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PAR6 Arm
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Source-Robotics/RCB-Runtime
PAR6 Arm
PAR6 Arm
Before you start
Before you start
About this manual
Chapters
Chapters
1. Overview
1. Overview
The robot system
Parts and labels
What is in the box
2. Safety
2. Safety
Intended use
Hazards and how to avoid them
Emergency stop
Moving the arm by hand
Built-in safety functions
Workspace and cell layout
3. Technical data
3. Technical data
Joint ranges and limits
Kinematics and frames
Operating conditions
4. Mounting and installation
4. Mounting and installation
Unpacking
Choosing the location
Mounting the arm
Cabling to the control box
First power-on
5. Operation
5. Operation
Power on, power off
Homing
Freedrive
Jogging
Running programs
Stops, faults and recovery
Checking the safety functions
6. Tools and end effectors
6. Tools and end effectors
The flange and the tool frame
Telling the robot which tool is mounted
Payload
7. Application examples
7. Application examples
Pick and place
A G-code toolpath
A block program
Hand-guiding into a simulator
8. Maintenance
8. Maintenance
Inspection intervals
Belts and tensioners
Joint calibration
Checking homing repeatability
Cleaning
9. Troubleshooting
9. Troubleshooting
Symptoms and causes
Homing failures
Getting help
10. Transport, storage and disposal
Build guide
Build guide
Parts list
Printed and machined parts
Assembly
Electronics and cabling
Drive setup and firmware
Step 1: The control box and the configuration
Step 2: Every drive on the bus
Step 3: E-stop, buttons and I/O
Step 4: Joint test moves
Step 5: First homing and calibration
Appendix
Appendix
EMC test results
Letter of volatility
EU Declaration of Incorporation
Stopping times and distances
Hardware revisions
Resources
Resources
Glossary
CAD and downloads
Control Box
Control Box
Before you start
Before you start
About this manual
Chapters
Chapters
1. Overview
1. Overview
Parts and labels
The software inside
2. Safety
2. Safety
Emergency stop wiring
Power states: enabled, disabled, off
Network security
3. Technical data
4. Mounting and installation
4. Mounting and installation
Mounting and power supply
Connector panel and pin map
Digital inputs and outputs
CAN bus and drive addresses
Front panel
Cabling to the arm
5. Software setup
5. Software setup
Step 1: The operating system image
Step 2: Boot configuration
Step 3: Installing the runtime
Step 4: The service
Step 5: Network
Step 6: System check
Updates
6. Configuration
6. Configuration
Selecting the robot, tool and cell
Safety settings
Freedrive walls
Safety zones
Adding another robot model
7. Operation
7. Operation
Power on, power off
Front panel menu
Services and restarts
Logs and the support bundle
Recordings
Drive firmware updates
Drive firmware release notes
Drive tuning
8. Maintenance
9. Troubleshooting
10. Transport, storage and disposal
Configuration reference
Configuration reference
system.xml
Robot XML
Gripper XML
Homing sequence XML
Cell and zone XML
Signal filters
Telemetry recipes
Command-line tools
Developer reference
Developer reference
Architecture
Repository layout
Processes, cores and shared memory
The real-time loop
Control hierarchy and mode handlers
The executor and the planner
Shared memory variables
Extending the runtime
Testing
The simulated robot
Motor driver firmware
Contributing and releases
Resources
Resources
Glossary
CAD and downloads
Programming
Programming
Before you start
Before you start
About this guide
Chapters
Chapters
1. Interfaces at a glance
1. Interfaces at a glance
The Python client
The command protocol
The real-time interface
Blocks and G-code
The dashboard as a client
2. Concepts and conventions
2. Concepts and conventions
Units
Joints, directions and the zero pose
Reference frames
Poses and orientation angles
Arm configurations and singularities
Modes and states
Homing
Freedrive
Blending between moves
Motion profiles
Target, commanded, measured
Who is in control
3. The command protocol
3. The command protocol
Connection and message format
Replies and events
Waiting, callbacks and completion
Errors and stops
Telemetry stream
Clients in other languages
4. Real-time interface
4. Real-time interface
How it works
The two contracts
Specification and limits
The safety layer
Feedforward and dynamics
Command packet
State packet and recipes
Compatibility
5. Hard real-time (RTI)
5. Hard real-time (RTI)
First stream
Position, velocity and torque streams
Stops and refusals
Examples
6. Soft real-time (SOFT_RTI)
6. Soft real-time (SOFT_RTI)
First stream
