Shenzhen Yuejiang Technology Co., Ltd Dobot M1 User Manual

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Shenzhen Yuejiang Technology Co., Ltd

Dobot M1 User Guide

User Guide

Issue: V1.0.4 Date: 2018-01-31

Dobot M1 User Guide

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. Yuejiang makes no warranties of any kind, express or implied, including but not limited to, merchantability, satisfaction of quality, fitness for a particular purpose and noninfringement of third party rights. In no event will Yuejiang 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 will be 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: 4F, A8, Tanglang Industrial Area, Taoyuan Street, Nanshan District, Shenzhen, PRC

Website: www.dobot.cc

Dobot M1 User Guide Preface

Date

Change Description

2018/01/31

The first release Add:

 2.3.3 Arm Orientation  3.3.1 Installing Laser Engraving Kit  3.3.2 Installing 3D Printing Kit  3.5 (Optional) Installing soldering kit  5.2 Connecting Power Supply  5.5.6 Debugging Disabling Function  5.5.7 Debugging Homing Function  6.5 Operating Laser Engraving  6.6 Operating 3D Printing  7 Maintenance

Modify:

 Update the contents about GUI according to the newest M1Studio  2.3.1 Workspace  2.4 Technical Specifications  5.4.1 Connecting Serial Port  6.1.2 Alarms Description  6.2 Operating Teaching and Playback  6.8 Operating Web Management

Preface

Purpose

This Document describes the functions, technical specifications, installation guide and system commissioning of Dobot M1, 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

Symbol Conventions

The symbols that may be founded in this document are defined as follows.

Dobot M1 User Guide Preface

Symbol

Description

DANGER

Indicates a hazard with a high level of risk which, if not avoided, could result in death or serious injury

WARNING

Indicates a hazard with a medium level or low level of risk which, if not avoided, could result in minor or moderate injury, robotic arm damage

NOTICE

Indicates a potentially hazardous situation which, if not 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

iii

Dobot M1 User Guide Contents

Contents

Security Precautions ................................................................................................ 1

1.1 General Security................................................................................................................ 1

Service Security ................................................................................................................ 2

Introduction .............................................................................................................. 4

Overview ........................................................................................................................... 4

Appearance and Constitute ............................................................................................... 4

Working Principle ............................................................................................................. 5

Workspace ........................................................................................................... 5

Coordinate System ............................................................................................... 5

Arm Orientation................................................................................................... 7

Motion Function .................................................................................................. 8

Technical Specifications ................................................................................................. 12

Technical parameters ......................................................................................... 12

Sizes................................................................................................................... 13

Hardware Installation ........................................................................................... 15

Environment Requirements ............................................................................................ 15

Installing the Base of Dobot M1 ..................................................................................... 15

(Optional) Installing End Effector .................................................................................. 16

Installing Laser Engraving Kit .......................................................................... 16

Installing 3D Printing Kit .................................................................................. 17

(Optional) Installing Air Pump ....................................................................................... 19

(Optional) Installing soldering kit ................................................................................... 21

Electrical Specifications ......................................................................................... 29

Interface Board ............................................................................................................... 29

LED Indicators ................................................................................................................ 29

Interface Description ....................................................................................................... 30

External Power Interface ................................................................................... 30

Body I/O Interface ............................................................................................. 31

External Expansion Interface ............................................................................. 33

Communication Interface .................................................................................. 36

Installation and Commissioning ........................................................................... 37

Installing Software .......................................................................................................... 37

Environment Requirements ............................................................................... 37

Obtaining M1Studio Software Package............................................................. 37

Installing M1Studio ........................................................................................... 37

Verifying Installation ......................................................................................... 38

Troubleshooting ................................................................................................. 38

Connecting Power Supply ............................................................................................... 39

Connecting Emergency Stop Switch ............................................................................... 42

Connecting External Cables ............................................................................................ 43

Connecting Serial Port ....................................................................................... 43

Connecting Network Cable ............................................................................... 44

Dobot M1 User Guide Contents

System Commissioning .................................................................................................. 45

Debugging Dobot M1 ........................................................................................ 45

Debugging the Power of Dobot M1 .................................................................. 46

Setting IP Address ............................................................................................. 47

Debugging Emergency Stop Function ............................................................... 50

Debugging Motion Function ............................................................................. 51

Debugging Disabling Function .......................................................................... 53

Debugging Homing Function ............................................................................ 54

Operation ................................................................................................................ 56

Instructions for M1Studio ............................................................................................... 56

Module Description ........................................................................................... 56

Alarms Description ............................................................................................ 56

Saving Point in ARC Mode ............................................................................... 59

Saving point in JUMP Mode ............................................................................. 61

Operating Teaching and Playback ................................................................................... 61

Scripting .......................................................................................................................... 69

Opearting Blockly ........................................................................................................... 70

Operating Laser Engraving ............................................................................................. 72

Operating 3D Printing ..................................................................................................... 75

Operating I/O Assistant ................................................................................................... 82

Operating Web Management ........................................................................................... 83

Managing Offline File ....................................................................................... 83

Upgrading Application ...................................................................................... 85

Example .......................................................................................................................... 87

Example of the Trajectory ................................................................................. 87

Example of the External Drive .......................................................................... 89

Example of Switching the Arm Orientation at the Same Point ......................... 90

Maintenance ........................................................................................................... 92

Routine Maintenance ...................................................................................................... 92

Routine Inspection ............................................................................................. 92

Periodic Inspection ............................................................................................ 93

Cleaning Maintenance ....................................................................................... 94

Maintenance of Mechanical Parts ................................................................................... 95

Greasing Screw Rod of Z-axis ........................................................................... 95

Greasing Guide Rail of Z-axis ........................................................................... 96

Maintenance of Electrical Parts ...................................................................................... 96

Replacing Encoder Battery ................................................................................ 97

Calibration ....................................................................................................... 106

Dobot M1 User Guide 1 Security Precautions

Security Precautions

This topic describes the security precautions that should be noticed when using this product. Please read this document carefully before using the robotic arm for the first time. This product need to be carried out in an environment meeting design specifications, you cannot remold the product without authorization, otherwise it could lead to product failure, and even personal injury, electric shock, fire, etc. People who use this product for system design and manufacture must be trained by our company, relevant institution, or must have the same professional skills. The installation personnel, operators, teaching personnel, programmers and system developers 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 for industrial design and manufacture.

 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.

 Please ensure that the robotic arm is operated under security conditions and there is no

harmful object around the robotic arm.

 The hazardous area of the robotic arm is its workspace plus 100mm. In order to prevent

people from entering the work area accidentally, it is necessary to build the safety barrier to prohibit people from entering the hazardous area.

 When the temperature is close to the freezing temperature, the other operations on the

robotic arm will not be allowed until the robotic arm moves at the rate of 10% or less for more than ten minutes to make itself warm up.

 Highly corrosive cleaning is not suited to cleaning the robotic arm. The anodized

components are not suitable for immersion cleaning.

 Please execute daily inspection and regular maintenance, replace the defective parts in

time, in order to keep the equipment in working order.

 Please comply with the relevant laws to deal with the product which is scrapped, and

protect the environment.

Dobot M1 User Guide 1 Security Precautions

 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.

 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.

 Only trained and trained personnel may commission and set up the robotic arm.

 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).

 The robotic arm may only be operated with the associated standard equipment. Any other

use of tools is deemed to be inaccurate use.

 Only authorized personnel who are instructed in work safety must work on the machine.

 Before the operation, please wear protective clothing, such as antistatic uniform,

protective gloves and protective shoes.

 It is prohibited to modify or remove the nameplates, instructions, icons and marks on the

robotic arm and the related equipment.

Service Security

WARNING

It is necessary to shut off the power supply before installing the robotic arm, to prevent any electric shock or malfunction.

The following security rules should be followed when using the robotic arm for installing, teaching and programing.

 Be careful during the robotic arm carrying or installing. Please follow the instructions on

the packing box to put down the robotic arm gently and place it correctly in direction of arrow.

 Before operating the robotic arm, please find and understand how to operate the

emergency stop function, ensure that the robotic arm can be stopped in an emergency.

 You must connect the cables needed to the robotic arm first, and then power on the robotic

arm.

 When operating the robotic arm over the PC, please do not enter the workspace of the

robotic arm, otherwise it will be vulnerable to injury the device or the person.

 When the robotic arm is running, please do not touch the power and communication cables

at will. Before disconnecting the external equipment from the robotic arm, such as 3D mouse, please make sure that the robotic arm is completely powered off.

 When powering on robotic arm for the first time, please check Z-axis or J3 value from

M1Studio. If the value is below 10mm, an alarm about limitation is generated and meanwhile the red indicator on the base of robotic arm is on, which is a normal

Dobot M1 User Guide 1 Security Precautions

phenomenon. At that point, you need to click J3+ under Joint coordinate system to jog robotic arm to the position where the J3 value is above 10mm, and then the alarm will be cleared.

 When powering on for the first time, please ensure that the emergency stop switch has

been opened (The emergency stop button is bumped). Otherwise, the robotic arm will not work normally. If the emergency stop switch is not opened, please rotate the emergency stop button clockwise. The emergency stop button will be bumped when rotating to 45°.

Dobot M1 User Guide 2 Introduction

Rear arm

Forearm

R-Axis

Z-Axis

Base

Introduction

Overview

Dobot Master 1st generation robotic arm (Dobot M1 for short) focuses on the light industrial market with great potential, and supports teaching, playback, script control, blockly graphic programming, laser engraving, 3D printing, vision identity and other functions, which is flexibly used in intelligent sorting, circuit board soldering and other automatic production lines, so that it can become the sword to solve practical problems for light industrial users, and can also become the platform to carry the imagination of the maker. Dobot M1 has the following characteristics.

 The integrated design of the driver and controller without external controller simplifies

the process of the initial installation and deployment.

 The perfect calibration of servo motor, harmonic reducer and kinematic algorithm inside

Dobot M1 bring out the best of strength and speed.

 The maximum load is 1.5kg, and the repeatability is 0.02mm.

 Various I/O and communication interfaces are provided for secondary development.

Appearance and Constitute

Dobot M1 consists of base, Z axis, Rear Arm, Forearm and R axis. Figure 2.1 shows the appearance.

Figure 2.1 The appearance of Dobot M1

Dobot M1 User Guide 2 Introduction

Working Principle

This topic describes the workspace, principle, size, and technical specifications of Dobot M1.

