# How to Set Waypoint with DI\_1 **URL:** \ **Category:** Technical Questions\ **Created:** [July 8, 2021, 9:31am UTC](https://forum.universal-robots.com/t/how-to-set-waypoint-with-di-1/15355 "2021-07-08T09:31:00Z")\ **Posts on this page:** 6\ **Page:** 1
**Author:** ![anon51868998](https://avatars.discourse-cdn.com/v4/letter/a/439d5e/32.png) [@anon51868998](https://forum.universal-robots.com/u/anon51868998)\ **Post date:** [July 8, 2021, 9:31am UTC](https://forum.universal-robots.com/t/how-to-set-waypoint-with-di-1/15355/1 "2021-07-08T09:31:00Z")
Hi im new to the whole UR community and want to know if there is an easy way to teach the UR10e to save a waypoint with just a push of a button and the add more after that to get a whole program out of it. Kindly Regards G ---
**Author:** ![sya](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/sya/32/216_2.png) [@sya](https://forum.universal-robots.com/u/sya)\ **Post date:** [July 9, 2021, 5:29am UTC](https://forum.universal-robots.com/t/how-to-set-waypoint-with-di-1/15355/2 "2021-07-09T05:29:39Z")
Hi @anon51868998 , If you want a ready device to use, you could refer to this product which is provided from our UR+ partners. It provide the button to record the waypoints as you push it. > **[YOUring](https://www.universal-robots.com/marketplace/products/01tP40000071NA9IAM/)** > > YOUring is a smart light and sound device for Universal Robots: a wireless device, easy to mount on the robot tool flange. Thanks to LED technology and a powerful sound emitter, YOUring offers you a smart safety tool to use in your applications.You... Otherwise, you need to make your own push button connected to a digital input and then write some codes in a thread to record the current robot position once you push it. Thanks ---
**Author:** ![anon51868998](https://avatars.discourse-cdn.com/v4/letter/a/439d5e/32.png) [@anon51868998](https://forum.universal-robots.com/u/anon51868998)\ **Post date:** [July 9, 2021, 5:41am UTC](https://forum.universal-robots.com/t/how-to-set-waypoint-with-di-1/15355/3 "2021-07-09T05:41:38Z")
Hello! I would like to make my own design. But i am new to coding and the whole UR Community and i cant find any similar solution online. ---
**Author:** ![anon51868998](https://avatars.discourse-cdn.com/v4/letter/a/439d5e/32.png) [@anon51868998](https://forum.universal-robots.com/u/anon51868998)\ **Post date:** [July 9, 2021, 5:46am UTC](https://forum.universal-robots.com/t/how-to-set-waypoint-with-di-1/15355/4 "2021-07-09T05:46:59Z")
To be more clear i want to learn how to Script it and i can only find solutions to buy ---
**Author:** ![sko](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/sko/32/573_2.png) [@sko](https://forum.universal-robots.com/u/sko)\ **Post date:** [July 9, 2021, 9:06am UTC](https://forum.universal-robots.com/t/how-to-set-waypoint-with-di-1/15355/5 "2021-07-09T09:06:46Z")
Hi @anon51868998, with Script alone I do not see a way of implementing this functionality in an comfortable way. A URCap provides more options achieving this. To insert a Waypoint using the Digital IOs you need: - A URCap Parent Program Node starting a timer task. Potential Sample → [MyDaemonSwing](https://github.com/UniversalRobots/MyDaemonSwing) - In this task you would check for a change in the desired IO. Potential Sample → [ManipulateIO](https://github.com/BomMadsen/URCap-ManipulateIO) - Insert on the desired change a waypoint in your program tree and configure it. Potential Sample → [EllipseSwing](https://github.com/UniversalRobots/EllipseSwing) & [GetRobotData](https://github.com/BomMadsen/URCap-getRobotData) ---
**Author:** ![system](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/system/32/1_2.png) [@system](https://forum.universal-robots.com/u/system)\ **Post date:** [July 11, 2021, 9:06am UTC](https://forum.universal-robots.com/t/how-to-set-waypoint-with-di-1/15355/6 "2021-07-11T09:06:47Z")
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