# PAROL6 Control Board Manual

![The PAROL6 control board v2.0](https://docs.source-robotics.com/PAROL-docs/1.1/assets/PAROL6V2.webp)

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**Document number:** SR-2002

**PAROL6 release:** 1.1

**Revision:** 2026.B

**Published:** 2026-11-04

**Applies to:** PAROL6 control board v2.0 and v1.2, PAROL6 release 1.1

*Original instructions*

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The PAROL6 control board is the controller of the PAROL6 arm: a 32-bit microcontroller, six stepper drivers, the
inputs and outputs, the E-stop input, CAN and USB on a board the size of a pack of playing cards, which is what
lets PAROL6 run without a control cabinet. This manual covers the board itself: its specifications, connectors
and pinout, the stepper drivers and their installation, the I/O and E-stop wiring, the CAN bus, uploading the
firmware, the test firmware, and the serial protocol the PC software uses. How the robot is used is in the
[Robot Manual](https://docs.source-robotics.com/PAROL-docs/1.1/); how it is programmed in the [Programming Guide](https://docs.source-robotics.com/PAROL-docs/1.1/programming/).

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-   :material-chip: **The board**

    ---

    [Overview](https://docs.source-robotics.com/PAROL-docs/1.1/board/01-overview/), [Safety](https://docs.source-robotics.com/PAROL-docs/1.1/board/02-safety/), [Technical data](https://docs.source-robotics.com/PAROL-docs/1.1/board/03-technical-data/),
    [Connectors and pinout](https://docs.source-robotics.com/PAROL-docs/1.1/board/04-connectors/), [Stepper drivers](https://docs.source-robotics.com/PAROL-docs/1.1/board/05-stepper-drivers/).

-   :material-electric-switch: **Wiring**

    ---

    [Inputs, outputs and E-stop](https://docs.source-robotics.com/PAROL-docs/1.1/board/06-io-and-estop/), [CAN bus](https://docs.source-robotics.com/PAROL-docs/1.1/board/07-can/).

-   :material-upload: **Firmware**

    ---

    [Uploading the firmware](https://docs.source-robotics.com/PAROL-docs/1.1/board/08-firmware/), [the test firmware](https://docs.source-robotics.com/PAROL-docs/1.1/board/09-test-firmware/),
    [the serial protocol](https://docs.source-robotics.com/PAROL-docs/1.1/board/10-serial-protocol/), [troubleshooting](https://docs.source-robotics.com/PAROL-docs/1.1/board/11-troubleshooting/).

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