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to monitor the arm motion (although you can't see the entire arm with that camera - this cuts off part of monitorability when using the port arm to get AFT MPM alignment). I was able to drop in SP & EP with no problem, & take out WY & WR as required, then drop in WP. (Required a fair amount of camera fiddling) 4. no windows only AFT PORT camera (simulates large PL in bay) no D&C [[Left Margin]] (3e modified) [/Left Margin]] again, no problem. Aft port camera is sufficient - and is probably the best single eyepoint. It catches all 3 MPM's, and the markings give good cues on each. Noticed that I got the AFT tb with wrist markings: [[sketch]] (lines not overlapping) [I was able to detect & take out WR & WY after getting SP tb]