Hi im new to the whole UR community and want to know if there is an easy way to teach the UR10e to save a waypoint with just a push of a button and the add more after that to get a whole program out of it.

Kindly Regards G

As far as i know there is no such option on UR.

I know its not an option but someone manage to succed. I have seen it in applications and are curious how they do it if its script or URCaps

I imagine it should be a urcap.

Yes i think so to but i want to know how complicated it would be to do

YOu would have to develop a URCap and a daemon that would work together to develop this functionality.  If you are a programmer it's not too difficult I would imagine, I have only dabbled in URCap development but there are a lot of resources on the UR forum.  You would need to be comfortable with both Python and Java as you would need both languages to make the CAP, Java for the Cap, Python for the daemon.

Thanks matthew for the answer it was like i did think about it first... I just wondered in case there was an easier way to get the results.