# Force mode + waypoints for bending **URL:** \ **Category:** General Application Help: How do I?\ **Created:** [May 26, 2023, 2:16pm UTC](https://forum.universal-robots.com/t/force-mode-waypoints-for-bending/28648 "2023-05-26T14:16:43Z")\ **Posts on this page:** 2\ **Page:** 1
**Author:** ![ilijamajcen](https://avatars.discourse-cdn.com/v4/letter/i/e95f7d/32.png) [@ilijamajcen](https://forum.universal-robots.com/u/ilijamajcen)\ **Post date:** [May 26, 2023, 2:16pm UTC](https://forum.universal-robots.com/t/force-mode-waypoints-for-bending/28648/1 "2023-05-26T14:16:44Z")
Hey there. I´m a bit confused on how to use force mode in combination with waypoints. I need the robot to move from one waypoint to another applying force. Force direction = tools x. ![Bildschirm­foto 2023-05-26 um 16.05.27](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/d/dbaedcfc383cf9949b06bc9a712805337a0b9fb5.png) I use force mode _frame_ and choose _tool_ as feature. When I play the program the robot starts at the first waypoint and drifts off in the direction of the first tools x. It does not stop and ignores the other two waypoints. Usually I use Grasshopper + Robots plug-in to generate the code, which works nicely. However, now I need to bend a wooden slat and the robot goes into protective stop directly as I start bending. I tried changing payload but this doesn’t help. That’s why I thought maybe force mode will do the job. I´d appreciate your help Cheers from Berlin Ilija ---
**Author:** ![ilijamajcen](https://avatars.discourse-cdn.com/v4/letter/i/e95f7d/32.png) [@ilijamajcen](https://forum.universal-robots.com/u/ilijamajcen)\ **Post date:** [May 26, 2023, 2:18pm UTC](https://forum.universal-robots.com/t/force-mode-waypoints-for-bending/28648/2 "2023-05-26T14:18:04Z")
Here is my program: ![IMG_7277](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/8/83d6e76ddf5ca677c026d052b9466fa7fd8b0a70.jpeg)