# Manual job in linear space (MoveL) move between two waypoints

**URL:** <https://forum.universal-robots.com/t/manual-job-in-linear-space-movel-move-between-two-waypoints/657>\
**Category:** Technical Questions\
**Tags:** waypoints\
**Created:** [March 27, 2017, 11:42pm UTC](https://forum.universal-robots.com/t/manual-job-in-linear-space-movel-move-between-two-waypoints/657 "2017-03-27T23:42:23Z")\
**Posts on this page:** 5\
**Page:** 1

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**Author:** ![anon92958969](https://avatars.discourse-cdn.com/v4/letter/a/90ced4/32.png) [@anon92958969](https://forum.universal-robots.com/u/anon92958969)\
**Post date:** [March 27, 2017, 11:42pm UTC](https://forum.universal-robots.com/t/manual-job-in-linear-space-movel-move-between-two-waypoints/657/1 "2017-03-27T23:42:23Z")

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We can manually move between Waypoint A and Waypoint B through polyscope by selecting each waypoint and selecting Command-\>Move Robot Here. But when I do that the path it follows is “MoveJ”'s path. Is there a way to make it follow MOVEL’s path by doing this manually? The only way I can do this is by running it as a program.

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**Author:** ![mbush](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/mbush/32/76_2.png) [@mbush](https://forum.universal-robots.com/u/mbush)\
**Post date:** [March 28, 2017, 12:37am UTC](https://forum.universal-robots.com/t/manual-job-in-linear-space-movel-move-between-two-waypoints/657/2 "2017-03-28T00:37:45Z")

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You can use the step into Button, the button to the right of the play button. This will advance the program one step at a time. This only works for taught waypoints, not variable waypoints.

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**Author:** ![anon92958969](https://avatars.discourse-cdn.com/v4/letter/a/90ced4/32.png) [@anon92958969](https://forum.universal-robots.com/u/anon92958969)\
**Post date:** [March 28, 2017, 4:43pm UTC](https://forum.universal-robots.com/t/manual-job-in-linear-space-movel-move-between-two-waypoints/657/3 "2017-03-28T16:43:11Z")

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That worked! Thanks for the tip!

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**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:** [January 22, 2021, 10:58pm UTC](https://forum.universal-robots.com/t/manual-job-in-linear-space-movel-move-between-two-waypoints/657/4 "2021-01-22T22:58:25Z")

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Closed on January 22, 2021, 10:58pm UTC

This topic was automatically closed 2 days after the last reply. New replies are no longer allowed.

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**Author:** ![Savoia](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/savoia/32/4844_2.png) [@Savoia](https://forum.universal-robots.com/u/Savoia)\
**Post date:** [January 22, 2021, 11:00pm UTC](https://forum.universal-robots.com/t/manual-job-in-linear-space-movel-move-between-two-waypoints/657/5 "2021-01-22T23:00:56Z")

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This was fixed in Polyscope 5.9, now the Move Here button will use the same move type as the parent move node.

“_Fixed “Move here” button on waypoints, so the automove will now use the same move-type as the move node the waypoint is under (if possible)._”

[https://www.universal-robots.com/articles/ur/release-note-software-version-59xx/](https://www.universal-robots.com/articles/ur/release-note-software-version-59xx/)