This is a quick instruction on how to set up your Dorna 2S robot and run a simple program. Make sure to go over the user manual for more information.

Mount the Robot

Mount the robot arm securely on a flat, sturdy surface with 4 x M8 screws. If holes are not available on your surface to mount the robot, you can use at least two clamps (example) to secure the robot base on a table (this mounting method is only recommended for a small range of motions at low speed).

Connect the robot’s cable

Make sure that the controller box is close enough to the robot, and you can attach the robot cables to it. Attach one side of the robot DB-25 cable to the back of the robot base and the other to the back of the controller. Ensure the connections are secure using the screws available on the DB shells.

Connect the robot to a router

Attach the robot controller to a router via an Ethernet port available on the robot controller. Make sure that your computer is also connected to the same router.

Turning the robot on

The robot is compatible with 115/230Vac. However, before turning on the robot controller, you must make sure that the right voltage is selected on the controller. Otherwise, it will damage the robot. The robot comes with a preselected voltage based on the customer region and is printed on a label attached to the controller box. Please verify the operating voltage and make any necessary adjustments before proceeding.
To adjust the operating voltage, access the power supply red AC input switch on top of the controller box, and change it according to your AC input.
Once you have selected the appropriate AC voltage, connect one end of the AC power cable to the back of the controller box, and connect the other to the AC plug.

Find the robot’s IP address

Ensure your computer and the robot are connected to the same network (router). Open the Command Prompt (CMD) on your Windows or Terminal on your Unix OS computer and enter the following command to find the robot IP address.

ping dorna.local -4

This will return the robot’s IP address. For simplicity of notation, assume that the robot’s IP address is 10.0.0.14 in this tutorial.
If this method doesn’t work on your computer, try other methods presented in the product user manual.

Open Dorna Lab

Dorna Lab (Dorna software) is the equivalent of the teach pendant’s interface of a traditional industrial robot. Open a Google Chrome on your computer and type in the Dorna Lab URL at

http://robot_ip_address

Where the robot_ip_address is the IP address of the robot we found in the previous section (for example, if the IP address of the robot is 10.0.0.14 then the Dorna Lab address is http://10.0.0.14).

Dorna Lab environment

Dorna Lab interface is a web application that you can use to monitor, control, and program robots. No installation on your computer is required (except a browser) since all the necessary files are hosted in the robot’s controller.
Here we list some of the features of Dorna Lab, but you still need to go over the user manual for full documentation:

• See the robot’s live orientation and I/O status.
• Jog the robot with a mouse, keyboard, or Joystick.
• Hand training the robot.
• Graphical simulation to design complex paths and motions.
• Submit and run simple commands and scripts to the robot.
• Graphical and no code programming environment via Blockly feature.
• Host and run programs via the robot Python and Jupyter Notebook environment
• Configure and modify the robot setting.

Startup procedure

When turning the robot on, the motors are disabled by default, and you need to enable them (via Dorna Lab, command, or API) before running any motion command.

The Dorna 2S model is already equipped with absolute encoders on its axes and does not require any joint assignment. The robot knows its position the moment the controller is turned on, which significantly speeds up the startup process.

Run a simple program

In Dorna Lab, navigate Main > Script.
Here, you can write simple commands and submit them to the robot.

• Copy and paste the following commands in the Script section.
• Enable the Track Line option to see and highlight the commands running during the operation.
• Ensure that no tool is attached to the robot and that the robot is free to move without hitting any object.
• Click the Play button to submit and run the code to the robot.

{"cmd":"motor","motor":1}
{"cmd":"jmove","rel":0,"j0":0,"j1":0,"j2":0,"j3":0,"j4":0,"vel":50,"accel":500, "jerk"2000}
{"cmd":"lmove","rel":1,"x":-150,"vel":100,"accel":500,"jerk":2000,"cont":1, "corner":20}
{"cmd":"lmove","rel":1,"y":150}
{"cmd":"lmove","rel":1,"z":150}
{"cmd":"lmove","rel":1,"y":-300}
{"cmd":"lmove","rel":1,"z":-150}
{"cmd":"lmove","rel":1,"y":150}

Turning off the robot

When turning off the robot, all the motors lose their power. So, it is important to put the robot in a safe orientation before turning off the robot. Dorna 2S is equipped with passive brakes, which slow down the robot when the robot is turned off. When ready, just switch off the power button on the controller to turn off the robot.