Workspace

Figure 2.2 shows the workspace.

Figure 2.2 Workspace of Dobot M1

Coordinate System

Dobot M1 has two types of coordinate system, the joint one and the Cartesian one, as shown in Figure 2.3 and Figure 2.4 respectively.

NOTE

The data shown in Figure 2.3 indicates the mechanical limitation.

Dobot M1 User Guide 2 Introduction

Figure 2.3 Joint coordinate system

Figure 2.4 Cartesian coordinate system

Dobot M1 User Guide 2 Introduction

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

Dobot M1 contains four joints.  J1, J2, and J4 are the rotating joints, which are located and oriented in the horizontal

plane. And their axes are parallel to each other. The positive direction of these joints is counter-clockwise.

 J3 is the moving joint, which is used for the movement of the end effector in the

perpendicular plane. The positive direction of J3 is vertical upward.

 Cartesian coordinate system: The coordinates are determined by the base.

 The origin is the axes center of the motor of Rear Arm where Rear Arm is dropped

to the bottom of the Z-axis screw.

 The direction of X-axis is perpendicular to the base forward.  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 end center relative to the origin of the robotic arm,

of which the positive direction is counter-clockwise. The R-coordinate is the sum of the coordinates of J1, J2 and J4.

Arm Orientation

With two types of arm orientation (lefty hand orientation and righty hand orientation), Dobot M1 can move to nearly any position and orientation within a given work envelope. You need to specify the arm orientation when Dobot M1 is moving. If you fail to do so, Dobot M1 may move following an unexpected path, resulting in interference with peripheral equipment. The arm orientations are shown as Figure 2.5 and Figure 2.6.

Figure 2.5 Righty hand orientation

Dobot M1 User Guide 2 Introduction

Motion Function

Figure 2.6 Lefty hand orientation

The motion modes of Dobot M1 include Jogging, Point to Point (PTP), ARC, and CIRCLE.

2.3.4.1 Jogging Mode

Jogging mode is the mode jogging Dobot M1 along the Cartesian coordinates or Joint

coordinates when teaching.

NOTE

This topic describes jogging mode by the GUI operation of M1Studio.

 Cartesian coordinate system mode

 Click X+, X- and Dobot M1 will move along X-axis in the negative or positive

direction.

 Click Y+, Y- and Dobot M1 will move along Y-axis in the negative or positive

direction.

 Click Z+, Z- and Dobot M1 will move along Z-axis in the negative or positive

direction.

 Click R+, R- and Dobot M1 will rotate along R-axis in the negative or positive

direction.

 Joint coordinate system mode

 Click Joint1+, Joint1- and control Rear Arm to rotate in the negative or positive

direction.

 Click Joint2+, Joint2- and control Forearm to rotate in the negative or positive

direction.

 Click Joint3+, Joint3- and control Z-axis to move in the negative or positive

direction.

 Click Joint4+, Joint4- and control R-axis to rotate in the negative or positive

Dobot M1 User Guide 2 Introduction

①

②

③

④

⑤

▲

▶ ▶

▼

Height

Limit

direction.

2.3.4.2 Point to Point Mode (PTP)

PTP mode supports MOVJ, MOVL, and JUMP, which means point to point movement. The

trajectory of playback depends on the motion mode.

 MOVJ: Joint movement. From point A to point B, each joint will run from initial angle to

its target angle, regardless of the trajectory, as shown in Figure 2.7.

Figure 2.7 MOVL/MOVJ mode

 MOVL: Rectilinear movement. The joints will perform a straight line trajectory from

point A to point B, as shown in Figure 2.7.  JUMP: From point A to point B, The joints will move in MOVJ mode, of which the

trajectory looks like a door, as shown in Figure 2.8.

Move up to the lifting Height (Height) in MOVJ mode. Move up to the maximum lifting height (Limit). Move horizontally to a point that is above B by height. Move down to a point that is above B by height, which the height of the point

is that of point B plus Height.

Move down to Point B.

Figure 2.8 JUMP mode

Dobot M1 User Guide 2 Introduction

Limit

In JUMP mode, if the starting point or the end point is higher than or equal to Limit, or the

height that the end effector lifts upwards is higher than or equal to Limit, the trajectory is different to that of Figure 2.8. Assuming that point A is the starting point, point B is the end point, Limit is the maximum lifting height, and Height is the lifting height.

 Point A and point B are both higher than Limit, but point A is higher than point B.

 Point A and point B are both higher than Limit, but point B is higher than point A.

 Point A is higher than Limit, but point B is lower than Limit.

 The height of point A is the same as that of point B, but both are higher than Limit.

 Point A is lower than Limit, but point B is higher than Limit.

Dobot M1 User Guide 2 Introduction

Limit

 The height of point A and point B are both the same as Limit.

 Point A and point B are both lower than Limit, but the height that the height of point A

plus Height and that of point B plus Height is higher than Limit.

2.3.4.3 ARC Mode (ARC)

The trajectory of ARC mode is an arc, which is determined by three points (the current point,

any point and the end point on the arc), as shown in Figure 2.9.

NOTICE

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

Dobot M1 User Guide 2 Introduction

Motion mode

Application scenario

MOVL

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

MOVJ

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

JUMP

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

ARC

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

CIRCLE

If the trajectory of playback is required as a circle you can choose CIRCLE

Name

Dobot M1

Reach

400mm

Payload

1.5kg

Maximum

Type

Mechanical limitation

Software limitation

Figure 2.9 ARC mode

2.3.4.4 CIRCLE Mode (CIRCLE)

The CIRCLE mode is similar to ARC mode, of which the trajectory is a circle. In CIRCLE

mode, it is necessary to confirm the three points with other motion modes.

2.3.4.5 Application Scenarios

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

Table 2.1 Application scenario

Technical Specifications

Technical parameters

Dobot M1 User Guide 2 Introduction

magnitude

Rear arm

-90°- 90°

-85°- 85°

Forearm

-135°- 135°

Z-axis screw

0mm- 250mm

10mm- 235mm

End-effector rotation

-360°- 360°

-360°- 60°

Maximum speed

Joint speed of Forearm and Rear Arm

180°/s

Resultant speed of the Forearm and Rear Arm

2000mm/s

Speed of Zaxis

1000mm/s

Repeatability

0.02mm

Power

100V-240V AC,50/60Hz

System

Linux

Communication interface

Ethernet, RS-232C

I/O

 22 digital outputs  24 digital inputs  2 DAC outputs, reserved  6 ADC inputs

Software

M1Studio

NOTE

Mechanical Limitation: Limit the position of Dobot M1 by mechanical parts. Software Limitation: For protection, limit the position of Dobot M1 by software.

Sizes

Figure 2.10 show the size of Dobot M1.

NOTE

Z-axis Motion Range shown in Figure 2.10 indicates the mechanical limitation.

Dobot M1 User Guide 2 Introduction

Figure 2.10 Size of Dobot M1

Dobot M1 User Guide 3 Hardware Installation

Hardware Installation

Environment Requirements

The operating temperature of Dobot M1 ranges from 5 °C to 40 °C. The operating humidity

ranges from 45% to 75% (non-condensing).

Installing the Base of Dobot M1

The stability of Dobot M1 depends on the installation of the base of Dobot M1. You can design

the platform according to the size of the hole of the base and the real environment for fixing Dobot M1. The platform must not only bear Dobot M1, but also bear the dynamic force by the maximum acceleration. Note the following before installing the platform.

 Design the platform according to the workspace of Dobot M1, and ensure that Dobot M1

moves without interference.

 Keep the platform level which is used to support Dobot M1.  Do not put water or other drinks near or on the platform, in order to avoid potential safety

hazard because of liquid leakage.

Procedure

Figure 3.1 shows the size of hole of the base.

Figure 3.1 Size of the base

Dobot M1 User Guide 3 Hardware Installation

(Optional) Installing End Effector

You can install the matching gripper, suction cup, or laser on the end effector of Dobot M1 for

transporting, intelligent sorting and laser engraving. Figure 3.2 shows the size of the end effector of Dobot M1.

Figure 3.2 Size of the terminal

Installing Laser Engraving Kit

Figure 3.3 shows the laser kit.

Figure 3.3 Laser kit

Procedure

Dobot M1 User Guide 3 Hardware Installation

Figure 3.4 connect to Forearm I/O interface

Installing 3D Printing Kit

Figure 3.5 shows the 3D printing kit.

Figure 3.5 3D printing kit

Procedure

Dobot M1 User Guide 3 Hardware Installation

Figure 3.6 Connect to Forearm I/O interface

Press down the lever on the extruder by hand, and push down the filament to the bottom via pulley, as shown in Figure 3.7 and Figure 3.8.

Figure 3.7 Push down the filament (1)

Dobot M1 User Guide 3 Hardware Installation

Figure 3.8 Push down the filament (2)

(Optional) Installing Air Pump

It is necessary to install the matching air pump when using the gripper or suction cup for grabbing objects. The air pump is controlled over the I/O interface. For details, please see 6.7 Operating I/O Assistant. The Air pump that we provided is used for debugging I/O interface. In real applications, please select a professional one.

Figure 3.9 shows the air pump. Table 3.1 lists the description of the cables that are shown in the yellow box of this figure.

Figure 3.9 Air pump

Dobot M1 User Guide 3 Hardware Installation

Color

Description

Red

VCC_24V

Black

PGND

Yellow

OUT1: Control the intake and outtake of the air pump

Blue

OUT2: Control the status of the air pump

Table 3.1 Cable Description

If the air pump is connected to the base I/O interface. The yellow cable and the blue one are

connected to the output pins (The corresponding outputs listed in 4.3.2.2 Base I/O Interface are DOUT17 and DOUT18) of the base I/O interface. The red one and the black one are connected to the VCC_24V pin on the base I/O interface and the PGND pin on the CAN bus interface respectively, as shown in Figure 3.10, and you need to tighten them with a straight screwdriver. The description in this topic is for reference only. Please choose the appropriate interface to connect the air pump. For details, please see 4.3 Interface Description.

Figure 3.10 Air pump connection

NOTICE

When air pump is connected to I/O interface, the terminals of air pump cannot be exposed to the air, to avoid short circuit. For matching all I/O interfaces, terminals of air pump will be slightly longer. If that happens, you need to cut them to an appropriate length. Figure 3.11 and Figure 3.12 show the standard and non-standard connection of the terminals respectively.

