Keyestudio 4DOF Manual page 184

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Test Result:
Wire it up, stack the shield onto UNO R3, upload the code. Powered on, press the key Z1 of right Joystick to save
the angle value of 4 servos. Press down the key Z1 to memorize different postures, at most 10 postures in the code.
If need to memorize more postures, you can set it in the code. When memorizing successfully, press down the key
Z2 of left Joystick to make the robot arm carry out several postures stored successively.