# Start the API with RoboDk
RDK = Robolink()

# Add robot and tool
robot = RDK.Item('UR10')

# Manually define points
point1 = RDK.Item('Target 1')
point2 = RDK.Item('Target 2')
point3 = RDK.Item('Target 3')
point4 = RDK.Item('Target 4')

#set robot speed
robot.setSpeed(speed_linear=1000,speed_joints=200,accel_linear=20,accel_joints=100)

# Move through targets 1,, 2, and 3, then wait until input1 = 1
robot.MoveJ(point1)
robot.MoveJ(point2)
robot.MoveJ(point3)
robot.waitDI(1,1)
robot.MoveJ(point4)