So many collisions I had to prevent. Arm 4 has to swing from horizontal to up in order to avoid colliding with arm 5's atom - it's the only way I could find to clear the space fast enough to output.
I wish I could find a way to fix the geometry without the track, but the skill issue is real. (130G is a 7R version of this, since no collision = no bad geometry.)

Had a 6R purification solve before this one, but it was 42c due to high latency output. Also one I'd expect others to have come up with, it's certainly simpler than this.