Dobot M1 User Guide 3 Hardware Installation

Figure 3.11 Standard connection

Figure 3.12 Non-standard connection

(Optional) Installing soldering kit

Figure 3.13 shows the soldering kit. Table 3.2 lists the description of the soldering kit.

Dobot M1 User Guide 3 Hardware Installation

Description

Power supply of the soldering station

Soldering gun

Soldering holder, used for fixing the Soldering gun

Control cable

Figure 3.13 Soldering kit

Table 3.2 Soldering kit description

Description

Relay

Soldering station

Fixed support, used for fixing solders

Procedure

Dobot M1 User Guide 3 Hardware Installation

NOTICE

Please ensure that Dobot M1 has been powered off before installing soldering kit.

Please prepare the solder.

Figure 3.14 Fix the solder

Dobot M1 User Guide 3 Hardware Installation

Figure 3.15 Install soldering holder

Figure 3.16 Connect the feed pipe of soldering gun

Dobot M1 User Guide 3 Hardware Installation

Figure 3.17 Connect the power supply of soldering gun

Figure 3.18 Connect to relay

Dobot M1 User Guide 3 Hardware Installation

Color

Description

Red

VCC_24V

Black

PGND

Blue

OUT1, Control soldering gun

 0: Out-feed  1: Stop out-feed

Figure 3.19 Relay cables

NOTICE

 When relay is connected to I/O interface, the terminals of relay cannot be exposed

to the air, to avoid short circuit. For matching all I/O interfaces, terminals of relay will be slightly longer. If that happens, you need to cut them to an appropriate length.

 If the relay is exposed to the air, a short circuit may occur. To avoid short circuit,

please wrap the relay with the insulating tape.

 If the cables order of the relay is different from that shown in the red box of Figure

3.19 (from left to right: red, black, blue), please modify the cable order of the relay to make sure that the order is the same as that shown in Figure 3.19.

Table 3.3 Cable description

If the relay is connected to the base I/O interface. The blue cable is connected to the output pin (The corresponding output listed in 4.3.2.2 Base I/O Interface is

Dobot M1 User Guide 3 Hardware Installation

DOUT17) of the base I/O interface. The red one and the black one are connected to the VCC_24V pin on the base I/O interface and the PGND pin on the CAN bus interface respectively, as shown in Figure 3.20, and you need to tighten them with a straight screwdriver. The description in this topic is for reference only. Please choose the appropriate interface to connect the relay. For details, please see 4.3 Interface Description.

Figure 3.20 Connect relay to I/O interface

Figure 3.21 Push down the solder

NOTE

The rated voltage of the soldering station is 220V, which may be not supported in some countries. Please use a transformer for conversion if you need.

Dobot M1 User Guide 3 Hardware Installation

Figure 3.22 Connect the power supply of the soldering station

The default values of the soldering parameters are shown as in Figure 3.23, please adjust these

parameters based on site requirements.

Figure 3.23 Soldering parameters

DANGER

The soldering gun will produce high temperature up to 200℃, 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.

After installation, you can check whether the soldering gun is working properly using I/O

assistant for debugging DOUT17 pin on the base I/O interface. For details, please see 6.7 Operating I/O Assistant.

Dobot M1 User Guide 4 Electrical Specifications

①

②

③

④

⑩

⑨

⑧

⑥

⑦

⑪

⑤

No.

Description

Power button of Dobot M1

CAN interface

RS-232C interface

I/O interface of the base

Teaching device interface, reserved

USB HOST interface, reserved

Ethernet interface

External expansion interface

External power interface

LED indicators

Reserved interface

Electrical Specifications

The address of the I/O interfaces of Dobot M1 are unified.

Interface Board

The interface board of Dobot M1 is located on the back of the base, as shown in Figure 4.1.

Table 4.1 shows the function description.

Figure 4.1 Interface board of Dobot M1

Table 4.1 Description of the interface borad

LED Indicators

Dobot M1 User Guide 4 Electrical Specifications

Item

Description

External power box indicator

The LED indicator is steady on when the external power box is powered on.

System indicator

 All the LED indicators are off when Dobot M1 is powered off  Yellow LED indicator: when powering on, the yellow LED indicator in the

base is steady on for about 15 seconds, and then blinks once. It is steady on again for about 5 seconds

 Green LED indicator: when powered on, the yellow LED indicator in the base

is off, the green one is steady on for about 5 seconds, and then is blinking. That means, Dobot M1 is in service

 Blue LED indicator: The blue one is blinking, indicating that Dobot M1 is

working in offline mode

 Red LED indicator: The red one is steady on, indicating that an alarm is

generated when Dobot M1 is running

Name

Function

Voltage/Current

AC_L

L of the AC power

110V-240V AC/3A

AC_N

N of the AC power

110V-240V AC/3A

GND

Table 4.2 lists the status of the LED indicators on the interface board and the external power

box

Table 4.2 Description of the LED indicators

Interface Description

NOTICE

In this topic, PGND indicates the reference ground corresponding to 24V, AGND indicates the reference ground corresponding to analog signal, and GND indicates the reference ground corresponding to all signals.

External Power Interface

4.3.1.1 AC Input Interface

Table 4.3 The External power input interface description

Dobot M1 User Guide 4 Electrical Specifications

Name

Function

Voltage/Current

VOUT

Positive electrode of the DC power

48V DC/10A

GND

Negative electrode of the DC power

GND/10A

Name

Function

Voltage/Current

VIN

Positive electrode of the DC power

48V DC/10A

GND

Negative electrode of the DC power

GND/10A

4.3.1.2 DC output Interface

Table 4.4 The External power output interface description

Body I/O Interface

NOTICE

The current of the digital output supports 2mA without additional power, whereas the maximum current of the digital output supports 3A with additional power.

4.3.2.1 Power Interface

Table 4.5 Description of the power interface

Dobot M1 User Guide 4 Electrical Specifications

Name

Function

Voltage/Current

PGND

Negative electrode of the logic power

GND/2A

VCC

Positive electrode of the logic power

24V DC/2A 3

RS232_RX

RS232 acception

RS232 level

RS232_TX

RS232 transmission

RS232 level

STOP2+

Positive electrode of the safety input 2, used for connecting to emergency stop switch

0V,24V/<100mA

STOP1+

Positive electrode of the safety input 1, used for connecting to emergency stop switch

0V,24V/<100mA

STOP2-

Negative electrode of safety input 2, used for connecting to emergency stop switch

0V,24V/<100mA

STOP1-

Negative electrode of safety input 1, used for connecting to emergency stop switch

0V,24V/<100mA

DOUT17

Digital output

0V,24V/2mA

DOUT18

Digital output

0V,24/2mA

DIN_20

Digital input

0V,24V/<100mA

DIN_18

Digital input

0V,24V/<100mA

DIN_19

Digital input

0V,24V/<100mA

DIN_17

Digital input

0V,24V/<100mA

4.3.2.2 Base I/O Interface

Table 4.6 Description of the base I/O interface

Dobot M1 User Guide 4 Electrical Specifications

Name

Function

Voltage/Current

VBUS

Positive of VBUS

48V/5A

GND

Negative of VBUS

GND/5A

CAN1_H

CAN bus

CAN level

CAN1_L

CAN bus

CAN level

Name

Function

Voltage/Current

VCC

Positive electrode of the logic power

24V/2A 2

DOUT19

Digital output

0V,24V/2mA

DOUT20

Digital output

0V,24V/2mA

DOUT21

Digital output

0V,24V/2mA

DOUT22

Digital output

0V,24V/2mA

AIN6

Analog input

0V-12V/<100mA

AIN7

Analog input

0V-12V/<100mA

AGND

Negative electrode of the logic power

AGND/1A 9

RS485_A

RS485A bus

RS485 RS485 level

RS485_B

RS485B bus

RS485 RS485 level

DIN21

Digital input

0V,24V/<100mA

DIN22

Digital input

0V,24V/<100mA

DIN23

Digital input

0V,24V/<100mA

DIN24

Digital input

0V,24V/<100mA

GND

Negative electrode of the logic power

GND/2A

4.3.2.3 CAN Bus Interface

Table 4.7 The CAN bus interface description

4.3.2.4 Forearm I/O Interface

Table 4.8 The Forearm I/O interface description

External Expansion Interface

Dobot M1 User Guide 4 Electrical Specifications

Name

Function

Voltage/Current

A1-

Inversion signal input for A phase of external encoder1

RS422 level

A1+

Signal input for A phase of external encoder1

RS422 level 3

DIN1

Digital input

0V,24V/<100mA

DIN4

Digital input

0V,24V/<100mA

DIN3

Digital input

24V/<100mA

AOUT2

Analog output, reserved

0V~10V/10mA

CAN2_H

CAN bus

CAN CAN bus

DIN6

Digital input

0V,24V/<100mA

DIN5

Digital input

0V,24V/<100mA

AIN2

Analog input

0V-10V/<100mA

AIN3

Analog input

0V-10V/<100mA

DIN7

Digital input

0V,24V/<100mA

DIN10

Digital input

0V,24V/<100mA

DIN9

Digital input

0V,24V/<100mA

DIN12

Digital input

0V,24V/<100mA

FPGA_DOUT6 (DOUT16)

Digital output

0V,24V/2mA

FPGA_DOUT5 (DOUT15)

Digital output

0V,24V/2mA 18

DIN11

Digital input

0V,24V/<100mA

DIN14

Digital input

0V,24V/<100mA

DIN13

Digital input

0V,24V/<100mA

DIN15

Digital input

0V,24V/<100mA

B1+

Signal input for B phase of external encoder1

RS422 level

B1-

Inversion signal input for B phase of external encoder1

RS422 level 24

DOUT2

Digital output

0V,24V/2mA

Table 4.9 The external expansion interface description

Dobot M1 User Guide 4 Electrical Specifications

Name

Function

Voltage/Current

DOUT1

Digital output

0V,24V/2mA

DIN2

Digital input

0V,24V/<100mA

DOUT4

Digital output

0V,24V/2mA

DOUT3

Digital output

0V,24V/2mA

CAN2_L

CAN bus

CAN level

DOUT5

Digital output

0V,24V/2mA

DOUT7

Digital output

0V,24V/2mA

DIN8

Digital input

0V,24V/<100mA

AIN4

Analog input

0V~10V/<100mA

FPGA_DOUT2 (DOUT12)

Digital output

0V,24V/2mA

FPGA_DOUT4 (DOUT14)

