# \#features **URL:** https://forum.universal-robots.com/tag/features/71.md [Latest](https://forum.universal-robots.com/latest.md) · [Categories](https://forum.universal-robots.com/categories.md) · [Tags](https://forum.universal-robots.com/tags.md) --- ## [Keeping Tool parallel to surface](https://forum.universal-robots.com/t/keeping-tool-parallel-to-surface/7323)
**Author:** [@anon34131796](https://forum.universal-robots.com/u/anon34131796)\ **Replies:** 0\ **Last updated:** [May 15, 2020, 11:21am UTC](https://forum.universal-robots.com/t/keeping-tool-parallel-to-surface/7323 "2020-05-15T11:21:04Z")
Hello, I just wrote my first program which moves to a variable position. The X, Y, Z coordinates are doing very well and behaving like expected. However, I would like my tool to stay parallel to a certain surface for… --- ## [Set a feature with unreachable pose](https://forum.universal-robots.com/t/set-a-feature-with-unreachable-pose/528)
**Author:** [@anon44626309](https://forum.universal-robots.com/u/anon44626309)\ **Replies:** 5\ **Last updated:** [January 22, 2021, 10:37pm UTC](https://forum.universal-robots.com/t/set-a-feature-with-unreachable-pose/528 "2021-01-22T22:37:50Z")
Hi all, Is it possible to add a Feature out of a reachable position ? The goal here is to make a waypoint relative to a point that is not necessarily reachable by the arm (rotate the base frame around Z for exemple). Th… --- ## [Polyscope waypoints relative to feature](https://forum.universal-robots.com/t/polyscope-waypoints-relative-to-feature/3038)
**Author:** [@Uffe](https://forum.universal-robots.com/u/Uffe)\ **Replies:** 3\ **Last updated:** [November 28, 2019, 8:38am UTC](https://forum.universal-robots.com/t/polyscope-waypoints-relative-to-feature/3038 "2019-11-28T08:38:06Z")
Am I the only one who can not make it work or have I misunderstood it? I was happy when I saw update to 3.5.0 should make it possible to move a lot of waypoints simply adjusting the feature however when I try all fixed … --- ## [Base\_var deprecated on eSeries](https://forum.universal-robots.com/t/base-var-deprecated-on-eseries/3794)
**Author:** [@malacasse](https://forum.universal-robots.com/u/malacasse)\ **Replies:** 7\ **Last updated:** [March 12, 2019, 2:27pm UTC](https://forum.universal-robots.com/t/base-var-deprecated-on-eseries/3794 "2019-03-12T14:27:11Z")
Since eSeries, the Base can’t be set as variable. Setting Base\_var was usefull to offset a complete program at runtime. What is the proper way to offset a complete program at runtime on eSerie ? --- ## [Change Plane Feature during program run execution](https://forum.universal-robots.com/t/change-plane-feature-during-program-run-execution/1735)
**Author:** [@anon22097306](https://forum.universal-robots.com/u/anon22097306)\ **Replies:** 10\ **Last updated:** [March 28, 2018, 5:20am UTC](https://forum.universal-robots.com/t/change-plane-feature-during-program-run-execution/1735 "2018-03-28T05:20:59Z")
Hello everyone! I would like to change a plane feature during program run. In the Installation tab, under the plane feautre, the three points of the plane can be variable, but if I change them in the program it doesn’t … --- ## [Point Feature as reference plane](https://forum.universal-robots.com/t/point-feature-as-reference-plane/1716)
**Author:** [@anon22097306](https://forum.universal-robots.com/u/anon22097306)\ **Replies:** 2\ **Last updated:** [March 8, 2018, 5:57am UTC](https://forum.universal-robots.com/t/point-feature-as-reference-plane/1716 "2018-03-08T05:57:22Z")
Hello everyone! In an application I use a point feature as a reference point. For this I defined a new TCP for reference pin and I used this TCP to define the point feature and in the program the MoveL function is relat… --- ## [Using one point as zero for program - Feature programming](https://forum.universal-robots.com/t/using-one-point-as-zero-for-program-feature-programming/1100)
**Author:** [@anon82484413](https://forum.universal-robots.com/u/anon82484413)\ **Replies:** 5\ **Last updated:** [October 11, 2017, 8:06am UTC](https://forum.universal-robots.com/t/using-one-point-as-zero-for-program-feature-programming/1100 "2017-10-11T08:06:15Z")
I got a case where I need to be able to make a program that is relative to one set point. The program is using the palletizing feature to probe a lot of holes in a big plate, and the customer must easy be able to define… --- ## [Pose\_trans() implementation, implementing Feature Wizard](https://forum.universal-robots.com/t/pose-trans-implementation-implementing-feature-wizard/1008)
**Author:** [@anon58863070](https://forum.universal-robots.com/u/anon58863070)\ **Replies:** 4\ **Last updated:** [July 25, 2017, 10:25am UTC](https://forum.universal-robots.com/t/pose-trans-implementation-implementing-feature-wizard/1008 "2017-07-25T10:25:57Z")
Hi, I need to re-implement the pose\_trans function, but I can’t figure how it really work. I first tried to “matrix multipliate” my vector with all the rotations of the first pose argument, but results don’t match when…