# MoveP Contribution error: Move node PROCESS\_MOVE incompatible with NO\_BLEND

**URL:** <https://forum.universal-robots.com/t/movep-contribution-error-move-node-process-move-incompatible-with-no-blend/7770>\
**Category:** Java\
**Created:** [June 23, 2020, 10:48am UTC](https://forum.universal-robots.com/t/movep-contribution-error-move-node-process-move-incompatible-with-no-blend/7770 "2020-06-23T10:48:27Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![anon96671301](https://avatars.discourse-cdn.com/v4/letter/a/aeb1de/32.png) [@anon96671301](https://forum.universal-robots.com/u/anon96671301)\
**Post date:** [June 23, 2020, 10:48am UTC](https://forum.universal-robots.com/t/movep-contribution-error-move-node-process-move-incompatible-with-no-blend/7770/1 "2020-06-23T10:48:27Z")

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Hi.

How can I add waypoints to MoveP as a tree node?

code:  
MoveNode moveP = factory.createMoveNodeNoTemplate();  
MovePConfigBuilder pconfigbuilder = moveP.getConfigBuilders().createMovePConfigBuilder();  
moveP.setConfig(pconfigbuilder.build());

```
WaypointNode abc = factory.createWaypointNode("ABC");
WaypointNode xyz = factory.createWaypointNode("XYZ");
 ・・・
TreeNode movePTreeNode = treeNode.addChild(moveP);
movePTreeNode.addChild(abc);
movePTreeNode.addChild(xyz);

```

error:  
com.ur.urcap.api.domain.program.structure.TreeStructureException: Move node PROCESS\_MOVE incompatible with NO\_BLEND

Thanks regards.

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<div class="post-metadata">

**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:** [June 23, 2020, 12:48pm UTC](https://forum.universal-robots.com/t/movep-contribution-error-move-node-process-move-incompatible-with-no-blend/7770/2 "2020-06-23T12:48:49Z")

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Hello,

in the Ellipse example it shown how to insert waypoints to a moveP node.  
It should normally be included in the starter package. You can also find it [here](https://github.com/UniversalRobots/EllipseSwing).

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<div class="post-metadata">

**Author:** ![anon96671301](https://avatars.discourse-cdn.com/v4/letter/a/aeb1de/32.png) [@anon96671301](https://forum.universal-robots.com/u/anon96671301)\
**Post date:** [June 24, 2020, 3:03am UTC](https://forum.universal-robots.com/t/movep-contribution-error-move-node-process-move-incompatible-with-no-blend/7770/3 "2020-06-24T03:03:48Z")

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I had to set the waypoint node’s blend parameter to the share blend parameter.  
The default was no blend.

Thank you.