DOBOT Magician V1/V2

INPUT / OUTPUT GUIDE

Color Sensor
V1 GP2
V2 GP1, 2, 4, 5 IR Sensor V1 & V2
6 6
1 2 3 4 ANALOG 1 2 3 4 ANALOG
GP3 GP4 GP5 SW3 GP3 GP4 GP5 SW3
GP1 GP3.1 GP4.1 GP5.1 SW3.1
ANALOG1
ANALOG2
GP1 GP3.1 GP4.1 GP5.1 SW3.1
ANALOG1
ANALOG2

GP2 GP3.2
GP3.3
GP4.2
GP4.3
GP5.2
GP5.3
SW3.2
SW3.3 SW4.1
GP2 GP3.2
GP3.3
GP4.2
GP4.3
GP5.2
GP5.3
SW3.2
SW3.3 SW4.1

GP4 GP3.4 GP4.4 GP5.4 SW3.4 SW4.2

GP4 GP3.4 GP4.4 GP5.4 SW3.4 SW4.2

GP5 5 GP5 5
SW4 SW4

SW1.1
SW1.2

SW1.1
SW1.2
GP1.1
GP1.2
GP1.3
GP1.4

GP1.1
GP1.2
GP1.3
GP1.4
ST1.1
ST1.2
ST1.3
ST1.4

ST1.1
ST1.2
ST1.3
ST1.4
Peripheral Interface Peripheral Interface
GP1 Stepper1 SW1 GP1 Stepper1 SW1

GP2 Stepper2 SW2 GP2 Stepper2 SW2

GP2.1
GP2.2
GP2.3
GP2.4

ST2.1
ST2.2
ST2.3
ST2.4

SW2.1
SW2.2

GP2.1
GP2.2
GP2.3
GP2.4

ST2.1
ST2.2
ST2.3
ST2.4

SW2.1
SW2.2
Communication Communication
Interface Interface
Reset Key USB Power Reset Key USB Power
CI 1
CI 2
CI 3
CI 4
CI 5

CI 1
CI 2
CI 3
CI 4
CI 5
CI 10
CI 9
CI 8
CI 7
CI 6

CI 10
CI 9
CI 8
CI 7
CI 6
SW1.1
SW1.2
GP1.1
GP1.2
GP1.3
GP1.4

ST1.1
ST1.2
ST1.3
ST1.4

Peripheral Interface
GP1 Stepper1 SW1

GP2 Stepper2 SW2

GP2.1
GP2.2
GP2.3
GP2.4

ST2.1
ST2.2
ST2.3
ST2.4

SW2.1
SW2.2

Communication
Interface
Reset Key USB Power
CI 1
CI 2
CI 3
CI 4
CI 5

Conveyor Belt
CI 10
CI 9
CI 8
CI 7
CI 6

STEPPER 1
STEPPER 2

Wrist Rotate Servo

AIR PUMP
ANALOG1
ANALOG2

SW4.1
SW4.2
ANALOG

SW4
5
6

GP3
SW3.1
SW3.2
SW3.3
SW3.4
SW3
4

GP5.1
GP5.2
GP5.3
GP5.4

SW1 GP1
GP5
3

GP4.1
GP4.2
GP4.3
GP4.4
SW1.1
SW1.2
GP1.1
GP1.2
GP1.3
GP1.4

ST1.1
ST1.2
ST1.3
ST1.4

Peripheral Interface
GP4

GP3
2

GP1 Stepper1 SW1

GP3.1
GP3.2
GP3.3
GP3.4

GP2 Stepper2 SW2

GP3
GP2.1
GP2.2
GP2.3
GP2.4

ST2.1
ST2.2
ST2.3
ST2.4

SW2.1
SW2.2

Communication
Interface
Reset Key USB Power
CI 1
CI 2
CI 3
CI 4
CI 5
CI 10
CI 9
CI 8
CI 7
CI 6
 DOBOT Magician
Digital Signal Guide
NEVER wire anything to the Dobot Magician while it has power ON
ALWAYS shutdown the Dobot before making connections or damage
Power OFF WARNING to the robot could occur.

