This looks great, what a time for this to release as I’ve been having trouble with my Solace Pro for a long time, its really annoying. I have ONE MAJOR question though. I have made scripts for videos before but I have experienced stutters because of drastic speed changes in my script. I made those speed changes on purpose for realism, but my Solace pro cant keep up. Its Bluetooth only so it just stutters on drastic changes to speed and position. Can the MiraBot S6 / MiraBot Light handle speeds like slow up into drastic fast downward motions? I’m ready to honestly just buy one right now tbh. Also a side question, if I get the twist module of either the MiraBot S6 / Light can I add the open ended version (if I buy the open ended extension separately) to them whenever I please?
Hi,
Thanks for your interest in MiraBot, and thank you for the detailed question — this is actually a very good and very practical concern.
Regarding sudden and drastic speed changes in scripts: so far, in all of our internal tests and real user scenarios, we have not encountered stuttering issues with MiraBot over BLE. If you already have a script that caused problems on your Solace Pro, you’re very welcome to send it to us — we can test it on our side and confirm how it behaves on MiraBot.
If you prefer not to use Bluetooth, we’re also working on a new Wi-Fi firmware for MiraBot. This firmware will support network-based control, and once it’s ready (estimated in about 1–2 months), you’ll be able to upgrade via our online flasher tool.
As for the Twist and open-ended receiver: MiraBot uses a fully modular design. Twist, Open Receiver, as well as modules like T-Valve and i-Lube (on S6) are all external, plug-and-play modules. You can absolutely add or change these modules later whenever you like — there’s no need to decide everything upfront.
Thanks so much, @rukaP , this ifs really helpful.
I’ve been in the market for a multi-axis device to help expand my multi-axis script library. The build looks pretty nice.
Ruka’s review gives great promise so I placed an order. Hopefully it checks all of the boxes!
I’ll be back with some thoughts after I’ve had the opportunity to do some testing.
Thank you very much for your order! We really appreciate the trust. 
Looking forward to hearing your thoughts after you’ve had some time to test it — feedback from experienced users like you is always very valuable to us. Hope it checks all the boxes for you! 
Guys I’m having trouble connecting the mirabot to anything other than the app. I’ve tried both Bluetooth and USB and it doesn’t work. I’m missing something obvious for sure, I’m new to this kinda stuff. How’s supposed to work?
Hi,
Most OSR software currently supports USB (wired) connections, but not all of them support Bluetooth.
When using a wired connection, you’ll need to check which serial port your MiraBot is connected to, then select the correct port in the software — after that it should work normally.
If you’re still unsure, feel free to take a screenshot and send it to our support team at service@mirabotx.co.jp.
We’ll be happy to help you out 
I’d love an actively cooled higher KG servo version
I have really long sessions and keep destroying my servos on my SR6
That’s a very valid concern, and actually one of the exact reasons we redesigned the servo selection for MiraBot.
Heat management and long-session durability were major factors for us. We use 35kg coreless servos with thermal protection, and the whole structure is designed to avoid the typical SR6 “servo death after long sessions” problem.
Coincidentally, we just finished a heat test on the MiraBot S6 this week. I’ll share the results soon — I think you’ll find it interesting 
Just a quick clarification —
The current MiraBot S6 promotion will officially end at the end of February.
After that, orders will move forward under standard conditions.
If the current offer matters to you, ordering within the promotion period is the safest option.
As always, feel free to ask if you have technical or compatibility questions.
MiraBot S6 Thermal Performance Test — Real-World Results
Hi Guys,
Some time ago, I mentioned that we planned to conduct a proper thermal performance test for the MiraBot S6. Due to a very busy development schedule, the test was delayed longer than expected, but we were finally able to complete it this week.
Today, I’d like to share the full testing process and results with you.
Although we’ve discussed MiraBot’s thermal design multiple times in this thread, we still see concerns from some users about the absence of active cooling systems such as fans. Rather than debating this theoretically, we believe it’s more useful to look at real-world measurements under controlled conditions.
Test Setup
Device: MiraBot S6 (test unit in active use for ~5 months)
Ambient temperature: ~24 °C
Load configuration:
• Twist module
• Modular case with sleeve (approx. 680 g total load)
Tools used:
- Ayva web controller (for motion patterns and speed control)
- Industrial-grade infrared thermometer (surface temperature)
Test 1 — Simulated Real-World Usage
Method:
Random motion patterns with varying speeds, continuously running for 30 minutes.
