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    Source-Robotics/par6
    • PAR6 Arm
    • Control Box
    • Programming
    • Dashboard
    • End Effectors
    • Simulation & AI
    • Support
    • Dev Lab
    Source-Robotics/par6
    • PAR6 Arm
        • About this manual
        • 1. Overview
          • The robot system
          • Parts and labels
          • What is in the box
        • 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
          • Joint ranges and limits
          • Kinematics and frames
          • Operating conditions
        • 4. Mounting and installation
          • Unpacking
          • Choosing the location
          • Mounting the arm
          • Cabling to the control box
          • First power-on
        • 5. Operation
          • Power on, power off
          • Homing
          • Freedrive
          • Jogging
          • Running programs
          • Stops, faults and recovery
          • Checking the safety functions
        • 6. Tools and end effectors
          • The flange and the tool frame
          • Telling the robot which tool is mounted
          • Payload
        • 7. Application examples
          • Pick and place
          • A G-code toolpath
          • A block program
          • Hand-guiding into a simulator
        • 8. Maintenance
          • Inspection intervals
          • Belts and tensioners
          • Joint calibration
          • Checking homing repeatability
          • Cleaning
        • 9. Troubleshooting
          • Symptoms and causes
          • Homing failures
          • Getting help
        • 10. Transport, storage and disposal
      • 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
        • EMC test results
        • Letter of volatility
        • EU Declaration of Incorporation
        • Stopping times and distances
        • Hardware revisions
        • Glossary
        • CAD and downloads
    • Control Box
        • About this manual
        • 1. Overview
          • Parts and labels
          • The software inside
        • 2. Safety
          • Emergency stop wiring
          • Power states: enabled, disabled, off
          • Network security
        • 3. Technical data
        • 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
          • 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
          • Selecting the robot, tool and cell
          • Safety settings
          • Freedrive walls
          • Safety zones
          • Adding another robot model
        • 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
        • system.xml
        • Robot XML
        • Gripper XML
        • Homing sequence XML
        • Cell and zone XML
        • Signal filters
        • Telemetry recipes
        • Command-line tools
        • 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
        • Glossary
        • CAD and downloads
    • Programming
        • About this guide
        • 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
          • 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
          • Connection and message format
          • Replies and events
          • Waiting, callbacks and completion
          • Errors and stops
          • Telemetry stream
          • Clients in other languages
        • 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)
          • First stream
          • Position, velocity and torque streams
          • Stops and refusals
          • Examples
        • 6. Soft real-time (SOFT_RTI)
          • First stream
          • Smoothing, lag and pacing
          • Teleoperation and input devices
          • UDP or TCP
          • Examples
        • 7. Block programming
          • Points and positions
          • Block reference
          • Check and run
        • 8. G-code
        • 9. Diagnostics and troubleshooting
          • Log files
          • Recordings and the support bundle
          • FAQ
        • Per-move settings
        • 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
          • 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
          • wait_idle
          • wait_motion_complete
          • wait_mode
          • wait_homed
          • wait_enabled
          • wait_error_reset
          • wait
        • Motion settings
          • set_joint_speed
          • set_profile
          • set_blending
          • set_ik_solver
          • set_completion_policy
        • Jogging
          • jog
          • jog_stop
          • set_jog_accel
          • set_jog_profile
          • set_jog_jerk_factor
          • set_jog_control_mode
        • 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
          • set_digital_output
          • get_digital_input
        • Status and data
          • get_joints
          • get_pose
          • latest_status
          • get_status
          • errors
          • is_reachable
          • get_health
          • get_hardware
          • get_versions
        • 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
          • 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
          • connect
          • disconnect
          • connected
          • on_error
          • on_status_change
          • on_motion_complete
          • on_motion_error
          • remote_ip
          • local_ip
          • local_label
        • 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
        • Error and event codes
        • Telemetry tags
        • Status fields
        • Runtime release notes
        • Glossary
    • Dashboard
        • About this guide
        • 1. Getting started
        • 2. Getting around
          • The status bar
          • The control row
          • Several users at once
        • 3. Firmware updates
        • 4. Monitoring
          • Joints & TCP
          • Motor
          • Gripper
          • Power & Control Box
          • I/O
          • Plots
        • 5. Diagnostics
          • RT Diagnostics
          • System Info
          • Errors
          • Activity Log
          • Logs
          • Recordings
        • 6. Tuning
          • PID Config
          • Tune Filters
          • Walls
        • 7. Programs and previews
          • Plan Preview
          • Blocks
        • Glossary
    • End Effectors
      • 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
        • About this manual
        • 1. Overview
        • 2. Technical data
        • 3. Fingers and fingertips
        • 4. Mounting and connecting
        • 5. Operation
        • Hardware revisions
      • 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
        • The gripper configuration file
        • Tool spheres and collision geometry
        • Glossary
        • CAD and downloads
    • Simulation & AI
        • About this guide
        • Models and downloads
        • The description package
        • MuJoCo
        • URDF and ROS
        • NVIDIA Isaac Sim
        • Driving a simulator from the real arm
        • Package changelog
      • AI & learning
        • Teleoperation for data collection
        • Vision-Language-Action
        • Running inference
    • Support
      • Report a problem
      • Versions & compatibility
      • Contributing
      • Community projects
      • FAQ
    • Dev Lab
      • Admonitions
      • Text, lists and tooltips
      • Code blocks
      • Tabs and tables
      • Images, figures and grids
      • Diagrams and math
      • Page and site features

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