Ways to send continuous cartesian instructions or to get the position update without blocking?

Yumi doesn’t have a functionality to use Pose mode on EGM, but only Joint mode. Are there any ways to control Yumi’s arm in cartesian position without blocking during the command? When I say ‘blocking’, it means the operation of the application stop until the robot gets to the destination, as we could observe MoveL function on other robots. If Yumi has a special instruction that I can get the streaming data of the current position during its movement, that would be great. I haven’t look through all the documentation about Yumi, but found there are some instructions specific for Yumi. Please let me know if you know anything.