Now drive the lower arm using the '+' and
'-' keys until it (more precisely: the  
plane determined by the two centering pins)
is located parallel to the base plate.

Confirm the position using 'Enter'.

As before, ROB3 again drives to this 
position 'dynamically' and you have
the possibility for correction.

When you have aligned the lower arm (with
the upper arm aligned at +22.5 degrees)
as well as possible parallel to the base
plate, terminate this section using
'Ctrl-Enter'.