User Guide

Dobot Vision Kit

Installation Guide
Issue: V1.1

Date: 2022-12-13

ShenZhen Yuejiang Technology Co., Ltd.

 Dobot Vision Kit Installation Guide

Copyright © ShenZhen Yuejiang Technology Co., Ltd. 2022. All rights reserved.
No part of this document may be reproduced or transmitted in any form or by any means
without prior written consent of Yuejiang Technology Co., Ltd.

Disclaimer
To the maximum extent permitted by applicable law, the products described (including its
hardware, software and firmware, etc.) in this document are provided AS IS, which may have flaws,
errors or faults. Dobot makes no warranties of any kind, express or implied, including but not limited
to, merchantability, satisfaction of quality, fitness for a particular purpose and non-infringement of
third party rights. In no event will Dobot be liable for any special, incidental, consequential or
indirect damages resulting from the use of our products and documents.
Before using our product, please thoroughly read and understand the contents of this document
and related technical documents that are published online to ensure that the robotic arm is used on
the premise of fully understanding the robotic arm and related knowledge. Please use this document
with technical guidance from professionals. Even if follow this document or any other related
instructions, damages or losses will be happening in the using process. Dobot shall not be considered
as a guarantee regarding to all security information contained in this document.
The user has the responsibility to make sure following the relevant practical laws and
regulations of the country, in order that there is no significant danger in the use of the robotic arm.

ShenZhen Yuejiang Technology Co., Ltd.

Address: Floor 9-10, Building 2, Chongwen Garden, Nanshan iPark, Liuxian Blvd, Nanshan
District, Shenzhen, Guangdong Province, China
Website: https://www.dobot.cc/

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 Dobot Vision Kit Installation Guide Preface

Preface
Purpose
This document describes the Dobot vision kit and its installation, making it easy for users to
fully understand and use it.
Intended Audience
This document is intended for:
 Customer Engineer
 Sales Engineer
 Installation and Commissioning Engineer
 Technical Support Engineer

Change History

Date Change Description

2022/12/13 Replace M1-related contents with M1 Pro

Add MG400 installation instructions

2019/09/09 Update vision kit specification and installation

2018/04/27 The first release

Symbol Conventions
The symbols that may be found in this document are defined as follows.

Symbol Description

Indicates a hazard with a high level of risk which, if not

DANGER avoided, could result in death or serious injury

Indicates a hazard with a medium level or low level of risk

WARNING which, if not avoided, could result in minor or moderate
injury, robotic arm damage

Indicates a potentially hazardous situation which, if not

NOTICE avoided, can result in robotic arm damage, data loss, or
unanticipated result

NOTE Provides additional information to emphasize or

supplement important points in the main text

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 Dobot Vision Kit Installation Guide Contents

Contents
1. Vision Kit Description ............................................................................................. 1
Overview........................................................................................................................... 1
1.2 Vision Kit List ................................................................................................................... 1
1.3 Camera Parameter Description ......................................................................................... 1
1.4 Light Source Parameter Description ................................................................................. 2
1.5 Camera Lens Parameter Description................................................................................. 3
2. Installation Instructions .......................................................................................... 4
Installing Camera .............................................................................................................. 4
Installing Dobot Magician .............................................................................................. 14
Installing Dobot M1 Pro ................................................................................................. 15
Installing Dobot MG400 ................................................................................................. 15

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 Dobot Vision Kit Installation Guide 1 Vision Kit Description

1. Vision Kit Description

Overview
The image processing system extracts the characteristics of the objects through setting the
range of hue, saturation, value and pixel area of the images obtained from the vision kit, transforms
the image coordinates into Cartesian coordinates and transmits to the robot. Therefore, the robot can
complete intelligent sorting tasks.

1.2 Vision Kit List

Figure 1.1 shows the vision kit list.

Figure 1.1 Vision kit list

1.3 Camera Parameter Description

Table 1.1 Camera Parameters Description

Parameters Description

Camera model MV-CE050-30UC

Sensor size 1/2.5"CMOS

Sensor model AR0521

Effective pixels 5,000,000 pixels

Color Color

Pixel Size 2.2um×2.2um

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 Dobot Vision Kit Installation Guide 1 Vision Kit Description

Frame rate/Resolution 31 @2592×1944

SNR >40dB

Dynamic range >60dB

Shutter type Rolling shutter

Exposure time Bayer format：16μs~1s

Other formats：28μs~1s

Exposure control Automatic/Manual

Dimension 29mm*29mm*30mm

Data interface USB3.0

Operating temperature 0~50°C

Lens mount Mount C

1.4 Light Source Parameter Description

Table 1.2 Light Source Parameters Description

Parameters Description

Light source model JHZM-A40-W

Emitting color White

LED quantity 48 light-emitting diode

Illumination 40000Lux

Brightness Continuously adjustment, adjustable range: 0%~100%

The color temperature remains unchanged

Wavelength 455nm~457.5nm

Output voltage 12V

Output power 3.5W~5W

Working distance 35mm-110mm

Specifications Internal diameter: 40mm

External diameter: 70mm

Height: 25mm

Ring Diameter Inside Max φ39mm

Weight 0.48KG

Working environment Temperature: 0℃~40℃

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 Dobot Vision Kit Installation Guide 1 Vision Kit Description

Parameters Description

Humidity: 20%RH~85%RH

Storage environment Temperature: -20℃~40℃

Humidity: 20%RH~85%RH

1.5 Camera Lens Parameter Description

Table 1.3 Camera Lens Parameters Description

Parameters Description

Lens model MVL-HF1228M-6MP

Focal distance 12mm

Maximum imaging size 1/1.8＂(φ9mm)

Aperture range F2.8-F16

Aperture Manual
Control mode
Focus Manual

D 41.2°

Field angle H 1/1.8＂ 34.4°

V 23.4°

Operating temperature -10℃~+50℃

Optical distortion -0.38%

Back focal length 17.526mm

Shortest photography distance 0.06m

Mount Mount C

Filter M27*0.5

Size φ29mm*35.36mm

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 Dobot Vision Kit Installation Guide 2 Installation Instructions

2. Installation Instructions

Installing Camera
Procedure
Fix the camera flange support to the bottom of the extension pole using screws.

