# How to save a waypoint as installation variable with same trajectory

**URL:** <https://forum.universal-robots.com/t/how-to-save-a-waypoint-as-installation-variable-with-same-trajectory/36084>\
**Category:** General Application Help: How do I?\
**Created:** [September 17, 2024, 2:31pm UTC](https://forum.universal-robots.com/t/how-to-save-a-waypoint-as-installation-variable-with-same-trajectory/36084 "2024-09-17T14:31:09Z")\
**Posts on this page:** 3\
**Page:** 1

<div class="post-metadata">

**Author:** ![Ivory](https://avatars.discourse-cdn.com/v4/letter/i/b487fb/32.png) [@Ivory](https://forum.universal-robots.com/u/Ivory)\
**Post date:** [September 17, 2024, 2:31pm UTC](https://forum.universal-robots.com/t/how-to-save-a-waypoint-as-installation-variable-with-same-trajectory/36084/1 "2024-09-17T14:31:09Z")

</div>

I know you could save a tcp pose as an installation variable but would that make the robot joints move differently anytime you repeat the program? I want a waypoint I can save as an installation variable that keeps its joint trajectory the same just as if we were to run a normal program with basic waypoint nodes.

---

<div class="post-metadata">

**Author:** ![efn](https://avatars.discourse-cdn.com/v4/letter/e/35a633/32.png) [@efn](https://forum.universal-robots.com/u/efn)\
**Post date:** [September 18, 2024, 6:32am UTC](https://forum.universal-robots.com/t/how-to-save-a-waypoint-as-installation-variable-with-same-trajectory/36084/2 "2024-09-18T06:32:23Z")

</div>

I hope I understand your question right. 🙂

If you save a position as coordinates as p[X,Y,Z,RX,RY,RZ], then yes. The robot will move to this position with the least movement of the joints. You will not necessarily get the same joint position.  
You can, however, also save a joint position in radians as [J0, J1, J2, J3, J4, J5] (without the preceding p). This will make the robot move to that joint position.

---

<div class="post-metadata">

**Author:** ![david.lewis814](https://avatars.discourse-cdn.com/v4/letter/d/858c86/32.png) [@david.lewis814](https://forum.universal-robots.com/u/david.lewis814)\
**Post date:** [December 12, 2024, 7:16am UTC](https://forum.universal-robots.com/t/how-to-save-a-waypoint-as-installation-variable-with-same-trajectory/36084/3 "2024-12-12T07:16:53Z")

</div>

To save a waypoint as a variable and keep the same trajectory, first note the waypoint’s location and movement details like direction or speed. Then, save this information in your system using a variable. The steps depend on the device or app you’re using.