 3D Printing Lab Control the Dobot Magician for 3D printing

13 Virtual Simulation Lab Simulate robot movements through programming, combined with a
virtual scene and robot model

DobotLink Installation
As DobotLink is the driver software of DobotLab hardware devices, you need to install and
run DobotLink before using the hardware devices. When DobotLab is started, if DobotLink is not
installed or started, the “DobotLink is not started” window will be displayed, as shown below.

Figure 5.2 Start DobotLink

If you do not download DobotLink, click , and install it as prompted.

If you have downloaded DobotLink, click . Now you will see two pop-up windows:

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“DobotLink is starting” and “Open DobotLink?”, as shown below.

Figure 5.3 DobotLink is starting

Figure 5.4 Open DobotLink

You need to click Open DobotLink. Now “DobotLink started successfully” is displayed.

Figure 5.5 DobotLink started successfully

Blockly
DobotBlock Lab is specially designed for beginners in programming. You can program by
dragging blocks to control the movement of Dobot Magician.
Prerequisites
Dobot Magician has been powered on, and connected to DobotLab.
Procedure

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Figure 5.6 Choose device

Figure 5.7 Add an extension

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Figure 5.8 Connect device

Figure 5.9 Device connected

• Set parameters corresponding to each block based on actual requirements.

• The program written with blocks requires triggering conditions to run.
Therefore, you need to select a command from the event block as the triggering

condition. For example, means the program starts to run once you

click .

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Figure 5.10 Blockly programming

If you need to set sprites and stages in the program, follow Step 7~ Step 10.

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Figure 5.11 Sprite list

Figure 5.12 Sprite extension kit

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Figure 5.13 Choose stage

Figure 5.14 Sprite programming

Python Programming
You can control Dobot Magician through script. Dobot Magician supports various APIs, such
as velocity/acceleration setting, motion mode setting, and I/O configuration, which uses Python
language for secondary development. For details about the Dotot Magician API interface and their
functions, see Dobot Magician API Description.
Download path:

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https://en.dobot.cn/service/download-center?keyword=&products%5B%5D=316.
The main interface of Python Lab is shown in Figure 5.15, and described in Table 5.2.

Figure 5.15 Python main page

Table 5.2 Python Lab main interface

No. Function Description

1 Menu Currency: View the guidance for Python Lab

Help: View and download documents related to DobotLab

Feedback: Enter your feedback about DobotLab experience

About: View the basic information of DobotLab

2 Home Back to the main page

3 File ⚫ It includes functions such as new, open, save as, upload from local,
etc.

⚫ Import and Upload from Local can be used to open script files in
Python Lab, but for Import, the file should be in .py format, and for
Upload from Local, the file should be in .json format. The format
requirements for Export and Save to Local are the same as Import
and Upload from Local respectively.

4 Project name Display the name of the current project

5 Save Save the current project to My Works

6 Program control
: Start to run the program in the code area, and

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will appear on the screen

: Download the current program in the code area to the

device

: Install the Python extension library, after which

you can call the library functions in the extension library

7 Running Log: Display alarm information. You can click Clear Alarms or click

information
to clear alarms

Run window: Display running process

8 Device control
: Select a target device and establish a communication connection
with the device

: Press to stop running in emergencies

: Control Dobot Magician

9 Command list Provide programming commands. Double click the commands to display
their corresponding codes in the code area

10 Code area Edit programs using Python

Prerequisites
Dobot Magician has been powered on and connected to DobotLab.
Procedure

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Figure 5.16 Connect device

Figure 5.17 Device connected

Figure 5.18 Run program

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Figure 5.19 Save the project

NOTE
The script can be downloaded from DobotLab to Magician only in wired control mode.

Writing and Drawing

Figure 5.20 shows the process of writing and drawing.

Figure 5.20 The process of writing and draw

Installing a Writing and Drawing Kit

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A writing and drawing kit consists of a pen and a pen holder. The specific installation steps are
shown below.

Figure 5.21 Install a writing and drawing kit

NOTE
To change a new pen, unfasten the four M3*5 set screws in the pen holder with a 1.5mm
hexagon wrench, as shown in Figure 5.22.