Servo surface temperatures were measured every 10 minutes.
Note: The Pitch servo is located inside the chassis and cannot be measured directly. It is not a primary load-bearing servo, and in normal operation its temperature does not exceed that of the other servos.
Test video:
(Single continuous take, with time-lapse acceleration in the middle section)
Results:
- 11 minutes:
• Lower servo: 32 °C
• Upper servo: 39 °C - 20 minutes:
• Lower servo: 36 °C
• Upper servo: 45 °C - 30 minutes:
• Lower servo: 38 °C
• Upper servo: 47 °C
Conclusion:
During extended operation, servo temperatures did not rise linearly and stabilized well below critical thresholds.
Throughout the entire test, surface temperatures remained under 50 °C, leaving a substantial margin before the built-in thermal protection threshold ( >70 °C).
This indicates that the passive thermal design is working effectively under realistic usage conditions.
Results may vary slightly depending on ambient temperature and airflow, but the relative thermal behavior remains consistent.
Test 2 — High-Stress / Extreme Speed Scenario
Method:
Maximum achievable motion speed using the web controller, continuously for 10 minutes, with temperature measurements taken every 5 minutes.
This speed level is well beyond what is realistically tolerable for human use and was tested solely to observe thermal behavior under extreme mechanical stress.
Test video:
Results:
- 5 minutes:
• Lower servo: 32 °C
• Upper servo: 45 °C - 10 minutes:
• Lower servo: 37 °C
• Upper servo: 59 °C
Conclusion:
Even under extreme operating conditions, temperatures did not reach the thermal protection trigger point within the 10-minute window.
However, it’s important to emphasize that mechanical wear — particularly on servo gears — becomes the dominant risk long before thermal limits are reached.
For this reason, we intentionally limited this test to 10 minutes and do not recommend replicating this scenario in regular use.
Final Notes on Design Choices
This test confirms that under normal usage, MiraBot S6 users do not need to worry about overheating, chassis deformation, or unexpected shutdowns due to thermal protection.
The absence of active cooling (such as fans) is a deliberate engineering choice, not an omission.
Our design prioritizes passive thermal stability, avoiding additional noise, dust intake, and long-term mechanical failure points that active cooling systems can introduce.
The selected voltage and power configuration intentionally stays below the absolute mechanical limits of the servos. We believe this strikes the best balance between:
- Performance
- Quietness
- Safety
- Long-term reliability
Pushing further in any single direction would inevitably compromise the others.
As always, we appreciate the community’s questions and feedback — they directly influence how MiraBot continues to evolve. If you have further concerns or would like us to test additional scenarios, feel free to share your thoughts.
Having written an extensive review myself where I tried to highlight the servos and the built-in thermal protection, it’s great to see official data that aligns so closely with my own experiences.
Your testing methodology is top-notch, especially the honesty regarding Test 2 and the trade-off between thermal limits and mechanical wear.
It’s rare to see a company respond to community concerns with such transparent, real-world measurements. This definitely reinforces my confidence in the reliability of the S6. Thanks for putting in the work despite the busy schedule! 
Hi, very interested in buying one — just have a couple of questions before pulling the trigger.
- I’m having difficulty deciding between the Open module and the Twist module. I would like the full features that the Twist provides, but I’m not entirely sure how compatibility works.
Does it work only with specific brands like Fleshlight, or specific sizes?
For example, can I use a normal Tenga disposable stroker, and/or something larger like the Tenga Flip Zero (reusable)? I currently own both and really enjoy the Tenga strokers.
Or would the Open module be the better choice if I want maximum flexibility to use different kinds of strokers?
Sorry if this is a silly question — just trying to make the right decision before ordering.
- I am a heavy VAM user and intend to use the SR6 with VAM for maximum immersion.
However, last time I tried setting up The Handy using this tutorial:
I failed to get it working properly. Bluetooth connection was unreliable, and even after connecting, VAM couldn’t properly drive the device.
Do you have any step-by-step video guides specifically for using the S6 with VAM? Or is there an existing guide that I may have missed? I’d really appreciate a clear walkthrough to avoid setup frustration again.
- Regarding the free USB heater promotion — I just need to leave my forum username in the order notes, correct? Is the promotion still active? Also, does the Full Set version include the desktop mount?
Thanks in advance!
Hi, Ruka!
Thank you very much for taking the time to write this — it really means a lot to us.
