# API generated Waypoints lack in Range of TCP Offset

**URL:** <https://forum.universal-robots.com/t/api-generated-waypoints-lack-in-range-of-tcp-offset/3111>\
**Category:** Technical Questions\
**Tags:** bugs\
**Created:** [November 14, 2018, 7:42am UTC](https://forum.universal-robots.com/t/api-generated-waypoints-lack-in-range-of-tcp-offset/3111 "2018-11-14T07:42:03Z")\
**Posts on this page:** 1\
**Showing post:** 8

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**Author:** ![jbm](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/jbm/32/614_2.png) [@jbm](https://forum.universal-robots.com/u/jbm)\
**Post date:** [September 23, 2019, 7:51am UTC](https://forum.universal-robots.com/t/api-generated-waypoints-lack-in-range-of-tcp-offset/3111/8 "2019-09-23T07:51:44Z")

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I would like to suggest a possible workaround for this bug.  
Please report back if this is able to mitigate this issue.

When inserting a waypoint, you are either capturing the data from the RobotPositionCallback, or the RTDE.  
Either way, you are getting: Pose (including TCP) and the JointPositions at the given waypoint.

1. Create a Move node
2. Create a Move Node configuration, that configures the MoveNode to:  
a. MoveL or MoveP  
b. Specifies a TCP on the MoveNode other than “Use Active TCP” or “Ignore TCP” - selecting a distinct TCP.
3. Insert the MoveNode in the Tree.
4. Create a new Waypoint
5. Insert the unconfigured waypoint in the Tree, under the MoveNode
6. Create a Waypoint Configuration, that includes the Pose and JointPositions captured.
7. Apply the Waypoint Configuration to the “unconfigured” Waypoint in the Tree.

This should properly account for the TCP.  
Repeat steps 4-7 for each subsequent waypoint.  
Critical step are 2.b and 5.

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