Python library for Dobot Magician

Based on Communication Protocol V1.1.4 (latest version here)

Installation

pip install pydobot

Example

from serial.tools import list_ports

from pydobot import Dobot

port = list_ports.comports()[0].device
device = Dobot(port=port, verbose=True)

(x, y, z, r, j1, j2, j3, j4) = device.pose()
print(f'x:{x} y:{y} z:{z} j1:{j1} j2:{j2} j3:{j3} j4:{j4}')

device.move_to(x + 20, y, z, r, wait=False)
device.move_to(x, y, z, r, wait=True)  # we wait until this movement is done before continuing

device.close()

Methods

• Dobot(port, verbose=False) Creates an instance of dobot connected to given serial port.

  • port: string with name of serial port to connect
  • verbose: bool will print to console all serial comms

• .pose() Returns the current pose of dobot, as a tuple (x, y, z, r, j1, j2, j3, j4)

  • x: float current x cartesian coordinate
  • y: float current y cartesian coordinate
  • z: float current z cartesian coordinate
  • r: float current effector rotation
  • j1: float current joint 1 angle
  • j2: float current joint 2 angle
  • j3: float current joint 3 angle
  • j4: float current joint 4 angle

• .move_to(x, y, z, r, wait=False) queues a translation in dobot to given coordinates

  • x: float x cartesian coordinate to move
  • y: float y cartesian coordinate to move
  • z: float z cartesian coordinate to move
  • r: float r effector rotation
  • wait: bool waits until command has been executed to return to process

• .speed(velocity, acceleration) changes velocity and acceleration at which the dobot moves to future coordinates

  • velocity: float desired translation velocity
  • acceleration: float desired translation acceleration

• .suck(enable)

  • enable: bool enables/disables suction

• .grip(enable)

  • enable: bool enables/disables gripper

• .wait(ms)

  • ms: integer milliseconds to wait before the next command
  • wait: bool waits until command has been executed to return to process

• .start_stepper(pps, motor=0, wait=False)

  • pps: integer pulses per second sent to e-motor (0 or 1)
  • motor: integer position of the e-motor
  • wait: bool waits until command has been executed to return to process

• .stop_stepper(motor=0, wait=False)

  • motor: integer position of the e-motor (0 or 1)
  • wait: bool waits until command has been executed to return to process

• .start_conveyor(speed, motor=0, wait=False)

  • speed: float speed in m/s
  • motor: integer position of the conveyor belt (0 or 1)
  • wait: bool waits until command has been executed to return to process

• .set_io_mode(address, mode, wait=False)

  • address: integer EIO port number
  • mode: str I/O mode (Dummy, PWM, DO, DI, ADC)
  • wait: bool waits until command has been executed to return to process

• .set_pwm_output(address, frequency, duty_cycle, wait=False)

  • address: integer EIO port number
  • frequency: float pulse frequency
  • duty_cycle: float pulse duty cycle (0 to 100)
  • wait: bool waits until command has been executed to return to process