Your original review was actually one of the references we kept in mind when planning this test, especially regarding servo behavior and thermal protection under real use. Seeing that our measurements align so closely with your hands-on experience is very reassuring for us.
Community feedback like yours is a big reason we take the time to run and document these tests properly, even when schedules are tight. Thanks again for the thoughtful review and for your continued confidence in the S6
Hi, thanks a lot for the thoughtful questions — not silly at all. These are exactly the right things to ask before ordering, so I’m happy to go through them one by one.
1. Open Receiver vs Twist Module — sleeve compatibility
The S6 supports different sleeve types through three receiver options, each with a slightly different focus:
① Twist Module
This uses a bayonet-style mount designed for standard Fleshlight shells.
If you already like Fleshlight-style housings and want rotational motion, this is the most straightforward option.
② Open Receiver for Twist
This is included with the Twist version. It uses straps to secure sleeves with an outer diameter of roughly 68–82 mm, including:
- soft sleeves
- reusable sleeves with housings (like many Tenga-style designs)
③ Open Receiver (non-Twist version)
This one is aimed at maximum flexibility. It can secure larger or irregularly shaped sleeves (we generally recommend keeping total weight under ~1000 g).
If your goal is maximum sleeve flexibility, the most versatile setup — and the one many experienced users choose — is:
Twist version (which includes Open Receiver for Twist) + the non-Twist Open Receiver.
Because the S6 uses a plug-and-play modular system, switching between the Twist module and the Open Receiver doesn’t require disassembly or complicated rework. This was one of the areas we intentionally improved compared to earlier SR6-style designs.
The same modular ports also allow easy use of other add-ons like T-Valve, i-Lube, and future modules.
2. Using S6 with Virt-A-Mate (VaM)
VaM + S6 is honestly one of the most immersive setups available right now, so you’re on the right track here.
The key piece is using a multi-axis capable plugin. I strongly recommend Yoooi’s ToySerialController, which is widely used in the VaM community and supports up to 6 axes. Here’s a good intro post on the VaM Hub that’s worth checking first.
That said, I agree VaM setups can be frustrating the first time. To address this, I’m currently preparing a step-by-step MiraBot + VaM setup guide, which will be published on the MiraBotX blog next week.
We’ll also be expanding VaM-related content there, including:
- recording VR scenes and multi-axis scripts
- using MiraPlay AiO’s Gesture Sync to control VaM characters
- …
Connection note:
At the moment, VaM + S6 works via wired connection. BLE isn’t suitable for VaM control.
If wireless operation is important to you, we’re releasing a Wi-Fi firmware very soon. Existing users will be able to flash it using our online tool, and upcoming production batches will also offer a Wi-Fi firmware option out of the box.
3. USB heater promotion & Full Set contents
Yes — just leave your ES forum username in the order notes, and we’ll include the USB heater.
The promotion is active until the end of this month.
The Full Set includes all accessories shown on the product page, and that does include the desktop mount.
If anything above is unclear, feel free to ask — either here or via DM.
And for anyone else reading along: questions like these help us improve our documentation, so they’re always welcome. 
I’m looking into the S6 and had a few questions before I pull the trigger. I’m particularly interested in the I-Lube and I-Heat mods. Since I don’t see these offered as options for the Lite, I wanted to confirm if they are exclusive to the S6 due to hardware limitations. I’d also love some real-world feedback on them:
I-Heat: Is the heating noticeable through the sleeve during a session? Does it require a significant pre-heat time?
I-Lube: Does it handle somewhat thicker lubes like X-lube without clogging? Can parts be replaced if needed? Can the I-Lube be controlled with funscripts?
Do you see any issues with the heating or lube cable getting twisted or coming off when using the twist module?
Regarding the WiFi firmware update mentioned for next month. My computer will be in another room connected to the router via ethernet while my S6 would be in another part of the house connected via a wired wifi 6 access point (as will the Quest 3 for VaM) within a few feet of it. I’ve seen some discussion in the community (and from other sellers) suggesting that WiFi on ESP32-based devices can sometimes suffer from jitter or stuttering during high-speed movements due to radio noise or packet timing. Do you expect the WiFi connection to be as smooth as a wired USB or Bluetooth connection during fast motion (assuming a fast and stable home network environment)? To confirm for my setup, will the device be compatible with MultiFunPlayer’s “T-Code over Network” output when using wifi?
