Dobot M1 - Calibration

Dobot M1 User Guide 7 Maintenance
Issue V1.3.4 (2019-05-23) User Guide Copyright © Yuejiang Technology Co., Ltd
133
NOTICE
After restoring factory setting, a limitation alarm is generated and meanwhile the red
indicator on the base of robotic arm will be on, this is a normal phenomenon. At that
point, you need to click J3+ under the Joint coordinate system to jog the robotic arm to
the position where the J3 value is above 10mm, and then the alarm will be cleared.
Calibration
In real applications, the high absolute precision of the robotic arm is required. The origin
(400,0,0,0) has been set by default, the Dobot M1 can be directly put in use. After parts (motors,
reduction gear units, battery, etc.) have been replaced or the robotic arm has hit the workpiece,
the origin of Dobot M1 will be changed. You need to reset the origin. When the Dobot M1
moves with different arm orientation, the high precision of J2 is required. Therefore, after
resetting the origin, you need to calibrate J2 to improve the absolute precision.
Generally, before and after switching the arm orientation at the same point, the J2
coordinates are axisymmetric. After resetting the origin, the J2 coordinates may become non-
axisymmetric, resulting in that the Dobot M1 cannot move to the same point with different arm
orientation when implementing playback. It is necessary to make the J2 coordinates
axisymmetric by compensating the joint angle of J2 to improve the absolute precision after
resetting the origin. So that the Dobot M1 can move to the same point with different arm
orientation when implementing playback.
Prerequisites
 The Dobot M1 has been powered on.
 The Dobot M1 has been connected to the PC successfully.
 The Dobot M1 has been connected to the emergency stop switch.
 The pen holder kit has been installed on the end of the Dobot M1. The size of the pen
holder should be match with the size of the end of the Dobot M1. For details, please see
3.3 (Optional) Installing End Effector.
 Please prepare an A4 sheet of paper, and draw a small dot as a calibrated point, as shown
in Figure 7.21.