Digital output

0V,24V/2mA

FPGA_DOUT3 (DOUT13)

Digital output

0V,24V/2mA 37

DIN16

Digital input

0V,24V/<100mA

PGND

Negative of the logic power

GND/5A

PGND

Negative of the logic power

GND/5A

VCC

Positive of the logic power

24V/3A

VCC

Positive of the logic power

24V/3A

VCC

Positive of the logic power

24V/3A

B2-

Inversion signal input for B phase of external encoder2

RS422 level

B2+

Signal input for B phase of external encoder2

RS422 level

A2+

Signal input for A phase of external encoder2

RS422 level

A2-

Inversion signal input for A phase of external encoder2

RS422 level 47

RS_485_A

RS485A bus

RRS485 level

RS_485_B

RS485B bus

RS485 level

Dobot M1 User Guide 4 Electrical Specifications

Name

Function

Voltage/Current

AOUT1

Analog output, reserved

0V-10V/10mA

DOUT6

Digital output

0V,24V/2mA

DOUT8

Digital output

0V,24V/2mA

AIN1

Analog input

0V-10V/<100mA

DOUT10

Digital output

0V,24V/2mA

DOUT9

Digital output

0V,24V/2mA

FPGA_DOUT1 (DOUT11)

Digital output

0V,24V/2mA 56

GND

Negative of the analog power

GND/1A

PGND

Negative of the logic power

GND/5A

PGND

Negative of the logic power

GND/5A

PGND

Negative of the logic power

GND/5A

ON_OFF-

Negative of the power signal

0V-24V/<100mA

ON_OFF+

Positive of the power signal

0V-24V/<100mA

VCC

Positive of the logic power

5V/2A

Communication Interface

4.3.4.1 Ethernet Interface

Dobot M1 can connect to a PC over standard RJ45 Socket interface, using TCP/IP.

4.3.4.2 RS-232C Interface

Dobot M1 can connect to a PC over standard RS-232C interface.

Dobot M1 User Guide 5 Installation and Commissioning

Installation and Commissioning

Installing Software

The main software for Dobot M1 is M1Studio. You can use playback, script control, 3D

printing, etc.

Environment Requirements

The supported OSs are as follows.

 Win7  Win8  Win10

Obtaining M1Studio Software Package

Before operating Dobot M1, please download the correct version of M1Studio. The path is

www.dobot.cc/downloadcenter/dobot-m1.html#most-download.

Installing M1Studio

Prerequisites

You have obtained the M1Studio software.

Procedure

If the directory containing decompressed M1Studio files is E:\M1Studio. Please replace the directory based on site requirements.

The Select Setup Language page is displayed

Dobot M1 User Guide 5 Installation and Commissioning

Figure 5.1 The M1Studio installation GUI

After 40 seconds later, the DriverSetup(X64) page is displayed.

The Driver install success! dialog box is displayed, which indicates that the installation of M1Studio driver is successful.

Verifying Installation

Please double-click M1Studio after installation. If M1Studio can be started, the installation is

successful.

Troubleshooting

If M1Studio is not running, you need to install all VC++ libraries in the C:\Program

Files\M1Studio\attachment directory, as shown in Figure 5.2.

C:\Program Files\M1Studio indicates the installation directory of M1Studio, please replace

the installation directory based on site requirements.

Dobot M1 User Guide 5 Installation and Commissioning

Figure 5.2 The VC++ libraries

Connecting Power Supply

Figure 5.3 shows the power supply cables and power adapter. No.1 in Figure 5.3 indicates

power supply output cable, No.2 indicates power supply input cable, and No.3 indicates power adapter.

Figure 5.3 Power cables and power adapter

Procedure

Dobot M1 User Guide 5 Installation and Commissioning

Figure 5.4 Connect power supply input cable to power adapter

NOTICE

If the type of the power input supply is America-standard, please connect the G pin on the power input supply to the Ground pin on the power adapter, the W pin to the N pin, and the Z pin to the L pin.

Dobot M1 User Guide 5 Installation and Commissioning

Figure 5.5 Connect power supply output cable to power adapter

Dobot M1 User Guide 5 Installation and Commissioning

Figure 5.6 Connect to Dobot M1

Connecting Emergency Stop Switch

Before operating Dobot M1, please connect it to the emergency stop switch to ensure that

Dobot M1 can be stopped immediately during running.

When powering on for the first time, please ensure that the emergency stop switch has been

opened (The emergency stop button is bumped). Otherwise, the robotic arm will not work normally. If the emergency stop switch is not opened, please rotate the emergency stop button clockwise. The emergency stop button will be bumped when rotating to 45°.

Procedure

Please connect the terminal block connector with the emergency stop switch to the base I/O

interface, and you need to tighten the terminal block connector with a straight screwdriver as shown in Figure 5.7 and Figure 5.8.

Dobot M1 User Guide 5 Installation and Commissioning

Figure 5.7 Connection between Dobot M1 and the emergency stop switch (1)

Figure 5.8 Connection between Dobot M1 and the emergency stop switch (2)

Connecting External Cables

Connecting Serial Port

Prerequisites

Please prepare USB to serial line. One end is standard USB port, the other end is 9-pins serial

port.

Procedure

Dobot M1 User Guide 5 Installation and Commissioning

Figure 5.9 The serial port connection

After startup, you can check the corresponding serial information from the serial drop-down list on the upper left pane of the M1Studio page.

Figure 5.10 The serial information of M1Studio

Connecting Network Cable

You can connect Dobot M1 to a PC over a network cable.

Prerequisites

You have connected the PC to a router.

Procedure

NOTICE

 This topic describes how to connect a PC to Dobot M1 using a router. It is applicable

to the scenario in which robotic arms are connected to the same PC. If only one robotic arm is connected to the PC, you can connect robotic arm to the PC directly using the network cable without router.

 If you connect Dobot M1 to a PC over a network cable, the IP address of them must

Dobot M1 User Guide 5 Installation and Commissioning

be on the same network segment without conflict. You need to set IP address of Dobot M1 or that of the PC after connecting Dobot M1 to the PC. For details, please see 5.5.3 Setting IP Address.

5 seconds after startup, you can check the corresponding IP information from the serial drop-down list on the upper left pane of the M1Studio page.

System Commissioning

The origin and other settings of Dobot M1 have been set by default, Dobot M1 can be directly

put in use. After Dobot M1 is installed and the cables connected are checked, the system commissioning can be performed.

Debugging Dobot M1

Prerequisites

 You have started M1Studio.  You have connected Dobot M1 to the PC over a serial cable.  (Optional) You have connected Dobot M1 to the PC over a network cable.  You have connected Dobot M1 and an emergency stop switch.

Procedure

When powering on, the yellow LED indicator in the base is steady on for about 15 seconds, and then blinks once. It is steady on again for about 5 seconds, which indicates that Dobot M1 is being started.

After the yellow LED indicator in the base is off, the green one is steady on for about 5 seconds, and then is blinking, which indicates that Dobot M1 is in service.

NOTICE

When first powering on robotic arm, please check Z-axis or J3 value from M1Studio. If the value is below 10mm, an alarm about limitation is generated and meanwhile the red indicator on the base of robotic arm is on, which is a normal phenomenon. At that point, you need to click J3+ under Joint coordinate system to jog robotic arm to the position where the J3 value is above 10mm, and then the alarm will be cleared.

If Connect turns to Disconnect, the connection is successful, and Dobot M1 can be controlled by M1Studio.

Dobot M1 User Guide 5 Installation and Commissioning

Figure 5.11 The successful Connection

NOTICE

 You can connect Dobot M1 to a PC over a network cable, then select the

corresponding IP address from the serial drop-down list on the M1Studio page and click Connect. The IP address of Dobot M1 and the PC must be on the same network segment. If not, please see 5.5.3 Setting IP Address to modify the IP address.

 M1Studio can be connected to Dobot M1 only when Dobot M1 is in Dobot Mode.

You can check the current mode of Dobot M1 on the Tools > Web Management page, as shown in Figure 5.12. For details, please see 6.8 Operating Web Management.

Figure 5.12 Status of Dobot M1

Debugging the Power of Dobot M1

Prerequisites

 You have powered on Dobot M1.  You have connected Dobot M1 and an emergency stop switch.

Procedure

Hold down the power button in the base of Dobot M1 for about 5 seconds, and then release

your fingers. If all LED indicators are off and Dobot M1 moves down automatically, Dobot M1 is powered off successfully.

Dobot M1 User Guide 5 Installation and Commissioning

NOTICE

You cannot hold down the power button to power off Dobot M1 until Dobot M1 is in the running state (when the green LED indicator is blinking). If Dobot M1 fails to be started, you must force to power off Dobot M1.

Setting IP Address

Prerequisites

 You have started M1Studio.  You have connected Dobot M1 to the PC over a serial cable.  You have connected Dobot M1 to the PC over a network cable.  You have powered on Dobot M1.  You have connected Dobot M1 and an emergency stop switch.

5.5.3.1 Checking the IP Address of Dobot M1

If Connect turns to Disconnect, the connection is successful.

The Dobot M1 IP Address Setting is displayed.

Figure 5.13 IP address of Dobot M1

5.5.3.2 Changing the IP Address of Dobot M1

NOTICE

 If you connect Dobot M1 to a PC over a network cable directly, you need to set IP

address and subnet mask of Dobot M1. The IP address of Dobot M1and the PC must

Dobot M1 User Guide 5 Installation and Commissioning

be on the same network segment without conflict. The subnet masks of them must be the same.

 If you connect Dobot M1 to a PC over a router and select Dynamic Host

Configuration Protocol (DHCP), you can use dynamic IP address directly without

configuration.

 If you connect Dobot M1 to a PC over a router and unselect Dynamic Host

Configuration Protocol (DHCP), you need to set IP address, subnet mask and

gateway of Dobot M1 to make Dobot M1 and the PC on the same LAN.

If Dobot M1 is directly connected to the PC over the network cable, the local IP address, subnet

mask of the PC are 10.10.1.10, 255.255.255.0 respectively. You can run the command ipconfig /all on the CMD console window to view the IP information of the PC.

If Connect turns to Disconnect, the connection is successful.

The Dobot M1 IP Address Setting page is displayed.

If Network Status of Dobot M1 turns to Connected to LAN, the modification is successful.

If Disconnect turns to Connect, Dobot M1 is disconnected from the PC.

If Connect turns to Disconnect, the connection by the network cable is successful.

