Hello Dear Community,
I’m programing the robot from Teach Pendant. Robot take an item from place1 and puts it, for example, at the place2. Then almost the same, takes from place1 and puts it on the place3 and so on.
When I just copy and paste MoveNodes for place2, and change there waypoints for place3. But when I change waypoints for place3, waypoints change for place2 as well.
Is there a way to unmerge those waypoints from each other?
Thanks in advance,
Giorgi
This button on the Waypoint screen will Link/Unlink waypoints. Copy/Pasting nodes automatically links them, which cost me hours of reprogramming when I was first learning this robot.
Thanks for the answer. I am new in Robotics. Your answer will help me a lot.
Another question, Robot has to pick up and put an item from/at different places. When robot picks up/places the item, it makes always the same movement but at different positions. Is there a way to use same movement for pickup/place, without teaching new waypoints?
In the Waypoint node, it comes in default as a “Fixed Waypoint.” You can drop this down to “Relative Position” which performs moves based on just wherever it is in space. So if your move is to go straight down, wait, grip, go straight back up you can make the Up and Down motion as relative, and it will just move up and down from wherever it ends up being.
Thanks a lot Erik!!!
Can someone please explain to me exactly how to unlink two copied waypoints?
When I click the button and select something from the dropdown menu, nothing changes. The waypoints are still linked.
I’m using a UR10 with CB3 - UR Software 3.15.3…
As Eric pointed out with a red ring, you have to press the chain link to unlink it. And again to link it to something else. 
EDIT: It sounds like you have an unlinked waypoint. And when you press the chain link, you have to link it to a waypoint.
My approach was as follows:
I copied a folder containing various waypoints, comments, commands, etc. from Part A so that the robot could process another Part B. However, this Part B is located in a different location. I only want to change the waypoints. If I change the waypoints of Part B, the waypoints of Part A also change automatically. Therefore, I assume they are linked. If I click on the chain link, only the dropdown menu opens. It doesn’t matter which waypoint I select from the dropdown menu. The waypoint is still linked to the previously copied waypoint.
I have experienced some bugs in PolyScope 3.15 related to linking waypoints, as well, so I reckon that’s what you’re seeing.
They do not make updates for the PolyScope 3 anymore, though.
Make sure your folder is not supressed and not minimized when you copy it. You might also be able to just rename the waypoint to something else. Just make sure it doesn’t change the Part A waypoint’s name, as well.
If nothing works, then you probably have to create new waypoints.