Launched on STS-100 in April 2001, this second generation arm is a larger, more advanced version of the Space Shuttle's original Canadarm. Canadarm2 is when fully extended and has seven motorized joints (an 'elbow' hinge in the middle, and three rotary joints at each of the 'wrist/shoulder' ends). It has a mass of and a diameter of and is made from titanium. The arm is capable of handling large payloads of up to and was able to assist with docking the space shuttle. It is self-relocatable and can move end-over-end to reach many parts of the Space Station in an inchworm-like movement. In this movement, it is limited only by the number of Power Data Grapple Fixtures (PDGFs) on the station. PDGFs located around the station provide power, data and video to the arm through either of its two Latching End Effectors (LEEs). The arm can also travel the entire length of the space station truss using the Mobile Base System.