UFactory XARM User Manual page 194

The wait in the "move joint" command indicates whether it is necessary
to wait for the execution of this command before sending the next
command.
Note: If you need to plan for speed continuous motion, make sure wait =
false, to buffer the commands to be blended.
2.2.2. Linear Motion and Arc Linear Motion
2.2.2.1. Linear Motion
Characteristics of Linear Motion
The concept of linear motion
• Straight linear motion between Cartesian coordinates (unit: mm),
the speed is not continuous between each command.
• Users can control the motion of the robotic arm based on the base
coordinate system and TCP coordinate system. The trajectory of
tool center point in the Cartesian space is a straight line. Each joint
performs a more complex movement to keep the tool in a straight
path. The TCP path is unique once the target point is confirmed,
and the corresponding posture in the execution process is
random. X, Y, and Z control the position of TCP in base or tool
coordinate system, in the unit of mm. While Roll/Pitch/Yaw
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