A continues curve is interpolated by points as follows:

```
PTP {X 25,Y 150,Z -8,A 180,B -45,C -180 }
PTP {X 25.3,Y 157.8,Z -8,A 175.5,B -45,C -176.81}
PTP {X 26.2,Y 165.6,Z -8,A 171,B -45,C -173.61}
PTP {X 27.8,Y 173.3,Z -8,A 166.5,B -45,C -170.37}
...
```

Two situations occur:

1. Turn bits change, while the movement of TCP still appears continuous.

2. Turn bits change, but the movement is not continuous in between. The arm makes a lot of movement (and takes time) to reach the next point which is very close to the previous one.

Thus I get some questions:

1. Is there a way to examine whether the robot will make a ‘non-continuous’ movement between two PTP commands (even the two points are very close to each other)?

2. I tried CIRC instead of PTP to make the same movement, however, it gets ‘software limit switch point cannot be reached’ error. I think the real problem is the robot arm cannot make the arc continuously, rather than the points on the arc cannot be reached.

3. How to make a continuous interpolated curve with Kuka in general? More precisely, how to segment the whole curve into several 'continuous' parts?