Figure 5.22 Change to a new pen

Drawing Operations (Without Sliding Rail)

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5.5.2.1 Connecting DobotLab

Figure 5.23 Connect device

Figure 5.24 Device connected

5.5.2.2 Importing Image Files and Setting Writing Parameters

Before the Magician starts to write and draw, you need to import an image or enter characters
as the target model.

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Figure 5.25 Add text

NOTE
The image in the drawing area should be placed within the annular area. If not, the robot
arm reaches its limited position and cannot draw or write. In this case, the image is
highlighted with a red border, as shown below.

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Figure 5.26 Image beyond bound

Figure 5.27 Set pen lifting height, descent height and speed

NOTE
Generally, you can set the pen lifting height and descent height to 20 by default.

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NOTE
If you do not click Synchronize before running, the image can also be drawn normally.
After you click Running program, the robot arm moves directly over the starting point
to draw.

5.5.2.3 Drawing

Figure 5.28 Drawing progress

Figure 5.29 Save the project

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Figure 5.30 Download the file

Installing a Sliding Rail Kit

When the workspace of Dobot Magician is not enough, you can extend the space with a sliding
kit, so as to realize such tasks as long-distance picking, writing couplets and so on.
Procedure

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Figure 5.31 Fix plate a

Figure 5.32 Fix Magician

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Figure 5.33 Connect to wire set

Figure 5.34 Connect to Dobot Magician

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Figure 5.35 Interfaces on the other end of the wire set

Figure 5.36 Connect sliding rail and wire set

Drawing Operations (with a Sliding Rail)

This section describes how to use a sliding rail for writing.

Prerequisites
 The sliding rail kit has been installed and connected to the Dobot Magician. See 5.5.3
Installing a Sliding Rail Kit for details.
 Dobot Magician has been powered on and connected to DobotLab successfully.
 The writing kit has been installed, and ink, inkstone and paper have been prepared.

5.5.4.1 Connecting DobotLab

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Figure 5.37 Connect device

Figure 5.38 Device connected

5.5.4.2 Connecting Sliding Rail

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Figure 5.39 Enable sliding rail

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Figure 5.40 Drawing area (sliding rail connected)

NOTICE

Before you click Home, please take the pen off or raise the Dobot Magician arm up.

5.5.4.3 Importing Image/Text and Setting Parameters

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Figure 5.41 Add image

NOTE
 If the coordinate system of the imported image and the drawing area are set
differently, the imported image will be displayed in an inverted direction. In this
case, you can flip the image to the correct direction.
 If you want to write the text in a certain order, you need to import an image with a
defined point order. If you enter the text and click Add, the Magician will write the
text overall from left to right.

NOTE
The image in the drawing area should be placed within the rectangular area. Otherwise,
the robot arm reaches its limited position and cannot draw or write. In this case, the image
is highlighted with a red border.

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Figure 5.42 Set pen lifting height, descent height and speed

Figure 5.43 Height of brush pen

NOTICE

If you want to set an action to dip the pen into the ink, you can press Unlock key and
drag the Dobot Magician to a point, and then release to get this point position on the
command area. For details, refer to the steps below.

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1. Right-click a position on the drawing area and select Add Trigger Line. When
the brush pen finishes writing the text with a trigger line, it will automatically
move to the inkstone to perform the ink dipping actions.

Figure 5.44 Add trigger line

A blue trigger line appears in the drawing area. Move the trigger line to a proper
position, as shown in Figure 5.45.

Figure 5.45 Move trigger line

2. Click to enter the “Trigger Trajectory” page for setting ink

dipping actions, as shown in Figure 5.46.

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Figure 5.46 Trigger line page

3. Press the Unlock key on the forearm, move the forearm over the writing area,
and release the Unlock key to record the first point. as shown in Figure 5.47.

Figure 5.47 Save the first point

NOTICE

Make this point higher within the Dobot Magician workplace to prevent the writing brush
from touching the inkstone.

4. Move the forearm to the inkstone position as shown in Figure 5.48, and record
these points on the “Trigger Trajectory” page.

