Lets Move another step
Following block I captures the block that you sent me Name " BT Basic setup send "
Can you please more elaborate the purpose of this block
Thanks in advanced
Simply that, if their is an error of some kind, this block traps it. As it is, it will simply report the error as Android does, but your code can decide what to do next. For example, if the App could not send data, you will get one of the 500 codes (see my site, link below). You could code to try again or ask the User to try to reconnect.
Hi
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A number of typos - plus, you are setting Clock timers via the Palette and the Blocks - just set them in the Blocks. They should be turned on/off as and when required, not immediately as you have set in the Palette.
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The use of sending 'S' needs to be sorted out - it could be sent as just another command and does it need to be repeated (streamed) as the other commands are? I would expect not.........
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The images are compressed 100%, that should be zero %, otherwise the phone's processor and memory are preoccupied decompressing them.
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Gyroscope Sensor? It currently isn't doing anything so it should not be enabled - but is it actually required for something?
So, I have done a bit of housekeeping (images still need to be done, 'S' command stream still needs thinking about):
D_Cube_Robot_F6.aia (186.4 KB)
If you have made any changes to the Sketch, make sure there are no typos and the time interval is compatible with the App. I would comment out anything unnecessary, such as printing to the Arduino Serial Monitor.
Hardware - I noticed that D-Cubed advise soldering:
For greater noise suppression, you can solder two capacitors to your motor, one from each motor terminal to the motor case
That requires a lot of skill, since too much heat in one spot can deform the motor casing slightly (beneath the solder), thus impacting performance. If the motor casing has purpose-made tabs for soldering, great.
I also noticed your 'advertisement' in the App for the D-Cubed website - are you representatives of D-Cubed?
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More thoughts on the hardware side:
Does the "getting stuck" occur in the same position each time? It may be the the joints are binding, creating too much friction for the motor to overcome. A tiny dot of bicycle lubricant on the gear teeth could work wonders. It may be of course that the motors are not powerful enough or are unable to draw the Amps needed.
Happy New Year!
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Wishing you and your family a safe, healthy, and prosperous new year
We have a project called soldering day for our students so that we spend around three weeks on that
http://dcube.lk/soldering/
generally we used N20 motors for robotics , by using 60w soldering Iron students can solder it withing 10 second after applying sandpaper. Otherwise heat can distribute throughout whole the motor housing but i can agree with that you pointed-out a good advise
I am Founder of D Cube
Very cool. Do you sell world-wide?
Previously We used another gripper for students those who registered our classes, This is the new robot arm that I design during the pandemic. Not more than 30 units sell out among our students . No idea how to promote world-wide
Hopefully you would like robotics and engineering
I'm an Engineer of over 40 years standing, working on some exciting projects such as Concorde in my time. I'm not a specialist in avionics but certain aircraft still use my pitot static system today.
My granddaughter is interested in robotics - she is very young but very smart and with good attention to detail.
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I am really happy meet you on this forum as such grate experience engineer ,
So What can I do for you in my end
.... get your Robot arm working reliably with App Inventor 
That's a kind offer Dayan but I cannot accept. If the Power Users started accepting gifts of any form, it would not sit right. We are here for everyone, everyone is equal, our service is free.
I will be one of your customers though 
Orrr I am sorry
Let me know before purchase
You have nothing to be sorry about Dayan. How is your progress with the Arm?
Its ok
The arm is working it all the basic steps , and App also working base on your help. Now I need to check app with several phones. So I need to send apk file to my students for the testing ,
So keep this project bit away. The best way is testing with students. I will come back to this tread
Now I stated IoT project with Blynk App, To automated my room pedestal fan
Have you experience with Blynk app
Just now is the first time I have heard of Blynk App
Using Blynk you can automated your home , ( IoT ), You can ON and OFF your room bulb from the bed, and anything