Parts Needed for Safe Communication

- Four Pin Male Headers

Green
Black
Blue
Red
- Four Pin Jumper Wires
- 100Ω Resistors
- 4.7kΩ Resistors 1234
- Breadboard
- Optical Isolators 4N25
- LEDs
- Jumper Wires
- Limit Switch

Test INPUT Communication to Dobot

- Four Pin Male Headers
- Four Pin Jumper Wires 1 2 3 GP5 - EIO5
GP3 GP4 GP5
- 4.7kΩ Resistors
MAGICIAN V1

MAGICIAN V2
GP3.1 GP4.1 GP5.1 a b c d e a b c d e
- Breadboard GP3.2 GP4.2 GP5.2 1
23
1
23

2 2 41

2 2 41
GP3.3 GP4.3 GP5.3

- Limit Switch GP3.4 GP4.4 GP5.4 32

44
32
44
5 5
6 6

24 2 2 4

21 2 2 4
2
7 7
Running Log:
2 2
8 3 8 3
9 9
[17:07:08]0 10 10

[17:07:08]0

GP5.4 - EIO5
GP5.1 - GND
GP5.4 - EIO5
GP5.2 - 5V

[17:07:08]0

GP5.2
GP5.3
[17:07:08]0
GP5.1

GP5.3

[17:07:08]1
[17:07:08]1
GP5
GP5

3
3

1 2
3 3 4
1 1 2
3 3 4
1
[17:07:08]1

Test OUTPUT Communication from Dobot

- Four Pin Male Headers
SW1.1
SW1.2
GP1.1
GP1.2
GP1.3
GP1.4

ST1.1
ST1.2
ST1.3
ST1.4

- Four Pin Jumper Wires Peripheral Interface

GP1 - EIO10
MAGICIAN V1 & V2

GP1 Stepper1 SW1

- 100Ω Resistors GP2 Stepper2 SW2

- Breadboard GP1.4 11
a b c d e
GP2.1
GP2.2
GP2.3
GP2.4

ST2.1
ST2.2
ST2.3
ST2.4

SW2.1
SW2.2

1 2 2 41

- Optical Isolators 4N25 GP1.3

GP1.2
23
32
44
- LEDs GP1.1
5 +
6
7
8
4 GP1.4 9
10
POS
NEG
GP1.2 - EIO10

3 GP1.2 X ANODE
GP1.1 - GND

POSITIVE

5V CATHODE a
GP1.3
GP1.4

2 GP1.3 NEGATIVE

1 GP1.1
GP1

1 2
3 3 4
1
100Ω
 Green
DOBOT Magician V1
1234
Blue
Black
WARNING
Red
Digital Signal Guide
6 6

GP5

GP4
1 2 3 4 ANALOG 1 2 3 4 ANALOG
GP3 GP4 GP5 SW3 GP3 GP4 GP5 SW3
ANALOG1 ANALOG1
GP3.1 GP4.1 GP5.1 SW3.1 ANALOG2 GP3.1 GP4.1 GP5.1 SW3.1 ANALOG2

GP3.2 GP4.2 GP5.2 SW3.2 GP3.2 GP4.2 GP5.2 SW3.2

GP3.3 GP4.3 GP5.3 SW3.3 SW4.1 GP3.3 GP4.3 GP5.3 SW3.3 SW4.1
GP3.4 GP4.4 GP5.4 SW3.4 SW4.2 GP3.4 GP4.4 GP5.4 SW3.4 SW4.2

5 5
SW4 SW4
Power OFF

EIO-4 Signal
Signal ON = 1
EIO-6 Signal
Signal ON = 1

GP5.3 - EIO4

GP4.3 - EIO6
GP5.2 - 5V

GP4.2 - 5V
OFF = 0 OFF = 0
INPUTS

GP5.1

GP5.4

GP4.1

GP4.4
Caution: NEVER wire anything to the Dobot Magician while

X X
GP5.2 GP4.2
making connections or damage to the robot could occur.
it has power on. ALWAYS shutdown the Dobot before

4.7kΩ 4.7kΩ

GP5

GP4
GP5.3 GP4.3
3

2
1 2 3 4 1 2 3 4

EIO-5 Signal
Signal ON = 1
EIO-7 Signal
Signal ON = 1

GP5.4 - EIO5

GP4.4 - EIO7
GP5.2 - 5V

GP4.2 - 5V
OFF = 0 OFF = 0
GP5.1

GP5.3

GP4.1

GP4.3
X X
GP5.2 GP4.2
GP5

GP4
3

2
4.7kΩ
GP5.4
1 2 3 4 4.7kΩ
GP4.4
1 2 3 4
SW1.1
SW1.2

SW1.1
SW1.2
GP1.1
GP1.2
GP1.3
GP1.4

GP1.1
GP1.2
GP1.3
GP1.4
GP1

GP2
ST1.1
ST1.2
ST1.3
ST1.4

ST1.1
ST1.2
ST1.3
ST1.4
Peripheral Interface Peripheral Interface
GP1 Stepper1 SW1 GP1 Stepper1 SW1