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Figure 5.48 Simulate the actions of ink dipping

5. Drag the forearm to raise the writing brush up, for avoiding touching the
inkstone.

NOTICE

As the inkstone has its own height, you need to set a suitable rising height to prevent the
writing brush from touching the inkstone. Click Settings to set the height that is
recommended as 50mm to 70mm.

NOTE
If you do not click Synchronize before running, the text can also be written normally.
After you click Running program, the robot arm moves directly over the starting point
to draw.

5.5.4.4 Drawing

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Figure 5.49 Start writing text

Figure 5.50 Save the file

Laser Engraving
Figure 5.51 shows the process of laser engraving.

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Figure 5.51 Process of laser engraving

Installing a Laser Kit

Procedure
A laser kit includes a laser. The installation steps are described as below.

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Figure 5.52 Fasten the laser with clamp fixing screw

Laser Engraving Operations

5.6.2.1 Connecting DobotLab

Figure 5.53 Connect device

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Figure 5.54 Device connected

5.6.2.2 Importing Image Files and Setting Engraving Parameters

Figure 5.55

NOTE
The image in the drawing area should be placed within the annular area. If not, the robotic
arm reaches its limited position and cannot engrave. In this case, the image is highlighted
with a red border, as shown below.

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Figure 5.56 Image beyond bound

Figure 5.57 Select end effector

Danger

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 When using a laser, wear lasing protective eyeglass.

 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 children to play with the Dobot Magician. Monitor the robot arm while
it is running and power off it once the movement is completed.

NOTICE

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 screw (as shown inFigure
5.58) on the bottom of the laser kit.

Figure 5.58 Adjust the laser focus

NOTE
If you do not click Synchronize before running, the graph can also be engraved normally.
After you click Running program, the robot arm moves directly over the starting point
to start engraving.

5.6.2.3 Engraving

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Figure 5.59 Start engraving

Figure 5.60 Save the project

Teaching and Playback

This section introduces how to perform a teaching & playback task to suck or grab a small
object.

Installing a Suction Cup Kit

A suction cup kit is the default end-effector shipped with the Dobot Magician. An air pump is
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necessary when you use the suction cup kit, as shown in Figure 5.61.

Figure 5.61 A suction cup kit

Procedure
Please install a suction cup kit based on Figure 5.62.

Figure 5.62 Connect the air pump to the Dobot Magician

Installing a Gripper Kit

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An air pump should be used with the gripper kit, as shown in Figure 5.63, to open or close the
gripper.

Figure 5.63 Gripper kit

Procedure

Figure 5.64 Dismantle the suction cup

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Figure 5.65 Install a gripper kit

Figure 5.66 Effect of the gripper kit installation

Teaching and Playback

The main interface of Teaching and Playback Lab is shown in Figure 5.67, and the specific
description is listed in Table 5.3.

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Figure 5.67 Teaching and Playback Lab interface

Table 5.3 Description on Teaching and Playback Lab

No. Function Description

1 Menu Currency: View the guidance for DobotLab

Help: View and download documents related to DobotLab

Feedback: Enter your feedback about DobotLab experience

About: View the basic information of DobotLab

2 Home Back to DobotLab main page

3 File It includes functions such as new, open, save as, upload from local, etc.

4 Project name Display the name of the current project

5 Save Save the current project to My Works

6 Program control
: Start to run the program in the code area

: Download the current program in the code area to the

device

7 Running settings Settings: Set speed and acceleration

Loop: Set the number of times the commands run. range: 1~999999

8 Log Display alarm information

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9 Device control
: Select a target device and establish a communication connection
with the device

: Press to stop running in emergencies

: Control Dobot Magician

10 Control panel Set motion mode, pause time, end-effector, lost step detection, I/O trigger,
and save points

11 Command list Provide programming commands. You can right-click a command to copy,
paste, or delete it

Procedure

Figure 5.68 Connect device

Figure 5.69 Device connected

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Figure 5.70 Save points

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Figure 5.71 Jump parameter setting

Figure 5.72 Arc point setting

Figure 5.73 Arc point saving command

NOTICE

Note the following rules when saving points to prevent the robot arm from working
outside its normal workspace.
 Any two points cannot coincide.
 The three points cannot be in the same straight line.
 The arc trajectory cannot exceed the Dobot Magician’s normal workspace.
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Figure 5.74 Save the project

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3D Printing
After installing an 3D printing kit, you can import 3D module into the 3D printing software to
perform 3D printing. Figure 5.75 shows the 3D printing process.

