Getting started
You can setup and operate Dorna 2 very quickly in just few steps.
This document walks you through few steps for quick setup of the robot. For more information, and full documentation review the (Guides) section.
Mounting
Mount the robot on a flat and sturdy surface. You can use clamp or screw holes available on the base of the robot.
Robot cables
There are two DB-25 cables coming out of the robot. Connect the two cables to the back of the controller box. Make sure that the cables are properly connected by tightening the screws on the connectors. Connect the power cord to the back of the controller box. Turn on the controller box.
Connect to the robot
It usually takes less than a minute for the robot to boot up. Connect the robot controller to your computer or router via Ethernet port available in front of the controller box.
If you connect the robot controller to a router, then the robot is easily accessible by other devices connected to that router.
Open a web browser (Chrome is recommended), and navigate to Dorna lab page (http://lab.dorna.ai/). Your computer should automatically connect to the robot, and you will see Connected sign on your browser.
If the robot is connected, then go the next section. Otherwise, follow the instruction instruction here to find the IP address of the robot.
Once you have the robot IP address, click on the connection tab. In the Websocket URL filed put ws://robot_ip_address:443
where robot_ip_address
is the IP address of the robot. For example, If the IP address of the robot is 192.168.1.3
then in the Websocket URL filed put ws://192.168.1.3:443
and click Connect.
Home the robot
This section is required only if the robot has not been homed.
Homing the robot (setting the joints) the robot the process of identifying the real value of the joints and assigning them to the robot. The robot is equipped with encoder, once you home the robot, it will keep its position, unless the controller is turned off, or the encoder DB-cable is disconnected from the controller.
Disabling the motors, connecting to / disconnecting from the robot, or closing the GUI does not effect the robot position and homing status.
We recommend to turn off (disable) the motors for the homing process. In Dorna lab, click on the toggle Motors switch to disable the motors or send
{"cmd":"motor","motor":0, "id": 2}
command.
Homing process
The robot is equipped with external hard stops to make the homing process easy. Move the robot joints with hand, and put the robot in j0 = 180, j1 = 180, j2 = -142, j3 = 135, j4 = 0
. You will notice that all the joints are hitting their hard limits once they get into this position. In Dorna lab, click on Set joint and in the panel assign the joints true values to them. By default the values are already assigned. You can set each joint individually or assign them all by clicking Set all and the new values are assigned to the joints.
Before clicking Set all put a slight pressure to make sure that all the joint are touching their hard stops.
Make sure to assign the right values to each joint for the homing process. For example,
j0
has two hard stops, one at 180 degrees and the other one at -175 degrees. If you rotatej0
in negative direction until it touches -175 and then assign 180 degrees (instead of -175 degrees) toj0
in the Set joint panel, then the homing process is faulty and the robot does not operate properly.
If you task with the robot is over, instead of tuning off the whole robot controller, you can always disable the motors and keep the controller on. This way you do not need to home the robot again next time.
Motors
Once the robot is homed, we can enable (turn on) the motors and start moving the robot. In Dorna lab, click on the toggle Motors switch to enable the motors or send {"cmd":"motor","motor":1, "id": 2}
command.
Alarm
If the robot hits into an obstacle such that the motors can no longer follow the designated path, the robot will go into an alarm state. User has to remove the physical obstacle and clear the alarm by clicking Disable alarm or sending {"cmd":"alarm","alarm":0,"id":2}
, before doing any other task.
Read more
Go over the guide section to learn more about the robot.