Command Tab, Relative Waypoint; Command Tab, Variable Waypoint - Universal Robots UR5 with CB2 User Manual

3.4.7 Program
A waypoint with the position given relative to the robot's previous position,
such as "two centimeters to the left". The relative position is defined as the
difference between the two given positions (left to right). Note that repeated
relative positions can move the robot out of its workspace.
The distance here is the Cartesian distance between the tcp in the two po-
sitions. The angle states how much the tcp orientation changes between the
two positions. More precisely, the length of the rotation vector describing the
change in orientation.
3.4.8 Program
A waypoint with the position given by a variable, in this case calculated pos.
The variable has to be a pose such as
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Command Tab, Relative Waypoint

Command Tab, Variable Waypoint

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3.4. Programming
UR5