it needs to be as light as possible for low mass, however, making the arm too light sacrifices rigidity.
I think what he's talking about here is the construction of the arm itself. If you make the arm too light by making the spindle wall thinner and the arm wand thinner, for example, the arm will loose rigidity. I do not believe the comment has anything to do with the position and number of counterweights, but I need to read the manual again to fully understand what is discussed in that section.
Are any of you able to update your virtual system now? I want to add my new air compressor, but when I log in to my account it says there is no system saved, even though I can view the thread.