# Waypoint movement in UR Script

**URL:** <https://forum.universal-robots.com/t/waypoint-movement-in-ur-script/7999>\
**Category:** URScript\
**Created:** [July 2, 2020, 9:07am UTC](https://forum.universal-robots.com/t/waypoint-movement-in-ur-script/7999 "2020-07-02T09:07:31Z")\
**Posts on this page:** 1\
**Showing post:** 7

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**Author:** ![sam.verity-hilton](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/sam.verity-hilton/32/6046_2.png) [@sam.verity-hilton](https://forum.universal-robots.com/u/sam.verity-hilton)\
**Post date:** [July 10, 2020, 2:05pm UTC](https://forum.universal-robots.com/t/waypoint-movement-in-ur-script/7999/7 "2020-07-10T14:05:18Z")

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Is this something you are trying to encorporate as part of a URCap? For example executing the movement when a button is pushed? If so then you will need to make use of teh secondary client interface. More information is available about this in [this post](https://forum.universal-robots.com/t/java-socket-communication/678).

You can use the secondary client to send URScript outside of a regular robot program.

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