Smoothing, lag and pacing
Teleoperation and input devices
UDP or TCP
Examples
7. Block programming
7. Block programming
Points and positions
Block reference
Check and run
8. G-code
9. Diagnostics and troubleshooting
9. Diagnostics and troubleshooting
Log files
Recordings and the support bundle
FAQ
Command reference
Command reference
Per-move settings
Motion
Motion
move_joints
move_pose
move_linear
move_linear_rel_world
move_linear_rel_tool
move_arc
move_arc_rel_world
move_arc_rel_tool
move_circle
move_circle_rel_world
move_circle_rel_tool
move_spline
move_spline_rel_world
move_spline_rel_tool
delay
Robot control
Robot control
enable
disable
home
clear_errors
enter_idle_mode
enter_exec_mode
enter_jog_mode
stop
pause
resume
safety_stop
release_safety_stop
enter_flashing_mode
exit_flashing_mode
take_control
release_control
control_holder
holds_control
set_force_confirm
Waiting
Waiting
wait_idle
wait_motion_complete
wait_mode
wait_homed
wait_enabled
wait_error_reset
wait
Motion settings
Motion settings
set_joint_speed
set_profile
set_blending
set_ik_solver
set_completion_policy
Jogging
Jogging
jog
jog_stop
set_jog_accel
set_jog_profile
set_jog_jerk_factor
set_jog_control_mode
Gripper
Gripper
GripperResult
open_gripper
close_gripper
move_gripper
wait_gripper_move_complete
wait_holding_part
wait_released_part
gripper_result
calibrate_gripper
set_gripper_ctrl_mode
set_gripper
I/O
I/O
set_digital_output
get_digital_input
Status and data
Status and data
get_joints
get_pose
latest_status
get_status
errors
is_reachable
get_health
get_hardware
get_versions
Safety and dynamics
Safety and dynamics
set_gravity_comp
set_inertia_comp
set_coriolis_comp
set_friction_ff
set_friction_comp
set_payload
set_collision_detection
get_zones
reload_zones
get_joint_walls
set_joint_wall
save_joint_walls
Real-time interface
Real-time interface
RTIClient
rti_connect
rti_claim
rti_release
rti_disconnect
rti_set_start_pose_check
rti_set_rate_limiter
rti_set_tcp_vel_limit
rti_set_vel_scale
rti_set_command_timeout
rti_set_gravity_comp
rti_set_dynamics_ff
rti_set_servo_generator
rti_set_min_duration
rti_set_pace
rti_set_lowpass
rti_set_state_rate
Connection and events
Connection and events
connect
disconnect
connected
on_error
on_status_change
on_motion_complete
on_motion_error
remote_ip
local_ip
local_label
Diagnostics and service
Diagnostics and service
joint_test
free_joint
hall_check
set_pid_gains
set_can_read_first
set_log_level
capture_telemetry
stop_capture
set_recipe
reload_recipes
reload_filters
Reference
Reference
Error and event codes
Telemetry tags
Status fields
Runtime release notes
Glossary
Dashboard
Dashboard
Before you start
Before you start
About this guide
Chapters
Chapters
1. Getting started
2. Getting around
2. Getting around
The status bar
The control row
Several users at once
3. Firmware updates
4. Monitoring
4. Monitoring
Joints & TCP
Motor
Gripper
Power & Control Box
I/O
Plots
5. Diagnostics
5. Diagnostics
RT Diagnostics
System Info
Errors
Activity Log
Logs
Recordings
6. Tuning
6. Tuning
PID Config
Tune Filters
Walls
7. Programs and previews
7. Programs and previews
Plan Preview
Blocks
Reference
Reference
Glossary
End Effectors
End Effectors
MSG gripper
MSG gripper
About this manual
1. Overview
2. Technical data
3. Fingers and fingertips
4. Mounting and connecting
5. Operation
Variants and configuration
Hardware revisions
SSG48 gripper
SSG48 gripper
About this manual
1. Overview
2. Technical data
3. Fingers and fingertips
4. Mounting and connecting
5. Operation
Hardware revisions
Pneumatic tools
Pneumatic tools
About this manual
1. Overview
2. Technical data
3. Mounting and connecting
4. Air supply and circuits
5. Operation
Hardware revisions
Custom end effectors
Custom end effectors
The gripper configuration file
Tool spheres and collision geometry
Resources
Resources
Glossary
CAD and downloads
Simulation & AI
Simulation & AI
Before you start
Before you start
About this guide
Simulators
Simulators
Models and downloads
The description package
MuJoCo
URDF and ROS
NVIDIA Isaac Sim
Driving a simulator from the real arm
Package changelog
AI & learning
AI & learning
Teleoperation for data collection
Vision-Language-Action
Running inference
Support
Support
Report a problem
Versions & compatibility
Contributing
Community projects
FAQ
Dev Lab
Dev Lab
Admonitions
Text, lists and tooltips
Code blocks
Tabs and tables
Images, figures and grids
Diagrams and math
Page and site features
Robot XML
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Stub.
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