Dobot Mg 400 Robot arm workspace


#1

I am trying to calculate the limit of Dobot MG 400’s workspace.
I checked the manual, but it wasn’t clear(kind of blurry image about workspace and did not content specific coordinate) about the maximum (x,z) coordinate of the robot arm.
Especially, the manual gave different dimensions from figures “dimension of MG400 robot” and “workspace of MG400 robot”(page 12 from user guide).
Does anyone have the information or know how to find it by coding (Prefer Python) or numerically (by hand calculation).
However, I can’t find the relationship between J2 and J3 angles. If anyone knows about it please let me know.
I will appreciate it.