User Guide
Table Of Contents
- 1. Security Precautions
- 2. Introduction
- 3. Hardware Installation
- 4. Electrical Specifications
- 5. Installation and Commissioning
- 5.1 Installing Software
- 5.2 Connecting Power Supply
- 5.3 Connecting Emergency Stop Switch
- 5.4 Connecting External Cables
- 5.5 System Commissioning
- 6. Operation
- 7. Maintenance
Dobot M1 User Guide 6 Operation
Issue V1.0.4 (2018-08-30) User Guide Copyright © Yuejiang Technology Co., Ltd
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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.