I am trying to get variable way points on UR5e before the start of a program so that all the waypoints are relative to the workspace. Sometime the work space / equipment it interacts with moves by a few mm. Can all the waypoints be adjusted based on the homing (if there is a function) before the start of a sequence?
There’s no automatic homing function.
What you can do is to make a custom feature (/frame/workspace) in the Installation, and then setup your Move command to work relative to the new frame.
An operator/technician will then have to reteach the feature in the Installation, if the workspace has moved, and then all waypoints with Moves relative to that feature will move accordingly.
I hope this is helpful to you.