SCARA moving path setup

Hello,
My testing system is Debian Bookworm, LCNC 2.9.3
I tested SCARA moving from position-A to position-B as below video
The End-Point moves from A to B as straight line. It can be high possibility to have singularity situation.
 
I want the moving is as below video. The End-Point moves from A to B as arch line.
 
Can you advise how to do ?.

I compress as zip file so that I can upload here.
Thank you.
 

from version 2.9 on you can switch between cartesian mode (which you are using) and joint mode. There are no singularities in joint mode, so you may want to have a look at that.

Hi Aciera,
If I change from "world mode" to "joint mode", the button "enter auto mode to run programs" is inactive.
How can I enter auto mode and run joint mode ?.
Thank you.

You can change between 'Scarakins' and 'Identity' kinematics using the GUI button in the right panel or gcode commands 'M428' and 'M429'.