UFactory XARM User Manual page 183

spatial circle according to the three-point coordinates, the three-
point coordinates are starting point, parameter 1 and parameter 2.
The following motion modes are in servoj mode:
●
Servoj motion: move to the given joint position with the fastest
speed (180°/s) and acceleration (unit: degree/radian). This
command has no buffer, only execute the latest received target
point, and the user needs to enter the servoj mode to use. In servoj
mode, the maximum receiving frequency of the control box is 250Hz
(the maximum receiving frequency of the version before 1.4.0 is
100Hz). If the frequency of sending commands exceeds 250Hz, the
redundant commands will be lost. The xArm-Python-SDK interface
function we provide also reserves the speed, acceleration and time
settings, but they will not work at present. The suggested way of
use: If you want to plan your track, you can use this command to
issue a smoothed track point with interpolation at a certain
frequency (preferably 100Hz or 200 Hz), similar to the position servo
control command. (Note: this execution is similar to the step
response, for safety considerations, do not give a distant target
position at once). Using this mode requires detailed position
planning for each axis and motion estimation of the robotic arm,
which is difficult to develop.
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