Currently, I'm trying to control the position as well as the velocity of the UR. I have recorded a path as the desire path and try to repeat the path by my controller. My question is:1) If use MoveL, the velocity should be a single value. However, according to my recorded data, the velocity is a 6*1 vector. How to set the velocity for MoveL?2) Since MoveL cannot guarantee a smooth movement, I'm also trying to use servoL and speedL. Seems servoL cannot control velocity. By using speedL, if I introduce the recorded velocity, can I repeat the desire path? I'm still struggling with programming with speedL, but doubt it as there is no position information introduced with this command.Thanks in advance.