# Teach Relative Waypoint Does Not Work in Tool Coordinates

**URL:** <https://forum.universal-robots.com/t/teach-relative-waypoint-does-not-work-in-tool-coordinates/31524>\
**Category:** General Application Help: How do I?\
**Created:** [November 22, 2023, 3:41pm UTC](https://forum.universal-robots.com/t/teach-relative-waypoint-does-not-work-in-tool-coordinates/31524 "2023-11-22T15:41:45Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![mwerezak](https://avatars.discourse-cdn.com/v4/letter/m/bc8723/32.png) [@mwerezak](https://forum.universal-robots.com/u/mwerezak)\
**Post date:** [November 22, 2023, 3:41pm UTC](https://forum.universal-robots.com/t/teach-relative-waypoint-does-not-work-in-tool-coordinates/31524/1 "2023-11-22T15:41:45Z")

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I am using Polyscope 5.14 to teach an e-Series robot to do a linear movement using a series of relative waypoints.

Because this motion needs to be performed from around 16 different locations/orientations, I am using feature points for each one and I want to put the motion waypoints in a single subprogram. I am using MoveL with Tool feature and relative waypoints.

However it does not seem to work. The robot moves from the correct position but the orientation is wrong. It seems to be performing the motion in the Base coordinate system when I need the motion to be in Tool coordinates. As I mentioned the MoveL block has the Tool feature selected and I made sure to teach the waypoints with Tool feature selected.