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We use the Vector 21 LRF as well. We have Archer XF101s with either ArcPad 8 or ArcPad 10 depending on unit. I'm looking for the same answer...
The 21's work great. You shouldn't have a problem pairing them up with ArcPad. You should be able to set the extension for Leica Vector and use default Com Port 1 if you are using a serial cable. ;)