Figure 5.75 3D printing process

During 3D printing, the 3D printing control software is required. You can use Repetier Host
or Cura software for 3D printing.
 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.
 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

3D printing kit contains extruder, hot end, motor cable, filament, and filament holder as shown
in Figure 5.76.

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Figure 5.76 3D printing kit

Procedure

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Figure 5.77 Push down the filament

Figure 5.78 Connect extruder and hot end

NOTICE

Please make sure that the PTFE tube has been pushed down to the bottom of the hot end.
Otherwise, it will cause abnormal discharge.

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Figure 5.79 Fix hot end

Figure 5.80 Connect hot end to the Forearm

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Figure 5.81 Connect with extruder

Figure 5.82 Place filament and extruder to the Filament holder

Burning Firmware

Click on DobotLab main page, and you will see the following pop-up window.

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Figure 5.83 Confirm whether 3D printing firmware installed

If the 3D printing firmware has been burned, you need to confirm whether you have
installed a 3D printing software. If not, click the link in the figure below to download and install
the software.

Figure 5.84 Confirm whether burn firmware

If the firmware is not burned, click no, and the “Firmware Update” window will be
displayed. Select Magician and the connected port will be automatically selected. Click

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Connect, as shown below.

Figure 5.85 Connect device

Set the Firmware Type to 3D Print Firmware. Click Select Firmware to select a firmware
to be burned. Then click Start Upgrading.

Figure 5.86 Burn firmware

WARNING

 Please DO NOT operate or turn off Dobot Magician when burning firmware, to
avoid machine damage.
 If the coordinates are abnormal after burning firmware, please reboot Dobot
Magician.

After burning successfully, please download and install a 3D printing software.

Operating Repetier Host

Prerequisites
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 The 3D printing model has been prepared.

 The printing platform has been prepared and please place it in the workspace of the Dobot
Magician.
 Dobot Magician has been powered on and connected to DobotLab successfully (Only
USB connection is supported).
 The 3D printing kit has been installed.
Procedure

Printing parameters only need to be set for the first time.

Click Printer Settings on the top right corner of the Repetier Host page.
Now the “Printer Settings” page is displayed.
Set the corresponding parameters on the Connection tab as shown in the red box
of Figure 5.87. The other parameters are set by default. Click Apply.

Figure 5.87 Connection setting

Unselect the corresponding options on the Printer tab as shown in the red box of
Figure 5.88 and the other parameters are set by default. Then click Apply.

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Figure 5.88 Unselect options

Set the corresponding parameters on the Extruder tab as shown in the red box of
Figure 5.89, and the other parameters are set by default. Then click Apply.

Figure 5.89 Extruder settings

Set the corresponding parameters on the Printer Shape tab as shown in the red
box of Figure 5.90, and the other parameters are set by default. Then click Apply.

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Figure 5.90 Printer shape settings

Click OK

After the connection is successful, the current heating temperature will be shown on
the below of the Repetier Host page, as shown in Figure 5.91.

Figure 5.91 Connect to Dobot Magician

Before printing, you need to test the extruder to check whether the melted filament
flows from the nozzle of the extruder.
The temperature of the extruder should be above 170℃. Dobot Magician will not
start 3D printing until the filament is in the melting state. So you need to heat the
extruder first.
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Set the heating temperature to 200℃ on the Manual Control tab of the Repetier

Host page and click , as shown in Figure 5.92.

DANGER

The heating rod will produce high temperature up to 250℃, please be careful. Do not let
children play with it alone. The process needs to be monitored when it is running. After
the process is completed, please turn off the equipment promptly.