5.5.3.3 (Optional) Changing the IP Address of the PC

You can change the IP address of the PC to make it on the same network segment as that of

Dobot M1.

NOTE

This section uses Win7 OS as an example to describe how to change the IP address. Please change it based on site requirements.

The Network and Sharing Centre page is displayed.

Dobot M1 User Guide 5 Installation and Commissioning

Double-click Internet Protocol Version 4(TCP/IPv4).

You can change the IP address of the PC to make it on the same network segment as that of Dobot M1 without conflict. The subnet mask and gateway of the PC must be the same as that of Dobot M1.

NOTICE

If the PC is connected to Dobot M1 over a network cable directly, you only need to set the IP address and subnet mask of the PC.

Figure 5.14 IP address modification

If Disconnect turns to Connect, Dobot M1 is disconnected from the PC.

If Connect turns to Disconnect, the connection by the network cable is successful.

Dobot M1 User Guide 5 Installation and Commissioning

Debugging Emergency Stop Function

Prerequisites

 Dobot M1 has been powered on.  Dobot M1 has been connected to a PC successfully.  Dobot M1 has been connected to an emergency stop switch.

Procedure

Figure 5.15 Emergency stop

Dobot M1 is stopped immediately with an alarm about emergency stop and the red LED indicator on the base is on, which indicates that the emergency stop function is OK.

The emergency stop button is bumped when rotating to 45°, which indicates the

stopped status is cleared.

Figure 5.16 Alarm tip

Dobot M1 User Guide 5 Installation and Commissioning

Figure 5.17 Alarm tab

Debugging Motion Function

For details about motion functions supported by Dobot M1, please see 2.3.4 Motion Function.

5.5.5.1 Debugging Jogging Function

Prerequisites

 Dobot M1 has been powered on.  Dobot M1 has been connected to a PC successfully.  Dobot M1 has been connected to an emergency stop switch.

Procedure

This section uses Cartesian coordinates as an example to describe how to debug jogging

function. The procedure for debugging Joint coordinates is similar to that for debugging Cartesian coordinates. You need to select Joint on the Operation Panel page, and then Click J1+, J1-, J2+, J2-, J3+, J3-, J4+, and J4- to jog Dobot M1.

Dobot M1 User Guide 5 Installation and Commissioning

Figure 5.18 Cartesian coordinate mode

The jogging velocity is the maximum velocity multiplying the corresponding percentage.

The jogging acceleration is the maximum acceleration multiplying the corresponding percentage.

You can click Y+, Y-, Z+, Z-, R+, and R-, to make Dobot M1 jog along Y, Z, or R in the negative or positive direction.

5.5.5.2 Debugging Playback Function

Prerequisites

Dobot M1 User Guide 5 Installation and Commissioning

 Dobot M1 has been powered on.  Dobot M1 has been connected to a PC successfully.  Dobot M1 has been connected to an emergency stop switch.

Procedure

This section uses MOVL mode as an example to describe how to debug playback function.

You can choose other modes such as MOVL, MOVJ, ARC, or CIRCLE. For details how to save point in ARC and CIRCLE mode, please see 6.1.3 Saving Point in ARC Mode.

The Playback page is displayed.

Vel and Jerk on the Playback page indicate the velocity ratio and the jerk ratio of the movement when implementing playback respectively. The playback velocity is the maximum velocity multiplying the corresponding percentage. The playback jerk is the maximum jerk multiplying the corresponding percentage.

Debugging Disabling Function

You can disable the motor of Dobot M1 to make it in the open-loop state, and then move Dobot

M1 by hand.

Prerequisites

 Dobot M1 has been powered on.  Dobot M1 has been connected to a PC successfully.  Dobot M1 has been connected to an emergency stop switch.

Procedure

Dobot M1 User Guide 5 Installation and Commissioning

Figure 5.19 Disabling Dobot M1

If turns to and Dobot M1 moves down automatically, the motor of Dobot M1 is in the open-loop state.

If Dobot M1 can be moved by hand, the disabling function is OK.

Debugging Homing Function

After parts (motors, reduction gear units, battery, etc.) have been replaced or robotic arm has

hit the work piece, the origin of Dobot M1 will be changed. You need to set homing point after resetting the origin.

Dobot M1 has installed homing switches near the J1, J2 and J3 limitation position respectively.

When Dobot M1 moves to the limit with a signal triggered by the homing switch, Dobot M1 will move backward at low speed and stop moving after separating from the homing switch, which indicates that Dobot M1 has moved to the homing point. At the same time, an alarm about limitation is generated, you need to jog the Joint coordinate to clear the alarm.

Dobot M1 User Guide 5 Installation and Commissioning

NOTICE

Only Dobot M1 of which SN number is DT2018xxx has installed the homing switch. You can view the SN number on the Help > About M1Studio page.

xxx indicates the random number, please replace it based on site requirements.

Prerequisites

 Dobot M1 has been powered on.  Dobot M1 has been connected to a PC successfully.  Dobot M1 has been connected to an emergency stop switch.

Procedure

Please select Tools > Home on the M1Studio page, and Dobot M1 will move automatically

according to the following steppes.

Figure 5.20 Homing point

Dobot M1 User Guide 6 Operation

Module

Function

Playback

Teach Dobot M1 how to move and then record the movement to make Dobot M1 accomplish the recorded movements.

Blockly

Control Dobot M1 by graphic programming. You can program through a puzzle interface which is intuitive and easy to understand.

Script

Control Dobot M1 by scripting language.

I/O Assistant

Debug the I/O interface that used

Web Management

Execute the saved points lists in offline mode, and upgrade the firmware.

Operation

Instructions for M1Studio

Module Description

Dobot M1 supports teaching, playback, script control, and Blockly graphic programming. You

can use M1Studio to control Dobot M1. Table 6.1 lists the corresponding applications on the M1Studio page.

On the M1Studio page, the Playback and Script tab are opened by default. If you need to open

Blockly or I/O Assistant, please select the corresponding option on the Tools menu of the M1Studio page.

Table 6.1 The module description of M1Studio GUI

Alarms Description

If teaching or saving point is incorrect, for example, Dobot M1 moves to where a point is at a

limited position or a singular position, Dobot M1 will generate an alarm. For details, please see Table 6.2. When an alarm is generated, the red LED indicator on the base will be on.

NOTICE

 Singular point: If the directions of the joint1 and joint2 are collinear, the resultant

velocity of joint1 and joint2 is not in any direction, but in the direction of joint1 (joint2). Namely, the degrees of freedom of Dobot M1 are degraded. The singular point is at the position where joint2 is located at ±10°. In JUMP and MOVJ mode, the movement of Dobot M1 is joint movement, Dobot M1 will not generate an alarm about singular point.

 Generally, if you save a point where an alarm is generated when jogging, the saved

point is unavailable. You need to jog Dobot M1 towards the opposite direction under the Joint coordinate system to clear the alarm, and then save the point. However, if an alarm about singular point is generated when jogging, the saved point is available

Dobot M1 User Guide 6 Operation

Alarm Condition

Clear method

Jogging

The Joint coordinate is limited

Jog the limited Joint coordinate towards the opposite direction, and the alarm will be automatically cleared

The Cartesian coordinate is limited

Jog Joint coordinate towards the opposite direction, and the alarm will be automatically cleared

The point is at the singular position when clicking the Cartesian coordinate buttons

Jog joint2, and the alarm will be automatically cleared

Playback

The starting point or the end point is a singular point in MOVL mode

Clear the alarm manually and modify the point

A point in the trajectory is a singular point in MOVL mode

Clear the alarm manually and modify the point

Modify the arm orientation of the saved point in MOVL mode

Clear the alarm manually and modify the arm orientation

The middle point or the end point is a singular point in ARC mode

Clear the alarm manually and modify the point

A point in the trajectory is a singular point in ARC mode

Clear the alarm manually and modify the point

Any two of the three points of the arc are coincided in ARC mode

Clear the alarm manually and modify the point The three points of the arc are in a line in ARC mode

Clear the alarm manually and modify the point

The trajectory is out of range of the workspace in all modes

Clear the alarm manually and modify the point The joint is limited in all modes

Clear the alarm manually and modify the point

in JUMP and MOVJ mode.

 In MOVJ or JUMP mode, if the two points are the same, only different in arm

orientations, J1 or J4 may be limited when moving Dobot M1, resulting in an alarm generated. You need to modify and resave the point for which the alarm is generated, and then clear the alarm manually.

Table 6.2 Alarm Description

The method how to clear the alarm is shown as follows.

Prerequisites

 Dobot M1 has been powered on.

Dobot M1 User Guide 6 Operation

 Dobot M1 has been connected to the PC successfully.  Dobot M1 has been connected to the emergency stop switch.

Procedure

The Alarm Log is displayed.

Figure 6.1 Alarm tips

Figure 6.2 Alarm GUI

NOTICE

The button Reboot is available only when the alarm is generated about emergency stop.

Table 6.3 shows the description of the alarm button.

Dobot M1 User Guide 6 Operation

Button

Description

History

Whether to display the historical alarms.

 If the status of History is , all

historical alarms will be displayed.

 If the status of History is ,

only the current alarm will be displayed.

AutoScroll

Whether to scroll the alarm information automatically

If the status of AutoScroll is , the alarm information will be scrolled automatically

Table 6.3 Alarm button description

If there are no alarm tips on the M1Studio page, the alarm have been cleared.

Saving Point in ARC Mode

Different from PTP, the trajectory of ARC is an arc, you need to save three points to complete

the arc trajectory. The method to save points in CIRCLE is the same as that of ARC.

Prerequisites

 Dobot M1 has been powered on.  Dobot M1 has been connected to the PC successfully.  Dobot M1 has been connected to the emergency stop switch.

Procedure

NOTICE

You need to use other motion modes to confirm the starting point of the arc trajectory, because the middle point and the end point only can be confirmed in ARC mode. When saving points in ARC, please pay attention to the following tips to avoid generating an alarm.

 Any two of the three points of the arc cannot be coincided  The three points of the arc cannot be in a line.  The arc trajectory cannot be out range of the workspace  The arm orientations in ARC and other mode that confirms the starting point should

be the same. Otherwise, Dobot M1 will not work.

If the three points of the arc trajectory are point A, point B, and point C respectively, and point

Dobot M1 User Guide 6 Operation

A is the starting point, point C is the end point, as shown in Figure 6.3.

