1. Confirm the revision#
Use Model A / r3 when comparing models and documentation. The arm contains six arm joints and a separately driven gripper; seven actuators do not mean seven arm degrees of freedom.
2. Inspect the geometry#
Open the 3D model and engineering downloads. Review the mount, links, tool geometry, and cable service space for your intended installation.
3. Read the coordinate contract#
Follow Read the coordinate frames before comparing CAD and control coordinates. The mounting plane, reference base, flange, and TCP are distinct frames.
4. Review implementation status#
Payload, speed, and repeatability remain development targets. Cable fatigue, full-motion clearance, thermal capacity, and loaded operation are unqualified. The current sources do not provide a commissioned arm, deployable controller image, or qualified motion walkthrough.
For host message encoding, use the offline codec walkthrough.