Figure 5.92 Heat the extruder

Click the extruder feeder when the heating temperature is up to 200℃ and feed
up to10mm-30mm, as shown in Figure 5.93.

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Figure 5.93 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.

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
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 get
the current coordinates, as shown in Figure 5.94.
You can also press the Key button on the back of the base to get the current
coordinates.

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Figure 5.94 Input M415

NOTE
If you cannot find the G-Code command window, please click EASY to close Easy
Mode, as shown in Figure 5.95.

Figure 5.95 Easy mode

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Figure 5.96 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 5.97.

Figure 5.97 Model operation

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
Configuration, as shown in Figure 5.98.

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Figure 5.98 Select slicer

The Slic3r page is displayed, as shown in Figure 5.99.

Figure 5.99 Slic3r page

Set the slicing parameters on the Slic3r page.

The 3D printing effect depends on the slice parameters. This section provides a

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configuration sample for printing. You can select File > Load Config on the
Slic3r page to import the sample, which can be obtained on Dobot website >
Download Center, as shown in Figure 5.100.

Figure 5.100 Configuration sample download page

Figure 5.101 Configuration sample

As shown in Figure 5.101, “Dobot-2.0-Vase.ini” is used for printing a thin-walled

vase, and “Dobot-2.0-ini” is used for the filling, with a filling rate of 20%.
Save the Printing Settings, Filament Settings and Printer Settings tabs
respectively after importing configuration sample, as shown in Figure 5.102.

Figure 5.102 Save configuration file

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Click Slici with Slic3r on the Slicer tab of the Repetier Host page, as shown in
Figure 5.103.

Figure 5.103 Start to slice

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

Figure 5.104 Start printing

Here the vase mode is adopted to print, and the product after printing is shown in Figure 5.105.

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Figure 5.105 Product of printing

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.
Download path: 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
described in this topic.
 The 3D printing model has been prepared.
 The printing platform has been prepared and placed within the workspace of Dobot
Magician.
 Dobot Magician has been powered on, and connected to DobotLab successfully (Only
USB connection is supported).
 The 3D printing kit has been installed.

Procedure

Select Machine > settings on the Cura page.

Now the Machine settings page is displayed.
Set the corresponding parameters on the Machine settings and click OK, as
shown in Figure 5.106. Table 5.4 lists the values of the parameters that need to
be set. The other parameters are set by default.

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Figure 5.106 Parameters setting

Table 5.4 3D printing parameters description

Parameter Description

Maximum width Set to 80mm

Maximum depth Set to 80mm

Maximum height Set to 150mm

Machine center 0,0 Select it

GCode Flavor Style of GCode: select RepRap Marlin/Sprinter

Build area shape Select Circular

Serial port Select the corresponding serial port

Baudrate Set to 115200

Set slice parameters, and select File > Open Profile to import these parameters,
as shown in Figure 5.107. The slice file can be obtained on Dobot website >
Download Center, as shown in Figure 5.108.

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Figure 5.107 Import slice parameters

The 3D printing effect depends on the slice parameters. This section provides a
configuration sample, you can import it directly for printing.

Figure 5.108 Configuration sample download page

Figure 5.109 Configuration sample

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

Cura.ini is used for the filling, with a filling rate of 20%.

Click , the Open 3D model page is displayed, and select the 3D printing

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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 5.110.

Figure 5.110 Zoom and rotate

Click to connect with Dobot Magician.

The printing window is displayed and the current printing temperature is shown
on the top corner of the window, as shown in Figure 5.111.

Figure 5.111 Printing window

Set Temperature to 200 and press down Enter to heat the extruder.
The temperature of the extruder should be above 170℃. Dobot Magician will not
start 3D printing until the filament is in the melting state. So you need to heat the
extruder first.

DANGER
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The heating rod will produce high temperature up to 250℃, please be careful. Do not let
children play with it alone. The process needs to be monitored when it is running. After
the process is completed, please turn off the equipment promptly.

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 5.112.

Figure 5.112 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.