Figure 6.3 Arc trajectory

NOTICE

You cannot set the pause time when point A moves to point B. Otherwise, Dobot M1 will not work.

Dobot M1 User Guide 6 Operation

Figure 6.4 Information of saved points in ARC

Saving point in JUMP Mode

From point A to point B in JUMP mode:  If point A and point B are only different in Z-axis, but the arm orientations of them are the

same, Dobot M1 will not work.  If point A and point B are the same, only different in arm orientations, for example, the

arm orientation of point A is left, and that of point B is right, point A moves to point B as

the right hand posture, while the terminal coordinate relative to the origin stays constant.

Operating Teaching and Playback

Prerequisites

 Dobot M1 has been powered on.  Dobot M1 has been connected to the PC successfully.  Dobot M1 has been connected to the emergency stop switch.  The air pump and the suction cup need to be installed when you suck up objects over

teaching and playback. For details how to connect with air pump, please see 3.4 (Optional)

Installing Air Pump.

Application Scenario

If you want to use Dobot M1 to transport, intelligent sort, write and draw, teaching and

playback functions of Dobot M1 can help you to complete. This section uses the suction cup as the end effector to describe how to operate.

Procedure

 Select Cartesian from Cartesian drop-down list on the Operation Panel page, and

click the Cartesian coordinate buttons.

 Select Joint from Cartesian drop-down list on the Operation Panel page, and click

the Joint coordinate buttons.

Dobot M1 User Guide 6 Operation

 Click the icon of Motor on the Operation Panel page, and jog Dobot

M1 by hand.

NOTICE

 If you want to jog Dobot M1 by hand when jogging, please click to

make the motor of Dobot M1 in the open-loop state. If you want to move Dobot M1 by clicking the coordinate buttons on the Operation Panel page, please click

to make the motor in the close-loop state.

 If an axis is limited or a point is at the singular position when jogging, an alarm will

be generated. For details about alarm description, please see Table 6.2 .If you save a point after an alarm is generated, the saved point is unavailable. You need to jog Dobot M1 to clear the alarm, and then save the point again. However, if an alarm about singular point is generated when jogging, the saved point is available in JUMP and MOVJ mode.

The Playback page is displayed.

NOTE

The motion mode in this topic is for reference only. You can choose other motion modes based on site requirements. If you use ARC mode, for details how to saving points in ARC, please see 6.1.3 Saving Point in ARC Mode.

Figure 6.5 Choose motion mode

Dobot M1 User Guide 6 Operation

The saved point information of which Type is JUMP is displayed on the left pane of the Playback page, as shown in Figure 6.6.

Figure 6.6 The coordinate display

Figure 6.7 Motion command setting

Dobot M1 User Guide 6 Operation

NOTICE

In JUMP mode, if lifting Dobot M1 to the maximum height is not necessary after lifting to a certain height, please unselect Use Limit.

The saved point information of which Type is Wait is displayed on the left pane of the Playback page.

NOTICE

Supposing that we use DOUT17, DOUT18 on the base I/O interface to control the state of air pump. DOUT17 control the intake and outtake of air pump. DOUT18 control the startup and shutdown. The description in this topic is for reference only, the outputs depend on the I/O interface used. Please replace the outputs based on site requirements.

Select Output on the Add I/O Command pane of the Playback page.

The saved point information of which Type is Output is displayed on the left pane of the Playback page.

Select the saved point of which Type is Output on the left pane of the Playback

page, and double-click Content. The I/O Command Setting page is displayed.

Select OUT17 from the I/O drop-down list on the I/O Command Setting page,

and select 24V, then click Add.

Add OUT18, and select 24V, then click OK.

The relevant I/O information of which Type is Output is displayed on the left pane of the Playback page. Right-click on the line and select RunSelected on the context menu, to make the air pump in service, and the object will be sucked up by Dobot M1.

NOTICE

Dobot M1 User Guide 6 Operation

Select Output on the Add I/O Command pane of the Playback page.

The saved point information of which Type is Output is displayed on the left pane of the Playback page.

Select the saved point of which Type is Output on the left pane of the Playback

page, and double-click Content. The I/O Command Setting page is displayed.

Select OUT17 from the I/O drop-down list on the I/O Command Setting page,

and select 24V, then click Add.

Add OUT18, and select 0V, then click OK.

The relevant I/O information of which Type is Output is displayed on the left pane of the Playback page. Right-click on the line and select RunSelected on the context menu, and the object will be freed by Dobot M1.

NOTE

This topics only describes one trajectory as an example. You can implement multiple trajectories. For details, see Step 1 to Step 10.

The Save Playback File page is displayed.

You can perform subsequent operations on the Playback page.  Select Enable Hand Hold Teach on the Playback page, the Add Motion Command

button will be unavailable. You can hold down the button under the Rear Arm to save

point after jogging Dobot M1 on the Operation Panel page or moving Dobot M1 by

hand.  Set the loop number of the saved point when implementing playback. The maximum value

is 9999. You can also select Infinite Loop to make Dobot M1 in the infinite loop state

when implementing playback according to the saved points list, as shown in Figure 6.8.

Figure 6.8 The loop number of the saved points list

 Before saving a point, you can select the location of the added point on the right pane f

the Playback page, as shown in Figure 6.9

Dobot M1 User Guide 6 Operation

Insert Location

Description

Add At Last

Add a new point after the last saved point.

Insert Before Selected Row

Insert a point before the current saved point

OverWrite Selected Row

Overwrite the current saved point

Figure 6.9 Overwrite the current saved point

Table 6.4 lists the location description of a saved point.

Table 6.4 Description of the location of a saved point

 Select a saved point and double-click the parameters on the line to modify the relevant

information. The saved point information is shown as Figure 6.10.

Figure 6.10 The saved point information

Dobot M1 User Guide 6 Operation

Parameter

Description

Type

The command type of Dobot M1 Value:

 JUMP  MOVJ  MOVL  ARC  CIRCLE: The method to save points in CIRCLE mode is the

same as that of ARC mode. For details, please see 6.1.3 Saving Point in ARC Mode

 TRIGGER  OUTPUT  WAIT

Name

The name of the current saved point, which is user-defined

Content

The contents displayed depends on Type. You can double-click contents displayed in Content to modify them.

 MOVL/MOVJ/JUMP/ARC/CIRCLE: Indicates the coordinate values,

the velocity ratio and the jerk ratio of the movement when implementing playback.

If Type of the current saved point is MOVL, ARC, or CIRCLE, Armorientaion must be the same as that of the previous saved point.

In MOVL mode, if you modify the arm orientation of the current saved point, an alarm will be generated.

 Trigger: Input of I/O interface  Output: Output of I/O interface  Wait: The pause time of the previous saved point

Table 6.5 Parameter Description of the saved point

 Select a saved point and right-click on the line to copy, delete or other operations, as

shown in Figure 6.11.

Dobot M1 User Guide 6 Operation

Figure 6.11 Right click options of the saved points list

 When modify the coordinates displayed in Content of which Type is motion mode, you

can input the coordinate values manually or operate the operation panel to modify them.

Select the saved point on the left pane of the Playback page, double-click

contents displayed in Content. The Motion Command Setting page is displayed, as shown in Figure 6.12.

Figure 6.12 Modify the current saved point

Dobot M1 User Guide 6 Operation

Click the coordinate buttons on the operation panel pane of the Motion

Command Setting page to jog Dobot M1. The coordinate is displayed on the Operation Panel pane of M1Studio page.

Click Get Current Pose to obtain the coordinate of Dobot M1. Click Confirm to save the modified point.

 If modifying the speed of all saved points at the same time is necessary, you can drag

DynRatio to modify, as shown in Figure 6.13

Figure 6.13 Modify the peed of all saved points at the same time

 If you don not click Apply DynRatio, the modified speed goes into effect

temporarily. Vel and Jerk displayed on the Playback page will not be changed, and the modified speed will not be saved if you click save.

 If you click Apply DynRatio, Vel and Jerk displayed on the Playback page will be

changed, and the modified speed will be saved to Playback files if you click save.

Scripting

Prerequisites

 Dobot M1 has been powered on.  Dobot M1 has been connected to a PC successfully.  Dobot M1 has been connected to an emergency stop switch.

Application Scenario

You can control Dobot M1 over scripting. Dobot M1 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 M1 API interface and function description, please see Dobot API Interface Document,

The download path is www.dobot.cc/downloadcenter/dobot-m1.html#most-download.

Procedure

Dobot M1 User Guide 6 Operation

The Script page is displayed

You can double-click the interface used, the corresponding interface will be

displayed on the script file page, as shown in Figure 6.14. You can also click icon of the corresponding interface on the left pane of the Script page to view the

way how to set the parameters. The scripting example can refer to Installation directory/M1Studio/config/ststore/Example.script.

NOTICE

If you use the motion command when scripting, please add the orientation command before every motion command, which indicates the arm orientation of Dobot M1.

Figure 6.14 Write a script

The Save Scrip File page is displayed.

The running log will be displayed on the lower pane of the Script page for checking.

Operating Blockly

Prerequisites

 Dobot M1 has been powered on.  Dobot M1 has been connected to a PC successfully.

Dobot M1 User Guide 6 Operation

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

 Dobot M1 has been connected to an emergency stop switch.

Application Scenario

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

puzzle format, which is straightforward and easy to understand.

Procedure

The Blockly page is displayed.

Figure 6.15 Blockly graphic programming

NOTICE

Only MOVL and JUMP modes are supported when programming. If you use the motion command when programming, please add the orientation command before every motion command, which indicates the arm orientation of Dobot M1.

Table 6.6 Description of blockly module

Dobot M1 User Guide 6 Operation

No.

Description

The running log of Dobot M1

The corresponding codes of the blockly module on the programming window

The Save Blockly File page is displayed.

Operating Laser Engraving

Prerequisites

 Dobot M1 has been powered on.  Dobot M1 has been connected to a PC successfully.  The laser kit has been installed. For details, please see 3.3.1 Installing Laser Engraving

Kit.

 The picture to be engraved and materials to be processed have been prepared.  The lasing protective eyeglass has been prepared.

Procedure

The Laser Engraving page is displayed, as shown in Figure 6.16.

Figure 6.16 Laser Engraving GUI

Dobot M1 User Guide 6 Operation

Two modes are supported for importing picture.

 The file in SVG format is supported.

