UFactory XARM User Manual page 184

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Servo_cartesian motion: move to the given cartesian position with
the fastest speed (1m/s) and acceleration (unit: mm). 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). It is recommended that the frequency of user
issuing commands be controlled within the range of 30Hz-250Hz. If
the frequency is lower than 30Hz, the motion of the robotic arm may
be discontinuous. Using this mode requires planning the fine
position of each axis and predicting the motion behavior of the
robotic arm, which is difficult to develop.
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