# Adding Waypoints In real-time

**URL:** <https://forum.universal-robots.com/t/adding-waypoints-in-real-time/41645>\
**Category:** General Application Help: How do I?\
**Created:** [October 30, 2025, 10:06pm UTC](https://forum.universal-robots.com/t/adding-waypoints-in-real-time/41645 "2025-10-30T22:06:55Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![mirarmughan.waseem](https://avatars.discourse-cdn.com/v4/letter/m/839c29/32.png) [@mirarmughan.waseem](https://forum.universal-robots.com/u/mirarmughan.waseem)\
**Post date:** [October 30, 2025, 10:06pm UTC](https://forum.universal-robots.com/t/adding-waypoints-in-real-time/41645/1 "2025-10-30T22:06:55Z")

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Hello,  
Currently working with a UR30, my use case is as following:

Suppose the robot is polishing a surface, and the user decides in real-time to cover more area and decides to add more points with an external input to cover the area in real-time, is something like this possible ?

Any help would be appreciated. Thanks

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**Author:** ![efn](https://avatars.discourse-cdn.com/v4/letter/e/35a633/32.png) [@efn](https://forum.universal-robots.com/u/efn)\
**Post date:** [October 31, 2025, 6:00am UTC](https://forum.universal-robots.com/t/adding-waypoints-in-real-time/41645/2 "2025-10-31T06:00:31Z")

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Sure. You can write coordinates to a variable whenever you want using a thread for example.

Something like waiting for a trigger, then write the robot’s current position to the variable.  
You can then have a counter or something in your program, that increments by 1 when the trigger is pushed. Then your program knows it has to move to another waypoint (which you have already defined beforehand - just without the coordinates).

It will be kind of crudely done due to the program being set up for the waypoints beforehand.