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Source Robotics documentation

Manuals and guides for the open-source robot arms, grippers and motor controllers by Source Robotics. Each product has its own site, with its own search, its own versions and comments under every page. This page is the front door.

Robot arms

  • PAROL6 desktop robotic arm

    PAROL6 Updated 22 October 2026

    The 3D-printed desktop robot arm: the robot manual, the control board, the end effectors, the GUIs, programming with the Python API and ROS 2, and the build guide from the printed parts to the first run.

    PAROL6 documentation

  • PAR6

    The collaborative robot arm for education, research and AI: the arm, the Robot Control Box, programming and the real-time interface.

    Coming soon

Grippers

  • MSG compliant AI stepper gripper

    MSG gripper Updated 31 October 2026

    The compliant stepper gripper on the STEPFOC driver: three stepper sizes, three strokes up to 155 mm, force and position control over CAN, open source from the printed body to the firmware.

    MSG documentation

  • SSG-48 adaptive electric gripper

    SSG-48 gripper Updated 31 October 2026

    The adaptive electric gripper on the Spectral Micro driver: 48 mm stroke, fin-ray or solid fingers, force feedback, a 3D configurator to try the fingers and the colours.

    SSG-48 documentation

Motor controllers

  • STEPFOC stepper motor FOC driver

    STEPFOC Updated 31 October 2026

    Field-oriented control for stepper motors on the back of a NEMA 17: position, speed, torque and impedance modes, CAN and UART, Motor GUI in the browser, a Python library.

    STEPFOC documentation

  • Spectral Micro BLDC controller

    Spectral Micro Updated 31 October 2026

    The compact field-oriented controller for brushless and gimbal motors: STEPFOC's sister, with similar hardware and firmware and practically the same commands and tools.

    Spectral Micro documentation

What's new

The latest releases of the products, from their repositories on GitHub:

Each site's release notes say what changed in the firmware or the product, and the version selector in each site's header switches between the releases it documents.

Help, comments and source code