Figure 2.1 Install camera flange support

Connect the two extension poles.

Figure 2.2 Connect the two extension poles

Fix the end of the extension pole with camera flange support to the camera holder
using four M4*10 hexagon socket head screws.

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 Dobot Vision Kit Installation Guide 2 Installation Instructions

Figure 2.3 Fix extension pole

Assemble the camera surpport using two M4*10 hexagon socket head cap screws,
as shown in Figure 2.4.

Figure 2.4 Install camera support

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 Dobot Vision Kit Installation Guide 2 Installation Instructions

Figure 2.5 Fix the camera support

NOTICE

Please adjust the height of the camera support based on site requirements. Make sure that
the camera support does not hinder the movement of robot.

Fix the camera to the camera mounting plate with three M3*8 hexagon socket
countersunk head screws.

Figure 2.6 Fix camera plate

Fix the camera to the camera support using two M3*6 hexagon socket head cap
screws and two 3mm washers.
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 Dobot Vision Kit Installation Guide 2 Installation Instructions

Figure 2.7 Fix camera mounting plate

Connect the camera to the computer using a USB cable (plug the blue connector
into USB3.0 interface of the computer).

Figure 2.8 Connect camera to computer

Adjust camera parameters.

MVS is a software for adjusting camera parameters. You can get MVS software from
the DobotVisionStudio package.
Prerequisite:
 MVS has been installed.
 The camera has been connected to the computer.
Procedure:

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 Dobot Vision Kit Installation Guide 2 Installation Instructions

Open MVS, and click to connect the camera.

Figure 2.9 Connect camera

Figure 2.10 Connect camera successfully

Click to capture an image.

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 Dobot Vision Kit Installation Guide 2 Installation Instructions

Figure 2.11 Capture imaging

Adjust the focal length, aperture, and exposure time according to the image.
 Adjust the focal length by rotating the aperture, and lock the focal length
by rotating the helix switch.

Figure 2.12 Adjust focal length

NOTICE

If there is not enough light in the environment, turn on the light source. Please turn on or
off the light source depending on the actual requirements. For the installation of light
source, refer to Step 10 and Step 11.
 Adjust brightness by rotating the aperture shown in the red box below, and
lock the aperture by rotating the helix switch.

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 Dobot Vision Kit Installation Guide 2 Installation Instructions

Figure 2.13 Adjust aperture

 Adjust exposure time or other parameters based on site requirements until

imaging can be appeared clearly.

Figure 2.14 Adjust exposure time or other parameters

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 Dobot Vision Kit Installation Guide 2 Installation Instructions

Figure 2.15 Result imaging

Figure 2.16 Fasten the light source kit

 Connect the light source switch to Magician

Connect the light source switch to the light source.
Plug the light source switch to the power interface of Dobot Magician.
Connect the light source switch to the power adapter of Dobot Magician.

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 Dobot Vision Kit Installation Guide 2 Installation Instructions

Figure 2.17 Connect light source switch

 Connect the light source switch to M1 Pro

Connect the adapter cable to the M1 Pro light source switch. The red interface
is 24V power interface, the black interface is GND interface.
Connect the M1 Pro light source switch to the light source.
Connect the adapter cable to the I/O interface on the base of Dobot M1 Pro,
with red cable connected to 24V and black cable connected to GND.

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 Dobot Vision Kit Installation Guide 2 Installation Instructions

Figure 2.18 Connect light source switch

NOTICE

If you need to use light source switch and air pump box at the same time. Please connect
the power cable of air pump box to the adapter cable. As shown below, the red interface
is 24V power interface, and the black interfaces is GND interface.

Figure 2.19 Connect air pump box

 Connect the light source switch to MG400

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 Dobot Vision Kit Installation Guide 2 Installation Instructions

Connect the adapter cable to the M1 Pro light source switch. The red interface
is 24V power interface, and the black interface is GND interface.
Connect the MG400 light source switch to the light source.
Connect the adapter cable to the I/O interface on the base of Dobot MG400,
with red cable connected to 24V and black cable connected to GND.

Figure 2.20 Connect MG400 to light source

Installing Dobot Magician

Procedure
Fix Dobot Magician on the platform. For details, see Dobot Magician User Guide.
Adjust the camera support to ensure that the camera can view the workspace of
Dobot Magician.

Figure 2.21 Install Dobot Magician

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 Dobot Vision Kit Installation Guide 2 Installation Instructions

Installing Dobot M1 Pro

Procedure
Fix Dobot M1 Pro on the platform. For details, see Dobot M1 User Guide.
Adjust the camera support to ensure that the camera can view the workspace of
Dobot M1 Pro.

Figure 2.22 Install Dobot M1 Pro

Installing Dobot MG400

Procedure
Fix Dobot MG400 on the platform. For details, see Dobot MG400 User Guide.
Adjust the camera support to ensure that the camera can view the workspace of
Dobot MG400.

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 Dobot Vision Kit Installation Guide 2 Installation Instructions

Figure 2.23 Install Dobot MG400

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