GP2 Stepper2 SW2 GP2 Stepper2 SW2

GP2.1
GP2.2
GP2.3
GP2.4

ST2.1
ST2.2
ST2.3
ST2.4

SW2.1
SW2.2

GP2.1
GP2.2
GP2.3
GP2.4

ST2.1
ST2.2
ST2.3
ST2.4

SW2.1
SW2.2
GP1.2 - EIO10

GP2.2 - EIO13
EIO-10 EIO-13
GP1.1 - GND

GP2.1 - GND
4 GP1.4 4 GP1.4
GP1.3
GP1.4

GP2.3
GP2.4
OUTPUTS

3 GP1.2 X 3 GP1.2 X

2 GP1.3
5V 2 GP1.3
5V
GP1

GP2

1 GP1.1 1
4 3
2 2
3 1
4 1 GP1.1 1
4 3
2 2
3 1
4
100Ω 100Ω
GP1.3 - EIO11

GP2.3 - EIO14

EIO-11 EIO-14
GP1.1 - GND

GP2.1 - GND

4 GP1.4 4 GP1.4
GP1.2

GP1.4

GP2.2

GP2.4

3 GP1.2 X 3 GP1.2 X

2 GP1.3
3.3V 2 GP1.3
3.3V
GP2
GP1

1 GP1.1 1
4 3
2 2
3 1
4 1 GP1.1 1
4 3
2 2
3 1
4
100Ω 100Ω
WARNING

GP1.4 - EIO12

GP2.4 - EIO15

EIO-12 EIO-15
GP1.1 - GND

GP2.1 - GND

4 GP1.4 4 GP1.4
GP1.2
GP1.3

GP2.2
GP2.3

3 GP1.2 3 GP1.2
Power OFF

X X

2 GP1.3
3.3V 2 GP1.3
3.3V
GP2
GP1

1 GP1.1 1
4 3
2 2
3 1
4 1 GP1.1 1 2 3 4
100Ω 100Ω
 Green
DOBOT Magician V2
1234
Blue
Black
Red
Digital Signal Guide
6

GP5
1 2 3 4 6

GP4
ANALOG
GP3 GP4 GP5 SW3 1 2 3 4 ANALOG
ANALOG1 GP3 GP4 GP5 SW3
GP3.1 GP4.1 GP5.1 SW3.1 ANALOG2 ANALOG1
GP3.1 GP4.1 GP5.1 SW3.1 ANALOG2
GP3.2 GP4.2 GP5.2 SW3.2
WARNING

GP3.3 GP4.3 GP5.3 SW3.3 GP3.2 GP4.2 GP5.2 SW3.2

SW4.1
GP3.4 GP4.4 GP5.4 SW3.4 SW4.2 GP3.3 GP4.3 GP5.3 SW3.3 SW4.1
GP3.4 GP4.4 GP5.4 SW3.4 SW4.2

5
SW4 5
SW4

EIO-5 Signal
Signal ON = 0
EIO-7 Signal
Signal ON = 0

GP5.4 - EIO5

GP4.4 - EIO7
GP5.1 - GND

GP4.1 - GND
OFF = 1 OFF = 1
Power OFF

INPUTS

GP5.2
GP5.3

GP4.2
GP4.3
X X
GP5.4 GP4.4

GP5

GP4
3

2
Caution: NEVER wire anything to the Dobot Magician while

4.7kΩ
GP5.1
1 2 3 4 4.7kΩ
GP4.1
1 2 3 4
making connections or damage to the robot could occur.
it has power on. ALWAYS shutdown the Dobot before

Communication Communication
Interface Interface
USB Power USB Power
CI

CI
CI 1
CI 2
CI 3
CI 4
CI 5

CI 1
CI 2
CI 3
CI 4
CI 5
CI 10
CI 9
CI 8
CI 7
CI 6

CI 10
CI 9
CI 8
CI 7
CI 6
EIO-19 EIO-20
X
CI10 1 2 3 4 1 2 3 4
X
CI10 - GND
CI9
CI8
CI7 - EIO19
CI6

CI10 - GND
CI9
CI8 - EIO20
CI7
CI6
CI8

4.7kΩ 4.7kΩ
CI7 CI10
SW1.1
SW1.2

SW1.1
SW1.2
GP1.1
GP1.2
GP1.3
GP1.4

GP1.1
GP1.2
GP1.3
GP1.4
GP1

GP2
ST1.1
ST1.2
ST1.3
ST1.4

ST1.1
ST1.2
ST1.3
ST1.4
Peripheral Interface Peripheral Interface
GP1 Stepper1 SW1 GP1 Stepper1 SW1