 The picture (such as BMP, JPEG, JPG, PNG, and so on) is supported. M1Studio will

transform these formats into SVG which can be recognized by Dobot M1.

Figure 6.17 Import picture

NOTICE

 The imported picture should be placed in the annular region, as shown in Figure

6.17. If not, it is unable to engrave normally and the border of the imported picture will be highlighted in red.

 The annular region depends on arm orientation. Please adjust the imported picture

according to the real annular region. Figure 6.17 shows the annular region when arm orientation is left.

The Laser Setting page is displayed. Please set the laser engraving parameters based on site requirements.

Dobot M1 User Guide 6 Operation

Parameter

Description

CP Vel/ CP Acc

Set the rate of CP velocity and acceleration

PTP Vel/ PTP Jerk

Set the rate of PTP velocity and jerk

Grayscale Range

Set the grayscale range Value range: 0-255

Laser Power Range

Set the laser power range Value range: 2-100

Laser Height

Set the laser height

Border Width

Set the border width of the picture Value range: 0-50

XBias

Set XBias

DPI

Set DPI

Table 6.7 Laser engraving parameters

Please wear the lasing protective eyeglass before adjusting focus.

Click the icon of Motor on the Operation Panel pane of the M1Studio page and move Dobot M1 by hand to a proper height, to make the laser dot on the

material burn the brightest. When the laser power is enough, you can view burn marks on the material.

NOTICE

 Please wear the lasing protective eyeglass before adjusting focal length.  If the focal length still cannot focus, you can rotate clockwise the focal length of the

laser head to adjust, as shown in Figure 6.18.

Figure 6.18 Adjust focus

Dobot M1 User Guide 6 Operation

DANGER

 The laser can heat objects when it is in a focused state, so objects like paper or wood

can be burned.

 Do not focus the laser on people or animals.  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 laser promptly.

After performing this step, you will not need to adjust the focus manually when you engrave next time. You can click SyncPos directly after importing picture.

Operating 3D Printing

Prerequisites

 Dobot M1 has been powered on.  You have connected Dobot M1 to a PC over network cable or router.  The IP address of Dobot M1 and the PC must be in the same network segment. For details,

please see 5.5.3 Setting IP Address.

 You have connected Dobot M1 to a PC over a serial cable.  Dobot M1 has been connected to an emergency stop switch.  The 3D printing kit has been installed. For details, please see 3.3.2 Installing 3D

Printing Kit.

 Slice software Cura has been installed. The download path is

https://ultimaker.com/en/products/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 and the firmware have been prepared.  The printing platform has been prepared and please place it in the workspace.

NOTICE

If SN number of Dobot M1 is DT2018xxx, please switch 3D printing mode directly to start 3D printing without update. You can view the SN number on the Help > About M1Studio page.

xxx indicates the random number, please replace it based on site requirements.

Procedure

Dobot M1 User Guide 6 Operation

If Connect turns to Disconnect, the connection is successful.

Select Tools > Web Management on the M1Studio page.

The Web management page is displayed.

Select Update Firmware in the navigation tree on the left.

The Update Firmware page is displayed, as shown in Figure 6.19.

Figure 6.19 Update Firmware GUI

Select 3D Printing Firmware on the Update Firmware page, and click One-

click Update to update 3D printing firmware directly.

Select Home in the navigation three on the left.

The Home page is displayed.

Select 3D printing Mode from the drop-down list on the Mode Switch

Controlling pane of the Home page and click Switch, as shown in Figure 6.20.

Dobot M1 User Guide 6 Operation

Figure 6.20 Switch 3D printing

During switching, the green LED indicator will keep on. After completion, the green LED indictor will be blinking and Current Mode is changed to 3D Printing Mode, as shown in Figure 6.21.

Figure 6.21 Complete 3D printing switching

Select Machine > settings on the Cura page.

The Machine settings page is displayed.

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

shown in Figure 6.22. Table 6.8 lists the values of the parameters that need to be set. The other parameters are set by default.

Figure 6.22 Parameters setting

Dobot M1 User Guide 6 Operation

Parameter

Description

Maximum width

The maximum width please set to 80mm

Maximum depth

The maximum with please set to 80mm

Maximum height

The maximum height Please set to 150mm

Machine center 0,0

Machine center, please select it

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

Table 6.8 3D printing parameters description

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

as shown in Figure 6.23.

Figure 6.23 Import slice parameters

Dobot M1 User Guide 6 Operation

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\M1Studio(Windows)Vxxx\DobotStudio\attachment, as shown in Figure 6.24.

xxx indicates the version of M1Studio. Please replace it based on site requirements.

Figure 6.24 Configuration sample

Dobot-2.0-Vase.ini is used for printing a thin-walled vase, while Dobot-2.0-ini is used for the filling, the filling rate is 20%.

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

printing model prepared. The format of 3D model is STL. You can design 3D model and transform it into

STL format. After importing the model, click the model itself, you can place it in the middle,

zoom or rotate, and so on, as shown in Figure 6.25.

Figure 6.25 Zoom and rotate

Dobot M1 User Guide 6 Operation

Click to connect Dobot M1.

The printing window is displayed and the current printing temperature is shown on the top corner of the window, as shown in Figure 6.26.

Figure 6.26 Printing window

Set Temperature to 200 and press down Enter to heat the extruder.

The temperature of the extruder should be above 170℃. Dobot M1 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 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 6.27.

Dobot M1 User Guide 6 Operation

Figure 6.27 Click feedstock extruder

If the melted filament flows from the nozzle of the extruder, the extruder is working properly.

Click -Z or Click 10, 1, 0.1 to move Dobot M1 to the position where the distance

from nozzle to the printing platform is about 0.3mm, as shown in Figure 6.28.

Figure 6.28 Move Z-axis

NOTE

During printing, if the distance from Dobot M1 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.

Dobot M1 User Guide 6 Operation

Input command M415 on the lower right of the Operational page to save the

printing coordinates, as shown in Figure 6.29.

Figure 6.29 Input command M415

NOTICE

If the yellow LED indicator is always on when printing, the connection between Dobot M1 and 3D printing kit is poor. Please check the connection and restart Dobot M1.

Operating I/O Assistant

Prerequisites

 Dobot M1 has been powered on.  Dobot M1 has been connected to the PC successfully.  Dobot M1 has been connected to the emergency stop switch.  The air pump has been installed (If you use air pump to debug I/O interface).

Application Scenario

The end effectors such as gripper, suction cup need to work with the air pump. The air pump

can be controlled by the I/O interface. You can verify the I/O interface and the air pump over I/O

Assistant. Procedure

If the air pump is connected to the base I/O interface, the outputs used are DOUT17, DOUT18

respectively. For details, please see 3.4 (Optional) Installing Air Pump. The DOUT18 output controls the startup and shutoff of the air pump.

The I/O Assistant page is displayed.

Dobot M1 User Guide 6 Operation

Figure 6.30 I/O assistant

The air pump is humming, which indicates that the air pump is enabled. The working state depends on the air pump. Please judge based on site requirements.

The air pump is not humming, which indicates that the air pump is disabled.

Operating Web Management

The web management of Dobot M1 integrates offline file management, firmware update, and

application update, which is used to upload the offline files, make Dobot M1 in offline mode, and update the applications.

Managing Offline File

You can upload the scripts, the blockly programs, or the saved points lists that have been saved

on a local PC to Dobot M1 using the web management, to perform offline operation.

After making Dobot M1 in offline mode using the web management, Dobot M1 will be

disconnected from M1Studio. You need to switch the operation mode of Dobot M1 using the web management.

Prerequisites

 You have started M1Studio.  You have connected Dobot M1 to a PC over a network cable.  You have powered on Dobot M1.  The IP address of Dobot M1 and the PC must be in the same network segment. For details,

please see 5.5.3 Setting IP Address.

 You have saved the scripts, the blockly programs, or the saved points lists.  Dobot M1 has been connected to an emergency stop switch.

Application Scenario

If Dobot M1 need to be running in offline mode, please use the web management.

Procedure

Dobot M1 User Guide 6 Operation

The Web Management page is displayed.

The Offline Script Management page is displayed.

The Add File page is displayed.

The uploaded file dialog box is displayed, as shown in Figure 6.31.

Figure 6.31 Upload files

Only support the files, of which the suffixes are .playback, .blockly, and .script.

Figure 6.32 Status of Uploading

Dobot M1 User Guide 6 Operation

Figure 6.33 Status of the uploaded files

The Home page is displayed.

Figure 6.34 Status of Dobot M1

Upgrading Application

When the firmware or other applications need to be upgraded, you can use the web manager to

upgrade the firmware or the application. This topic uses the firmware upgrade as an example to describe the operation.

DANGER

When updating firmware, please do not perform any other operation on Dobot M1, to avoid Dobot M1 in abnormal condition. Otherwise, it will be vulnerable to injury the device or the person.

Dobot M1 User Guide 6 Operation

Prerequisites

 You have connected Dobot M1 to a PC over a network cable.  You have powered on Dobot M1.  The IP address of Dobot M1 and the PC must be in the same network segment. For details,

please see 5.5.3 Setting IP Address.

 You have obtained the latest firmware.  You have connected Dobot M1 to an emergency stop switch.

Procedure

The Web Management page is displayed.

The Update Firmware page is displayed, as shown in Figure 6.35.

Figure 6.35 Update Firmware GUI

You can view the process of the firmware upgrade. If the progress bar is 100%, the update is completed, as shown in Figure 6.36.

Figure 6.36 Process of the firmware upgrade

Dobot M1 User Guide 6 Operation

•

Example

Example of the Trajectory

This topic describes how to use the motion modes according to the real trajectory when Dobot

M1 is running.

Figure 6.37 shows the real trajectory when Dobot M1 is running. Figure 6.38 shows the

coordinates of the trajectory.

NOTICE

This topic only describes the motion modes that need to be used and precautions for implementing playback, without details about the trajectory. For details how to implementing playback, please see 6.2 Operating Teaching and Playback.

Figure 6.37 Trajectory of Dobot M1

Dobot M1 User Guide 6 Operation

Point

Coordinate (x,y,z,r)

(270,-244,110,0)

(400,0,110,0) (Singular point)

(366,111,110,0)

(194,111,110,0)

(194,277,110,0)

(85,250,110,0)

(-44.4458,239.5284,110,33.08) (The middle point of the arc)

(-120.6913,164.5902,110,65.6601)

(372.225,-63.2786,110, -148.8402)

(351.7533,-113.7360,110, -160.2802) (The middle point of the circle)

(323.1731,-115.7006,110, -170.5002)

Figure 6.38 Cartesian coordinate of the trajectory

If point A is the starting point, and Point B is the end point. From Point A to Point J, the

coordinates are listed as Table 6.9.

