I tried to execute a program made on a CB UR5 on a CB UR10 but rather than conserving the position of the waypoints according to the base of the robot, it conserve the robot join position. Therefore all waypoints position needs to be taught again.
As anyone managed to conserve waypoints position while executing a CB UR robot program on a CB UR10 ?

I believe it will depend on the type of moves that are used, movej's record the joint positions, movel & movep uses the pose position and calculates joint positions to match.  I do not know of a way to preserve just the pose.  I could be wrong on this but that is my understanding.