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
printing head contact the surface of the masking paper (The distance between the

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printing head and the surface of the masking paper is the thickness of a sheet of
A4 paper), then release the Unlock key.
Input command M415 on the lower right of the Operational page to get the
current coordinates, as shown in Figure 5.113.
You can also press the Key button on the back of the base to get the current
coordinates.

Figure 5.113 Input command M415

Calibration
Base Calibration

The base encoder has been calibrated before being shipped out. Generally, the J1-coordinate is
0° after homing, where the homing point is the system default. Namely, the Forearm is located at
the middle in front of the base.
If the J1-coordinate is not 0° (error range: 1°~3°) after homing, you need to re-calibrate the
base encoder.
Prerequisites
 The writing and drawing kit has been installed. For details, see 5.5.1 Installing a Writing
and Drawing Kit.
 Dobot Magician has been powered on, and connected to DobotLab.
 DobotLink has been started.
 The sensor calibration board has been prepared.
Procedure

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Figure 5.114 Location of Dobot Magician

This step is used for observing the nib position on the calibration board when moving
J1-axis in Step 7, to improve calibration accuracy.

Click on the DobotLab main page to enter Teaching and Playback Lab.
Click the drop-down list of device connection panel, as shown below. Select
Magician and click Connect.
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 command area.
Right-click the command, and select Set Home.

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Figure 5.115 Enter machine calibration

Figure 5.116 Connect device

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Figure 5.117 Base calibration

Dobot will start homing. Please ensure that there are no obstacles within the
workspace during homing.

If the speed is too fast when moving J1-axis, you can drag speed slider to adjust
speed.

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Figure 5.118 Adjust J1 axis

Figure 5.119 Nib position

You can check the J1-coordinate on the Arm Control Panel page, as shown in Figure
5.120.

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Figure 5.120 J1 coordinates

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.
 Manual Levelling: It is more accurate to calibrate manually with DobotLink, sensor
calibration board, and writing and drawing kit, which is suitable for the application
scenarios with high requirements for absolute positioning accuracy.
 Auto Levelling: It is simple and quick to calibrate automatically with DobotLink and
auto-levelling tool, which is suitable for the application scenarios without high
requirements for absolute positioning accuracy, such as writing and drawing, 3D printing.

5.9.2.1 Manual Levelling

Prerequisites
 Dobot Magician has been powered on and connected to DobotLab.
 DobotLink has been enabled.
 The sensor calibration board has been prepared.
Procedure

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Figure 5.121 Location of Dobot Magician

Figure 5.122 Connect device

The Manual Levelling page is displayed.

NOTICE

Please remove all end-effectors from Dobot Magician before calibrating

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Figure 5.123 Adjust the first calibrated point

Figure 5.124 Move to the first calibrated point

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Figure 5.125 Adjust the second calibrated point

Figure 5.126 Move to the second calibrated point

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Figure 5.127 Set the distance between two calibrated points

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 the speed slider to
adjust the speed.

5.9.2.2 Auto Levelling

Prerequisites
 Dobot Magician has been connected to a PC via USB cable.
 Dobot Magician has been connected to the power adapter.
 DobotLink has been started.
 The auto-levelling tool has been obtained, as shown in Figure 5.128.

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Figure 5.128 Auto-levelling tool

Procedure

NOTICE

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

Figure 5.129 Fix auto-levelling tool

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Figure 5.130 Insert the cable of the auto-levelling

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Figure 5.131 Automatic leveling

NOTICE

Please ensure that there are no obstacles in the workspace during auto levelling.

Figure 5.132 Start automatic leveling

Homing

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Dobot Magician has been calibrated before being shipped out. If the Dobot Magician has been
hit or the motor has lost step, you need to operate homing to improve the positioning accuracy.
Prerequisites
Dobot Magician has been powered on, and connected to DobotLab.
Procedure
Click Home on the arm control panel of DobotLab, as shown in Figure 5.133.

Figure 5.133 Set home

NOTICE

 Please remove the end-effector from the Dobot Magician before homing.
 Please ensure that there are no obstacles within the workspace during 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 flashes blue. After the homing is
successful, there is a beep sound and the LED indicator turns green.
The homing point can also be use-defined. You can right-click a saved point in the command
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area of Teaching and Playback Lab and click Set Home to set it as the homing point, as shown in
Figure 5.134.

