# Can you make a e-series robot follow a specific 3D toolpath. Spline curves?

**URL:** <https://forum.universal-robots.com/t/can-you-make-a-e-series-robot-follow-a-specific-3d-toolpath-spline-curves/24570>\
**Category:** Technical Questions\
**Created:** [October 24, 2022, 6:06am UTC](https://forum.universal-robots.com/t/can-you-make-a-e-series-robot-follow-a-specific-3d-toolpath-spline-curves/24570 "2022-10-24T06:06:07Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![peter.ravnsbaek](https://avatars.discourse-cdn.com/v4/letter/p/3d9bf3/32.png) [@peter.ravnsbaek](https://forum.universal-robots.com/u/peter.ravnsbaek)\
**Post date:** [October 24, 2022, 6:06am UTC](https://forum.universal-robots.com/t/can-you-make-a-e-series-robot-follow-a-specific-3d-toolpath-spline-curves/24570/1 "2022-10-24T06:06:07Z")

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Is it possible to make a UR e-series follow a three dimensional toolpath. Some sort of G-code file you upload in Polyscope. I have seen this guide: [UR+ | Universal Robots Toolpath Generator for SOLIDWORKS](https://www.universal-robots.com/plus/products/universal-robots/universal-robots-toolpath-generator-for-solidworks/) but that is basically only 2D.

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**Author:** ![miwa](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/miwa/32/2986_2.png) [@miwa](https://forum.universal-robots.com/u/miwa)\
**Post date:** [October 27, 2022, 11:19am UTC](https://forum.universal-robots.com/t/can-you-make-a-e-series-robot-follow-a-specific-3d-toolpath-spline-curves/24570/2 "2022-10-27T11:19:39Z")

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The Autodesk Fusion 360 post processor allows for 5-axis tool path generation.

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**Author:** ![s.andraos](https://avatars.discourse-cdn.com/v4/letter/s/9f8e36/32.png) [@s.andraos](https://forum.universal-robots.com/u/s.andraos)\
**Post date:** [November 22, 2022, 5:16pm UTC](https://forum.universal-robots.com/t/can-you-make-a-e-series-robot-follow-a-specific-3d-toolpath-spline-curves/24570/3 "2022-11-22T17:16:38Z")

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The [HAL Robotics Framework for Grasshopper](https://docs.hal-robotics.com) builds code export for UR robots into Rhinoceros and Grasshopper CAD packages so enables very easy spline manipulation and export/upload of URScript.