Hello,
Im trying to figure out, how to correctly set the setpoints (setp1 and setp2). I can’t make sense of the used units (which units are used?) in combination with the chosen coordinate system (which coordinate system is used?). The robot arm just goes anywhere, but not where I want it to move. Is there a documentation on how to correctly set up these setpoints (units, coordinate system,…)?
Kind regards
The robot should use its Base frame and active TCP. Coordinates are in metres and rotation is in radians if using a position variable. 
I’m not entirely sure your waypoints are defined correctly (I’m not very experienced in programming in code, though). Try putting a p in front of the variable and use this variable: p[0.4, 0.4, 0.4, 0.0, 3.142, 0].
If you’re not using a position variable (a leading p), the robot will see it as joint rotation in radians. So [J0, J1, J2 etc], which could explain your main issue.
Thanks for your reply. I managed to move the robots TCP to a specific x-y-z-coordinate in meters. Rotations of the TCP are in rad as you said. I had to define the coordinate system in the rtde_loop in the ur10-program. Seems to work fine. Thank you.