How can I restrict the components in AEM 5.6.1 that can be used in a particular parsys of a template with out selecting them in the design mode?
In CRXDE, under /etc/designs/[your design]/jcr:content, you can define nodes to represent each of your templates & their paragraphs & list the allowed components for each.
The format is a node for each template that contains a node for each parsys (both [nt:unstructured]).
The parsys node then has a sling:resourceType defined of foundation/components/parsys and a components property of String[]. For an example, check out how the Geometrixx one is defined: http://localhost:4502/crx/de/index.jsp#/etc/designs/geometrixx/jcr%3Acontent/contentpage/par
You could then extract this via VLT, which gets stored as a .content.xml file under etc/designs/[your design].
Alternatively, you can create that file by hand, too. E.g. the following would define 'Your Design' as allowing default "text" and "image" components on the "yourParsys" paragraph of "yourTemplate".
This allows you to move this file across instances (e.g when deploying a CRX package) so that you don't have to configure environments individually & which components are allowed where can also be managed by version control.