Versions and compatibility¶

PAROL6 release	Released	Control board	Control board firmware	Python API (parol6)	Commander software	Grippers	Docs
1.1	2026-11-04	v2.0 (pluggable terminal blocks); v1.2 (spring contacts) is functionally identical	1 (VERSION 1 in constants.h), unchanged since release 1	0.2.6 to 0.9.1 (the reference describes 0.9.1); Python 3.11 or newer	main branch (Python 3.10 or 3.11)	SSG-48 (Spectral Micro firmware 101 or newer), MSG (STEPFOC firmware 103 or newer), pneumatic MHZ2-16D, vacuum	1.1
1	2025-03-08	v2.0 (pluggable terminal blocks); v1.2 (spring contacts) is functionally identical	1 (VERSION 1 in constants.h), main branch	0.2.6 to 0.9.1 (the reference describes 0.9.1); Python 3.11 or newer	main branch (Python 3.10 or 3.11)	SSG-48 (Spectral Micro firmware 101 or newer), MSG (STEPFOC firmware 103 or newer), pneumatic MHZ2-16D, vacuum	1

Reading the table¶

Control board v2.0 has pluggable terminal blocks; v1.2 had spring-loaded contacts. They are functionally identical and run the same firmware.
Control board firmware is released with the robot (#define VERSION 1). The serial protocol it speaks is the one every PC program on this site uses.
Python API: the reference on this site is read from the version named on the Programming landing page. Older 0.x versions have fewer commands; the API is pre-1.0, so a minor version can change an interface, as the release notes say.
Commander software has no releases; the main branch is what you clone. The experimental_kinematics branch fixes most Cartesian jogging errors but can make dangerous moves: main is the safe one.
Grippers: the firmware's gripper protocol works with every released firmware of both grippers.