diff --git a/MotionCore/Arm.cpp b/MotionCore/Arm.cpp
index dbd7f87..9750920 100755
--- a/MotionCore/Arm.cpp
+++ b/MotionCore/Arm.cpp
@@ -7,13 +7,13 @@
 Arm::Arm(const std::wstring& comPort) noexcept:
 	oSerialBus(comPort),
 	joints{
-		// bus         axis            ref              len   idx  min     max     home    parent
+		//		   bus         axis          ref                 len  idx  min     max     home	  parent
 		ArmSegment(oSerialBus, Vector3d::Y,  Vector3d::Forward,   0.0, 0, -135.0,  45.0,   0.0,   nullptr),
 		ArmSegment(oSerialBus, -Vector3d::X, Vector3d::Up,       72.0, 1,  -38.0,  85.0,   0.0,   nullptr),
-		ArmSegment(oSerialBus, -Vector3d::X, Vector3d::Up,       97.0, 2,  -90.0,  90.0,   0.0,   nullptr),
-		ArmSegment(oSerialBus, Vector3d::X,  Vector3d::Up,      114.0, 3,  -90.0,  90.0,  90.0,   nullptr),
-		ArmSegment(oSerialBus, Vector3d::Y,  Vector3d::Forward,   0.0, 4,  -90.0,  90.0,  90.0,   nullptr),
-		ArmSegment(oSerialBus, -Vector3d::X, Vector3d::Up,       56.0, 5,  -90.0,  90.0,  90.0,   nullptr)
+		ArmSegment(oSerialBus, -Vector3d::X, Vector3d::Up,       97.0, 2,  -86.0,  89.0,   0.0,   nullptr),
+		ArmSegment(oSerialBus, Vector3d::X,  Vector3d::Up,      114.0, 3,  -85.0,  87.0,  00.0,   nullptr),
+		ArmSegment(oSerialBus, Vector3d::Y,  Vector3d::Forward,   0.0, 4,  -85.0,  87.0,  00.0,   nullptr),
+		ArmSegment(oSerialBus, -Vector3d::X, Vector3d::Up,       56.0, 5,  -85.0,  87.0,  0.0,   nullptr)
 	}
 {
 	if (!oSerialBus.isOpen()) {