Figure 5.134 Set home position

Working in Offline Mode

Offline mode allows the Dobot Magician to perform the points in the point list previously
downloaded from DobotLab, without keeping the USB connection established.
Prerequisites
• The Dobot Magician has been powered on.
• The Dobot Magician has been connected to DobotLab.
• The points have been saved.
Procedure

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Figure 5.135 Confirm whether returning to the home point

NOTICE

Before using offline mode, setting the Dobot Magician to the home point can make the
Dobot Magician more accurate.

Figure 5.136 Base panel

Operating Stick Controller Kit

Dobot Magician can be controlled by stick controller kit. As shown in Figure 5.137, the stick
controller kit includes (from left to right) a stick controller, a USB Host module, a USB cable (used

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for charging stick controller), and a transceiver.

Figure 5.137 Stick controller kit

NOTICE

 Please do not connect Dobot Magician to DobotLab when operating the stick
controller.
 Please turn off the Dobot Magician completely first before connecting or
disconnecting external equipment. Otherwise, it causes serious damage to your
device.

Prerequisites
Dobot Magician has been connected to the power adapter.
Procedure

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Figure 5.138 Connect with USB Host module

Figure 5.139 Connect Magician to USB host

The red LED indicator on the middle of the stick controller is on, indicating that the
Dobot Magician can be controlled by the stick controller.

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Figure 5.140 Power button of the stick controller

Table 5.5 lists the functions of buttons on the stick controller.

Table 5.5 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

X Control the outtake of the air pump

Y Control the intake of the air pump

B 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 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 positive/negative direction
 Joint coordinate system mode: Dobot Magician rotates
along J2-axis in the positive/negative direction

Right stick: Front/back  Cartesian coordinate system mode: Dobot Magician moves
along Z-axis in the positive/negative direction

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Button Function

 Joint coordinate system mode: Dobot Magician rotates

along J3-axis in the positive/negative direction

Right stick: Left/right  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

The addresses of the I/O interfaces in Dobot Magician are unified. Most of I/O interfaces have
multiple functions. For details, see 4.3 Multiplexed I/O Interface.
You can set I/O interfaces in the command panel of Teaching and Playback Lab, as shown in
Figure 5.141; or select I/O block in DobotBlock Lab, as shown in Figure 5.142; or call
corresponding APIs in the command list of Python Lab, as shown in Figure 5.143.

Figure 5.141 IO settings in Teaching and Playback Lab

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Figure 5.142 IO settings in DobotBlock Lab

Figure 5.143 IO settings in Python Lab

This section takes Teaching and Playback Lab as an example to illustrate level output, level
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input, and PWM output.

Level Output

Normally, an 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 5.6 lists the
multiplexed descriptions of I/O 11 and I/O 16.

Table 5.6 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
5.144.

Figure 5.144 Peripheral Interface on the base

Prerequisites
• The air pump has been connected to Dobot Magician. For details, see 5.7.1 Installing a
Suction Cup Kit.
• Dobot Magician has been powered on, and connected to DobotLab successfully.
Procedure

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Figure 5.145 Set end-effector

Figure 5.146 Trigger commands

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Figure 5.147 Modify EIO11 value

Level Input

This section takes EIO 12 as an example.

Table 5.7 Multiplexed I/O description

I/O addressing Voltage Level Output PWM Level Input ADC

12 3.3V - - √ -

Prerequisites
 Dobot Magician has been powered on, and connected to DoboLab successfully.
 The saved points list has been existed in the Teaching and Playback Lab.
Procedure

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Figure 5.148 Add IO trigger command

Figure 5.149 Move the trigger command

PWM Output

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

Table 5.8 Multiplexed I/O description

I/O addressing Voltage Level Output PWM Level Input ADC

11 3.3V √ √ - -

Prerequisites
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Dobot Magician has been powered on, and connected to DobotLab successfully.
Procedure

Figure 5.150 Add IO trigger command

Figure 5.151 Move the trigger command

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