[John C]

The bottom two joints are driven by the same motor and controlled by the Y- axis of the left joystick. The third arm segment is controlled with the Y- axis of the right joystick. The grabber open and close and the wrist motion are controlled with the buttons on each joystick. The turret is controlled by the X- axis of the right joystick. The box contains the activation for our presets which will move the arm to a previously stored position. We have 4 presets for load positions and 6 for putting tubes on the rack (2 positions for each height). The presets can be overridden at any time by moving the joysticks. It may seem complicated but it’s actually fairly easy to control. When we place tubes on the rack I usually use the preset to get close then override it to finish lining it up.