# \#waypoints

**URL:** https://forum.universal-robots.com/tag/waypoints/60.md

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## [UR Output Pin Triggered when setting a Waypoint's Pose](https://forum.universal-robots.com/t/ur-output-pin-triggered-when-setting-a-waypoints-pose/11240)

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**Author:** [@anon5706138](https://forum.universal-robots.com/u/anon5706138)\
**Replies:** 3\
**Last updated:** [January 28, 2021, 8:08am UTC](https://forum.universal-robots.com/t/ur-output-pin-triggered-when-setting-a-waypoints-pose/11240 "2021-01-28T08:08:39Z")

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Hello, From the installation section, I assigned an output pin to be “High when program is running and Low when stopped”. When I press play button in polyscope interface, it outputs true. But when I assign a pose like…

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## [Manual job in linear space (MoveL) move between two waypoints](https://forum.universal-robots.com/t/manual-job-in-linear-space-movel-move-between-two-waypoints/657)

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**Author:** [@anon92958969](https://forum.universal-robots.com/u/anon92958969)\
**Replies:** 3\
**Last updated:** [January 22, 2021, 11:00pm UTC](https://forum.universal-robots.com/t/manual-job-in-linear-space-movel-move-between-two-waypoints/657 "2021-01-22T23:00:56Z")

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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…

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## [Create Program Tree with ProgramTree and naming Waypoints](https://forum.universal-robots.com/t/create-program-tree-with-programtree-and-naming-waypoints/11303)

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**Author:** [@anon86073413](https://forum.universal-robots.com/u/anon86073413)\
**Replies:** 2\
**Last updated:** [January 8, 2021, 1:47pm UTC](https://forum.universal-robots.com/t/create-program-tree-with-programtree-and-naming-waypoints/11303 "2021-01-08T13:47:38Z")

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Hey everyone! I’m working on a URCAP that would need to be able to create a program structure so that it can set the values like toolSpeed, etc in them. Im failing because i can’t even name the nodes, and cant seem to f…