Keyestudio 4DOF Manual page 201

198
When memorizing successfully, press down the key Z2 of left Joystick to make the robot arm carry out several
postures stored successively, looping.
Long press the key Z1, 4DOF robot arm will exit the looping action. Press the key Z1 again, start to memorize the
posture, after that, press the key Z2 to loop the memorized actions.