This dataset offers a compilation of long-term dynamic motion data gathered over approximately 3.5 weeks from a newly designed 4-DoF tendon-driven robotic arm powered by pneumatic artificial muscles (PAMs). The data encompasses movements generated by random multisine signals of target pressures, as well as repeated fixed target pressure movements, facilitating the evaluation of system repeatability and performance. See: https://intelligent-soft-robots.github.io/pam_documentation/D1_datasets.html