GP2 Stepper2 SW2 GP2 Stepper2 SW2

GP2.1
GP2.2
GP2.3
GP2.4

ST2.1
ST2.2
ST2.3
ST2.4

SW2.1
SW2.2

GP2.1
GP2.2
GP2.3
GP2.4

ST2.1
ST2.2
ST2.3
ST2.4

SW2.1
SW2.2
GP1.2 - EIO10

GP2.2 - EIO13
EIO-10 EIO-13
GP1.1 - GND

GP2.1 - GND
4 GP1.4 4 GP1.4
GP1.3
GP1.4

GP2.3
GP2.4
OUTPUTS

3 GP1.2 X 3 GP1.2 X

2 GP1.3
5V 2 GP1.3
5V
GP1

GP2

1 GP1.1 1
4 3
2 2
3 1
4 1 GP1.1 1
4 3
2 2
3 1
4
100Ω 100Ω
GP1.3 - EIO11

GP2.3 - EIO14

EIO-11 EIO-14
GP1.1 - GND

GP2.1 - GND

4 GP1.4 4 GP1.4
GP1.2

GP1.4

GP2.2

GP2.4

3 GP1.2 X 3 GP1.2 X

2 GP1.3
3.3V 2 GP1.3
3.3V
GP2
GP1

1 GP1.1 1
4 3
2 2
3 1
4 1 GP1.1 1
4 3
2 2
3 1
4
WARNING

100Ω 100Ω
GP1.4 - EIO12

GP2.4 - EIO15

EIO-12 EIO-15
GP1.1 - GND

GP2.1 - GND

4 GP1.4 4 GP1.4
GP1.2
GP1.3

GP2.2
GP2.3
Power OFF

3 GP1.2 X 3 GP1.2 X

2 GP1.3
3.3V 2 GP1.3
3.3V
GP2
GP1

1 GP1.1 1
4 3
2 2
3 1
4 1 GP1.1 1 2 3 4
100Ω 100Ω
 Green
DOBOT Magician
1234
Blue
Black
Red
Signal Guide
Check Optical Isolator with Volt Meter
WARNING

WHY is the robot not receiving a signal from the handshake module? Wiring and
programing are often the culprit. It could also be a damaged optical isolator. The LED
on the INPUT side of the optical isolator helps us determine if the signal is actually
Power OFF

being sent by the robot. Unfortunately, the OUTPUT side of the optical isolator will not
allow us to use an LED as an indicator. We can however use a volt meter to measure
the RESISTANCE across the optical Isolator to determine when a signal is ON or OFF.
Use the Blockly program shown below to cycle the signal ON and OFF to see if the
signal is getting across the optical isolator. When no signal is present, the voltmeter
Caution: NEVER wire anything to the Dobot Magician while

should read “O.L” or “---”. When a signal is present it should read near the resistance
making connections or damage to the robot could occur.
it has power on. ALWAYS shutdown the Dobot before

value of the resistor used.

a b c d e f g h i j
1

41 3
3 2

2 2 41
2 3
4 4
5 + 5
6 6
7 7
8 8
9 9
10
11 4
12 10

2 4
2
13 11

1 2 3
3
14 12
14
15 13
15

Optical Isolator OFF = 0.L or ---

Optical Isolator ON = 4.9+ kΩ

How to Use a Common GND

Can the ground (GND) be shared between multiple outputs? Yes, the ground can split
among multiple optical isolators as a “shared” or common ground signal. The optical
isolators then only need the signal wire to turn ON and OFF. See the illustration below.
SW1.1
SW1.2
GP1.1
GP1.2
GP1.3
GP1.4

ST1.1
ST1.2
ST1.3
ST1.4

a b c d e
EIO15 - GP2.4 11
41 3

EIO14 - GP2.3 23
2 2 41

EIO13 - GP2.2 32
1 2 3 4 Common GND - GP2.1 44
5 +
GP2.1
GP2.2
GP2.3
GP2.4

ST2.1
ST2.2
ST2.3
ST2.4

SW2.1
SW2.2

6
WARNING

+
USB Power 7
Multiple Outputs 8
9
10 EIO14
EIO14
from One Cable 11
3.3V
Power OFF

12
13
14 EIO15
EIO15
15

GP2 - EIO14 & 15 16 3.3V