Table 6.9 Cartesian coordinates

Figure 6.39 shows the example of the saved points list.

Dobot M1 User Guide 6 Operation

Figure 6.39 Example of the saved points

 From point A to point B (0->1): The trajectory is non-linear, and point B is a singular

point. So MOVL or ARC mode cannot be used, but MOVJ mode is applicable. For details

about singular point, please see 6.1.2 Alarms Description.  From point B to point C (1->2): The trajectory looks like a door. So JUMP mode is

required. You need to set Height and Limit when saving point. The trajectory in JUMP

mode depends on Height and Limit. For details, please see 2.3.4.2 Point to Point Mode

(PTP).  From point C to point D (2->3): The trajectory is a straight line. So MOVL mode is

required. The arm orientations of point D and point C must be the same. Otherwise, an

alarm will be generated.  From point D to point E (3->4): The trajectory is a straight line. So MOVL mode is

required. The arm orientations of point E and point D must be the same.  From point E to point F (4->5): The trajectory looks like a door. So JUMP mode is

required. You need to set Height and Limit.  From point F to point H (5->6): The trajectory is an arc. So ARC mode is required. Besides

point F and point G, you need to save point G. For details, please see 6.1.3 Saving Point

in ARC Mode. The arm orientation of point F must be the same as that of point G and

point H.  From point H to point I (6->7): The trajectory looks like a door. So JUMP mode is

required. You need to set Height and Limit.  From point I to point J (7->8): The trajectory is a circle. So CIRCLE mode is required.

Besides point I and point J, you need to save point K. The method to save point in CIRCLE

mode is the same as that of ARC mode. The arm orientation of point I must be the same

as that of point J and point K.

Example of the External Drive

The current of the digital output supports 2mA without additional power, whereas the maximum current of the digital output supports 3A with additional power. Because the default drive capacity of Dobot M1 is insufficient. When the control device that is connected to the I/O interface need to provide a sufficient drive capacity, you must have an external drive to increase the drive capacity.

Figure 6.40 shows the connection between I/O interface and control device without additional power.

Dobot M1 User Guide 6 Operation

GND

24V

MCU

•

10k

•

Magnetic

Valve

VCC_24V

（I/O）

•

OUTx

（I/O）

Internal Circuit

GND

24V

MCU

•

10k

• •

OUTx

（I/O）

•

10k

GND

（I/O）

•

VCC_24V

（I/O）

PGND

(External)

24V

(External)

Internal Circuit

Magnetic

Valve

VCC_24V is the output voltage of the I/O interface of Dobot M1. OUTx are the outputs of the I/O interface (assuming that OUT0 and OUT1). Please select the proper outputs based on site requirements. For details, please see 4.3 Interface Description.

Figure 6.40 Connection between I/O interface and control device by default

Figure 6.41 shows the connection between I/O interface and control device with additional

power. The red box in Figure 6.41 shows the external drive circuit. You can make an external drive circuit to meet the drive capacity requirements according to Figure 6.41.

 VCC_24V is the output voltage of the I/O interface of Dobot M1. OUTx are the outputs

of the I/O interface (assuming that OUT0 and OUT1). GND is the ground of the I/O

interface. Please select the proper outputs based on site requirements. For details, please

see 4.3 Interface Description.

 24V is the external voltage. PGND is the ground corresponding to the external voltage.

Figure 6.41 Connection between I/O interface and control device with external drive

Example of Switching the Arm Orientation at the Same Point

In MOVJ or JUMP mode, if the two points are the same, only different in arm orientations, J1

or J4 may be limited when Dobot M1 is moving, resulting in an alarm generated. You need to modify and resave the point for which the alarm is generated, and then clear the alarm manually.

The R-coordinate is the sum of the coordinates of J1, J2 and J4. The terminal posture relative

Dobot M1 User Guide 6 Operation

Before

After

R=J1+J2+J4

R’=R=J1’+J2’+J4’

J1’=J1+J2

J2’=-J2

J3’=J3

J4’=R-J1’-J2’

to the origin stays constant when moving Dobot M1. Table 6.10 lists how to calculate each Joint coordinate after switching the arm orientation at the same point.

Table 6.10 Joint coordinate calculation

As shown in Table 6.10, If the J1-coordinate is 10° and the J2-coordinate is 90° before

switching the arm orientation, the J1-coordinate will change to 100° after switching, resulting in an alarm about limit generated. In real application scenario, if the two successive saved points are the same, only different in arm orientations, please notice the coordinates of J1 and J4. You can calculate J1-coordinate and J4-coordinate according to Table 6.10, in order to avoid generating an alarm about limitation.

Dobot M1 User Guide 7 Maintenance

Item

Operating state

Inspection point

Solution

External cable

OFF

 Check whether

cables are damaged or cracked

 check whether

cables are loose, dirty or polled out

 If the cables are

damaged or cracked, please repair or replace them timely

 If the cables are

loose or polled out, please plug them properly

 If the cables are

dirty, please clean them timely

Bolt, screw

OFF

 Check whether the

bolts on the end effector are loose

 Check whether the

bolts on the base are loose

If the bolts are loose, please tighten them

Cover

OFF

Please check the covers of robotic arm are flawed

If that happens, please replace them timely

Startup

Check whether robotic arm is shaken

 If the connections

are abnormal, please reconnect them

 If the screws are

loose, please tighten them

Emergency stop switch, LED indicators and

Check whether the LED indicators are displayed

If that happens, please replace the corresponding

Maintenance

Routine Maintenance

Routine Inspection

Due to the temperature, humidity, dust and vibration, the components will be aged, leading to

reducing product service life. Performing maintenance inspections and procedures properly is essential for preventing trouble and ensuring safety. Especially in high temperature environment, frequently start-stop scenario, and other special scenarios, you need to shorten the inspection period.

To ensure product function and safety, please check the following items daily.

Dobot M1 User Guide 7 Maintenance

Item

Operating state

Inspection point

Solution

buttons

normally and emergency stop switch is working regularly

components timely

Item

Operating state

Inspection point

Inspection period

Solution

Internal fan of robotic arm

 Check

whether the fan is running properly

 Check

whether the fan is dusty

3 months

 If the fan is

out of service, please replace it

 If the fan is

dirty, please use compressed air to clean surface dust

Mechanical limitation of J1, J2, J3

OFF

Check whether joints are cracked

6 months

If that happens, please replace it timely

Synchronizing wheel of R-axis

OFF

Check whether the synchronizing wheel is loose

6 months

If that happens, please re-tension it

Periodic Inspection

In order to keep the good operation of robotic arm, please check the place where it is hard to

check regularly. The inspection period depends on the operating environment and frequency, please decide the inspection period based on site requirements. Please remove surface dust effectively to prevent dust (especially metal dusts) from entering the product, ensuring that robotic arm is always clean.

Dobot M1 User Guide 7 Maintenance

Item

Operating state

Inspection point

Inspection period

Solution

Bolt, screw

OFF

 Check

whether the screws and bolts around each joint of robotic arm are loose

 Check

whether the screws and bolts of motor and reducer are loose

12 months

If that happens, please tighten them

Enabling Robotic arm

Check whether each arm can be moved by hand in the openloop state

12 months

If that happens, please contact technical support engineer

Item

Operating state

Cleaning period

Solution

Robotic arm

OFF

1 month

Please clean the surface with clean cloth

Wind tunnel

OFF

2 weeks

Please clean the impurities stored in the wind tunnel with air gun or clean cloth

Screw rod of Z-axis

OFF

12 months

Please add lubricating oil or grease. For details, please see 7.2.1 Greasing Screw Rod of Z-axis

Guide rail of Z-axis

OFF

2 weeks

Please add lubricating oil or grease. For details, please see 7.2.2 Greasing Guide Rail of Z-axis

cleaning period based on site requirements.

Cleaning Maintenance

The cleaning period depends on the operating environment and frequency, please decide the

Common disinfectant, cleaning liquid can be used for cleaning robotic arm. Please do not use

Shenzhen Yuejiang Technology Co., Ltd Dobot M1 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Security Precautions

1.1 General Security

Service Security

Introduction

Overview

Appearance and Constitute

Working Principle

Workspace

Coordinate System

Arm Orientation

Motion Function

2.3.4.1 Jogging Mode

2.3.4.2 Point to Point Mode (PTP)

2.3.4.3 ARC Mode (ARC)

2.3.4.4 CIRCLE Mode (CIRCLE)

2.3.4.5 Application Scenarios

Technical Specifications

Technical parameters

Sizes

Hardware Installation

Environment Requirements

Installing the Base of Dobot M1

(Optional) Installing End Effector

Installing Laser Engraving Kit

Installing 3D Printing Kit

(Optional) Installing Air Pump

(Optional) Installing soldering kit

LED indicators

Electrical Specifications

Interface Board

Interface Description

External Power Interface

4.3.1.1 AC Input Interface

4.3.1.2 DC output Interface

Body I/O Interface

4.3.2.1 Power Interface

4.3.2.2 Base I/O Interface

4.3.2.3 CAN Bus Interface

4.3.2.4 Forearm I/O Interface

External Expansion Interface

Communication Interface

4.3.4.1 Ethernet Interface

4.3.4.2 RS-232C Interface

Installation and Commissioning

Installing Software

Environment Requirements

Obtaining M1Studio Software Package

Installing M1Studio

Verifying Installation

Troubleshooting

Connecting Power Supply

Connecting Emergency Stop Switch

Connecting External Cables

Connecting Serial Port

Connecting Network Cable

System Commissioning

Debugging Dobot M1

Debugging the Power of Dobot M1

Setting IP Address

5.5.3.1 Checking the IP Address of Dobot M1

5.5.3.2 Changing the IP Address of Dobot M1

5.5.3.3 (Optional) Changing the IP Address of the PC

Debugging Emergency Stop Function

Debugging Motion Function

5.5.5.1 Debugging Jogging Function

5.5.5.2 Debugging Playback Function

Debugging Disabling Function

Debugging Homing Function

Operation

Instructions for M1Studio

Module Description

Alarms Description

Saving Point in ARC Mode

Saving point in JUMP Mode

Operating Teaching and Playback

Scripting