Dobot Magician E6 - Safety; Liability; Safety Warning Signs; General Safety

Dobot Magician E6 User Guide
Issue V1.3（2023-01-16） User Guide Copyright © Yuejiang Technology Co., Ltd.
iii
Contents
1. Safety ......................................................................................................................... 1
1.1 Liability ............................................................................................................................. 1
1.1.1 Validity and responsibility ................................................................................... 1
1.1.2 Limitation of liability .......................................................................................... 1
1.1.3 Intended use ......................................................................................................... 1
1.2 Safety warning signs ......................................................................................................... 2
1.3 General safety ................................................................................................................... 2
1.4 Personal safety .................................................................................................................. 5
1.5 Emergency ........................................................................................................................ 6
1.5.1 Emergency stop switch ........................................................................................ 6
1.5.2 Emergency recovery ............................................................................................ 6
2. Transportation ......................................................................................................... 7
3. Product Introduction ............................................................................................... 8
3.1 Overview ........................................................................................................................... 8
3.2 Composition ...................................................................................................................... 8
3.3 Indicator light and buttons ................................................................................................ 9
3.4 Operating terminal .......................................................................................................... 11
4. Product Features .................................................................................................... 12
4.1 Coordinate system ........................................................................................................... 12
4.1.1 Joint coordinate system ..................................................................................... 12
4.1.2 User coordinate system ...................................................................................... 12
4.1.3 Tool coordinate system ...................................................................................... 13
4.2 Home posture .................................................................................................................. 14
4.3 Singularity point ............................................................................................................. 14
4.3.1 Shoulder singularity ........................................................................................... 14
4.3.2 Elbow singularity............................................................................................... 15
4.3.3 Wrist singularity ................................................................................................ 15
5. Mechanical Specifications ..................................................................................... 16
5.1 Dimensions and working space....................................................................................... 16
5.2 Base installation dimensions ........................................................................................... 17
5.3 Base plate dimensions ..................................................................................................... 17
5.4 Flange dimensions .......................................................................................................... 18
6. Electrical Features ................................................................................................. 19
6.1 Base interface .................................................................................................................. 19
6.1.1 Overview ........................................................................................................... 19
6.1.2 Emergency stop switch interface ....................................................................... 20
6.1.3 Digital I/O interface ........................................................................................... 20
6.1.4 Encoder interface ............................................................................................... 21
6.2 Tool I/O interface ............................................................................................................ 21
7. Installation and Use ............................................................................................... 23
7.1 Installation environment ................................................................................................. 23
7.2 Unpacking ....................................................................................................................... 23