UFactory XARM User Manual page 113

4. When the robotic arm is moving, the jerk can not be modified.
1.4.9.2. Assistive Features
【Orientation Control】
xArm supports adjusting the rotation of the robot arm through the axis-
angle and R/P/Y. Generally, it is recommended to use the axis-angle
since the axis-angle control is more intuitive. The choice here
determines the TCP control mode of the xArm Studio Live Control page.
The left side of the figure below is the axis-angle control, the button is
displayed as Rx/Ry/Rz; the right side is the R/P/Y control, and the
button is displayed as R/P/Y.
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