The best way to use the Robotic ARM is to control the ARM with mobile APP (Makeblock APP). In this case, you need the Bluetooth version starter (you may need buy a Bluetooth module
If you have IR version starter instead of Bluetooth version, you can program for the Robotic ARM with the mBlock software:
Actually, you only need to program the 37 motor which control the arm and the motor in the Robot Gripper.
About programming with mBlock IDE for the 37 Motor and Griper, you can see the 37 motor is connected to Port 2 on Orion board and Gripper is connected to Port 1 on Orion board. Below is an example program.
Finally, if you want to control the arm and gripper with IR remote controller, you need program the IR controller either refer to this post.