Universal Robots UR5e - Page 191

Set Fixed Waypoint
Description Setting a fixed waypoint means that you move the robot arm to the position
of the specific waypoint that you want to set. Then the waypoint is "set" in
the robot program as a position in the overall movement of the robot arm.
You can use the freedrive mode, or you can move the robot arm with the
manual controls in the Move tab. See: Moveon page178
Setting a Fixed
Waypoint
To add a fixed waypoint to a robot program
UR5e 191 User Manual
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