6.2.1        Basic Operation

Prerequisites

Ÿ   Dobot M1 has been powered on.

Ÿ   Dobot M1 has been connected to the PC successfully.

Ÿ   Dobot M1 has been connected to the emergency stop switch.

Ÿ   The air pump and the suction cup need to be installed when you suck up objects over teaching and playback. For details on 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

Step 1         Place a small object nearby Dobot M1, choose one of the following three methods to jog Dobot M1 on the small object, called point A. The distance from Dobot M1 to the object should be determined based on site requirements.

Ÿ   Select Cartesian from Cartesian drop-down list on the Operation Panel page, and click the Cartesian coordinate buttons.

Ÿ   Select Joint from Cartesian drop-down list on the Operation Panel page, and click the Joint coordinate buttons.

Ÿ   Click the  icon of Motor on the Operation Panel page, and jog Dobot M1 by hand.

NOTICE

Ÿ   If you want to jog Dobot M1 by hand when implementing 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.

Ÿ   If an axis is limited or a point is at the singular position when implementing 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 implementing jogging, the saved point is available in JUMP and MOVJ mode.

 

Step 2         Select Add At Last on the Playback page.

Step 3         Select Playback on the M1Studio page.

The Playback page is displayed.

Step 4         Select PTP > JUMP on the Playback page, as shown in Figure 6.5. The constraints in JUMP mode are as shown in 6.1.4 Saving point in JUMP Mode.

&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 on how to saving points in ARC, please see 6.1.3 Saving Point in ARC Mode.

 

Figure 6.5 Choose motion mode

 

Step 5         Set the velocity ratio and the jerk ratio of the movement of when implementing playback on the Add Motion Command pane of the Playback page, and click Add Motion Command to save point A. If the values are both set to 50%.

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

 

You need to double-click contents displayed in Content to set the lifting height (Height) and the maximum lifting height (Limit) on the current saved point line, of which Type is JUMP, as shown in Figure 6.7.

Figure 6.7 Motion command setting

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.

 

Step 6         Set the pause time of point A on the Add Wait Command pane of the Playback page, and click Add Wait Motion. If the pause time is set to 3 seconds.

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

Step 7         Suck up the small object over the suction cup.

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.

1.         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.

2.         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.

3.         Select OUT17 from the I/O drop-down list on the I/O Command Setting page, and select 24V, then click Add.

4.         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.

Step 8         Select Cartesian from Cartesian drop-down list on the Operation Panel page, and click Z+ to lift Dobot M1. And then click X+ or other buttons to move Dobot M1 to another point called point B.

Step 9         Save Point B. For details, please see Step 4to Step 6.

Step 10      Free small object over the suction cup.

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.

1.         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.

2.         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.

3.         Select OUT17 from the I/O drop-down list on the I/O Command Setting page, and select 24V, then click Add.

4.         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.

 

Step 11      Click Save on the Playback page.

The Save Playback File page is displayed.

Step 12      Input the use-defined name and the saving path, and click Save. The default path of the saved points list is Installation directory/M1Studio/config/pbstore. Please replace the path based on site requirements.

Step 13      Click Start on the Playback page, Dobot M1 moves according to the saved points list to suck up or free the object.














 Issue V1.2.1 (2019-04-10)User GuideCopyright © Yuejiang Technology Co., Ltd