ST Robotics On-line ManualsST manuals are currently organized as follows:
R12 robot manual, pdf
R17 robot manual, pdf
R19 robot manual, pdf
Getting started, a primer, pdf
Getting started, a primer for 6-axis R12, pdf
RobWin 7 manual, pdf
Android teach console, pdf
RoboForth has hundreds of words most of which you may never use.
All the lesser used (yet sometimes essential) words are described in this manual:
In depth, RoboForth
The system manual describes the controller hardware.
In depth, controller
The Glossary lists over 500 RoboForth commands with links to the in-depth manual pages.
Help sheets are available on the downloads page.
To see the hyperlinks:
Chrome: click the bookmarks icon top right, Firefox: click the sidebar icon top left then click the bookmarks icon.
Teach yourself, a tutorial, pdf (5-axis version)
Teach yourself, a tutorial, pdf (6-axis version)