# Build steps by milestone > For agents: start with the [agent guide](https://parol6.build/llms.txt). Every page is Markdown by default; add `Accept: text/html` for HTML. **Stub.** This page gathers the How-to section of each milestone. Each step opens the official page at the moment it is needed. The milestone pages say why each step matters and what the done check is. The official order is wrist to base, because every wire passes down through the robot ([building instructions](https://docs.source-robotics.com/PAROL-docs/1.1/assets/pdf/PAROL6_building_instructions.pdf#page=7), page 7). ## M1. Bench it - [Stepper drivers](https://docs.source-robotics.com/PAROL-docs/1.1/board/05-stepper-drivers/): driver orientation and heatsinks. - [Electronics and wiring](https://docs.source-robotics.com/PAROL-docs/1.1/build/electronics-and-wiring/) and [Connecting](https://docs.source-robotics.com/PAROL-docs/1.1/04-installation/connecting/): supply polarity. - [The test firmware](https://docs.source-robotics.com/PAROL-docs/1.1/board/09-test-firmware/): `#IO`, `#LIMIT` and `#STOP`. More: [M1 how-to](/lore/m1-bench-it#how-to). ## M2. One joint end to end - [Building instructions](https://docs.source-robotics.com/PAROL-docs/1.1/assets/pdf/PAROL6_building_instructions.pdf#page=20), pages 20 to 23 and 97 to 98. - Firmware upload with an ST-Link and the adapter ([Firmware](https://docs.source-robotics.com/PAROL-docs/1.1/board/08-firmware/)). - The direction check ([Firmware and first run](https://docs.source-robotics.com/PAROL-docs/1.1/build/firmware-and-first-run/), section 4) and [Jogging](https://docs.source-robotics.com/PAROL-docs/1.1/05-operation/jogging/). More: [M2 how-to](/lore/m2-one-joint#how-to). ## M3. The whole arm moves - The building instructions, joint by joint. - The wiring diagram and "Test before you close the base" ([Electronics and wiring](https://docs.source-robotics.com/PAROL-docs/1.1/build/electronics-and-wiring/)). - First power-on, direction fixes and homing ([Firmware and first run](https://docs.source-robotics.com/PAROL-docs/1.1/build/firmware-and-first-run/)). - Witness marks and [Mastering](https://docs.source-robotics.com/PAROL-docs/1.1/05-operation/mastering/). More: [M3 how-to](/lore/m3-whole-arm#how-to). ## M4. Pick and place - Gripper setup and the homing offset for the tool ([Homing](https://docs.source-robotics.com/PAROL-docs/1.1/05-operation/homing/); [End effectors](https://docs.source-robotics.com/PAROL-docs/1.1/end-effectors/)). - RBTscript programs ([Running programs](https://docs.source-robotics.com/PAROL-docs/1.1/05-operation/running-programs/)). - The [Python API](https://docs.source-robotics.com/PAROL-docs/1.1/programming/02-python-api/). More: [M4 how-to](/lore/m4-pick-and-place#how-to). ## M5 to M7 **Our design.** The official manual stops at pick-and-place. These steps are our own scripts on the [Python API](https://docs.source-robotics.com/PAROL-docs/1.1/programming/02-python-api/), written as completion tasks: [M5 how-to](/lore/m5-touch-the-skiff#how-to), [M6 how-to](/lore/m6-patch-a-cable#how-to) and [M7 how-to](/lore/m7-play-it#how-to). ## Terms - **building instructions**: the official assembly PDF. It builds the robot from the wrist to the base, because every wire passes down through it ([building instructions](https://docs.source-robotics.com/PAROL-docs/1.1/assets/pdf/PAROL6_building_instructions.pdf#page=7), page 7). ## Sources 1. [PAROL6 building instructions](https://docs.source-robotics.com/PAROL-docs/1.1/assets/pdf/PAROL6_building_instructions.pdf) Source Robotics. The official assembly PDF, built from the wrist to the base, page 7. Accessed 2026-11-07. 2. [The test firmware, PAROL6 docs 1.1](https://docs.source-robotics.com/PAROL-docs/1.1/board/09-test-firmware/) Source Robotics. The M1 bench commands. Accessed 2026-11-07. 3. [Firmware and first run, PAROL6 docs 1.1](https://docs.source-robotics.com/PAROL-docs/1.1/build/firmware-and-first-run/) Source Robotics. First power-on, direction fixes and homing. Accessed 2026-11-07. 4. [Python API, PAROL6 docs 1.1](https://docs.source-robotics.com/PAROL-docs/1.1/programming/02-python-api/) Source Robotics. The programming interface M4 to M7 build on. Accessed 2026-11-07. ## Lore on this page - [The PAROL6 milestones](/lore/milestones) - [M2. One joint end to end: the wrist and joint 6](/lore/m2-one-joint) - [M3. The whole arm moves](/lore/m3-whole-arm) - [M4. Pick and place, repeatably](/lore/m4-pick-and-place) ## What links here - Agent guide → Joel builds a PAROL6 robot arm, one sourced and filmed milestone at a time. → [Read page](https://parol6.build/llms.txt) - Change log → What changed in the files served here, newest first. → [Read page](https://parol6.build/log) - Full agent guide → Joel builds a PAROL6 robot arm, one sourced and filmed milestone at a time. → [Read page](https://parol6.build/llms-full.txt) - M2. One joint end to end: the wrist and joint 6 → The second milestone prints, assembles and wires the wrist, proves its homing sensor triggers, then jogs joint 6 to a commanded angle and measures the result. → [Read page](https://parol6.build/lore/m2-one-joint) - PAROL6 build → Joel builds a PAROL6 robot arm, one sourced and filmed milestone at a time. → [Read page](https://parol6.build/) - PAROL6 sources and licences → Every build fact on this wiki comes from the official PAROL6 manual and repository, which are linked here with their licences. → [Read page](https://parol6.build/lore/sources) - PAROL6 wiki | PAROL6 build → The PAROL6 build wiki: the milestones, their videos and the official sources behind them. → [Read page](https://parol6.build/lore) - Source change history (log.md) → The generated change log as Markdown. → [Read page](https://parol6.build/log.md)