The Gesture Sync feature in AiO looks interesting. Is it possible to remap the movement controls? I was thinking that if I wanted to add twist movement it would be easier to have the phone flat on the table and simply use your fingers to rotate it clockwise or counterclockwise, rather than having to hold it straight up and twist your hand back and forth (and not accidentally add unwanted movements on other axes) which would become tiring after a while. Can you disable all other axes except twist for Gesture Sync?
Thanks for the help!
Hi！ Thanks for the thoughtful questions, and I really appreciate the level of detail you shared about your setup. I’ll go through each point below.
Lite vs S6 (I-Lube / I-Heat availability)
Lite was intentionally designed to be compact, lightweight, and simple to use, while S6 focuses more on power and expandability. They serve slightly different use cases.
For users who move their setup frequently, want an easier installation process, or are just getting into multi-axis devices at a lower entry cost, Lite tends to be a better fit. Adding expansion modules would take away those advantages and essentially turn it into a reduced S6 rather than a distinct product.
As a side note, we’re also exploring some accessories aimed at female users, and Lite is actually a very suitable platform for that direction.
I-Heat
Is the heating noticeable through the sleeve?
Yes — you can definitely feel the sleeve being warmed during use.
Pre-heat time?
Pre-heat is a bit longer (around ~15 minutes in my experience). The design goal is to maintain a temperature close to body temperature rather than heating aggressively, which would be less safe.
If you want to shorten the wait, a practical approach is to pre-warm with a heating rod and then use the heated case to maintain temperature.
I-Lube
Thicker lubes like X-lube?
I haven’t personally tested X-Lube specifically, so I can’t give a definitive answer there. With commonly used lubes we haven’t seen issues. I’d be interested to test it if the opportunity comes up.
Replaceable parts?
To be honest, i-Lube as a module is structurally quite simple, so there are very few parts that would realistically need replacement.
Funscript control?
Great question — at the moment there isn’t software support for controlling i-Lube via funscripts, and we don’t support it yet either. It’s something we’re actively working toward, but it will take some time.
Twist module — cables / tubing
We haven’t seen issues with cables or tubes twisting off. The maximum rotation range is about 270°, which generally avoids excessive twisting, and the mounting is quite secure.
WiFi firmware / ESP32 concerns
You’re absolutely right that in theory ESP32 WiFi can experience jitter under certain conditions due to radio interference or packet timing.
In our testing so far, noticeable issues have been very rare, and even in edge cases they haven’t impacted normal use. During the current beta phase we’re closely monitoring feedback from users.
Smoothness vs USB/Bluetooth?
From a purely technical standpoint, WiFi won’t be as inherently stable as a wired USB connection. However, in a strong and stable home network environment, the perceived experience is generally very close without obvious differences.
MultiFunPlayer T-Code over Network?
Yes — the WiFi firmware supports both USB wired and UDP network connections, so it will work with T-Code over Network.
Gesture Sync (MiraPlay AiO)
At the moment, remapping controls or disabling specific axes (like running twist-only) isn’t available yet.
That said, your idea of using the phone flat on a table and rotating it with fingers is very interesting — I’ve noted it down as a potential direction for future development discussions.
Thanks again for taking the time to ask such detailed questions — setups like yours are exactly the kind of scenarios we like to think about when refining features. If anything else comes to mind, feel free to ask
Thanks @Gesmax for the detailed reply. I will probably order the SR6 shortly.
On the I-Lube, I came across a thread after I posted my question that seems to say that the I-Lube can be controlled by MFP using the A2 axis in Tcode v0.3 and naming the script videoname.lube.funscript. Shouldn’t that then work with the S6?
Yes, that’s correct
The S6 firmware is also based on T-Code v0.3, so when using MultiFunPlayer it behaves the same as a typical SR6 setup, including support for the A2 axis mapping.
That means if you’re using the videoname.lube.funscript approach, it should work the same way with S6 as it does on a standard SR6 configuration.
So you can treat it just like any other SR6 device — there isn’t anything special you need to configure beyond your normal setup.
I wanted to check on the status of my order, so I went into my email and clicked on the order number…
But it instead lead me to an Admin login page.
Looking at the URL, the url itself contains /wp-admin/ and admin.php in the path. So I don’t think it’s linking to the correct page.
Where can I check the status of my order?
edit: found another email with my tracking number. Still, thought you should know that your emails are probably linking to the wrong page.