When using a 6-Axis Robotic Arm with an EXP Brain, you will have to configure the 6-Axis Arm like you would any other device. Once a 6-Axis Robotic Arm is configured, the Arm's commands will be added to the Toolbox.
Open a project in VEXcode EXP.
Select the Devices Window icon in the top right corner of the screen.
Select the Add a device button.
Select 6-AXIS ARM from the list of available devices.
Select which port the 6-Axis Robotic Arm is connected to on the EXP Brain.
Once you have selected a port, it will turn green.
Now, you can rename your 6-Axis Arm to whatever you want. This will be used in all blocks and commands for this 6-Axis Arm.
Select Done.
Arm commands will appear in the Toolbox for the 6-Axis Arm, allowing you to begin coding the 6-Axis Arm in VEXcode EXP.