Teaching made easy with the TracePen

More flexibility

Flexibility and speed are playing an increasingly important role in global trade. This applies both, to us humans and to machines. In the future, robots will have to be able to switch easily and cost-effectively from one application to the next. The simplicity of programming is becoming a decisive factor for modern production. The TracePen is the smart solution for this challenge.


The TracePen can be used for various applications. Five applications can currently be simplified using the various attachments. Those can also be easily extended via software updates.





Pick and Place

Teaching robots has never been this easy

Generation of fully integrated automation scripts


Ten times cheaper than classical programming

Robot programming within minutes


With the TracePen it is possible to teach a robot in a matter of seconds by simply showing it the path to be learned by moving the TracePen. This movement is visualized almost simultaneously in the app by the Wandelbots software and can be further refined by defining individual points (keyframes). The keyframes can be adjusted in the sub-millimeter range via the app. Define whether the robot should move from point-to-point, linear or circular between the defined points. The built-in joint control allows the user to directly control the individual robot joints and even define a safety area by allowing the robot to act. Teaching complex motion has never been so easy!

Teaching with the TracePen

With the TracePen even laymen can teach a robot for a task within minutes – without any programming knowledge. In combination with the specially developed app, the user moves from setup to executable code in just five simple steps.

Step 1: Setup

At the beginning the hardware components are installed. This includes Tracking Stations, TracePen, Tablet and the industrial computer. The Wandelbots platform is connected to the robot controller as the control center for the TracePen. In future, we also offer this solution in a cloud.

Step 2: Calibration

The tracking stations are used to calibrate the TracePen and determine its exact position in space. To do this, the pen is fixed to a holder on the robot. Depending on the robot, different adapter holders are available. The single-point calibration using infrared light patterns runs fully automatically and is completed in less than 30 seconds.

Step 3: Teaching a Skills

Now the actual programming begins. However, it is not programming knowledge that is important, but a process understanding of the task. The operator selects the appropriate attachment for the TracePen and starts the app. The respective activity is simply executed with the TracePen in your hand. The software simultaneously records the data to the nearest tenth of a millimeter. The exact teaching sequence can then be viewed in the app. This has been specially optimized for intuitive operation by non-programmers.

Step 4: Finishing Process

In the next step, the respective skill can be further processed. By setting keyframes, the recorded path can be adjusted in detail in three-dimensional space. Frequently used skills can be reused, modified and implemented in new skills using the keyframe selector. Thus, it is possible to split keyframes and to insert signals, loops or a new path (e.g. a standardized movement from A to B).

Step 5: Generating Code

In the last step the code for the robot is generated in the respective programming language (e.g. Karel, UR-Script). This happens fully automated within seconds, so that the robot can perform the task  instantly afterwards. The generated code can also later be edited manually. This process is compatible with all common certification and simulation processes.
If desired, the code can then be transferred to other robots independently of the robot manufacturer and thus of the robot´s programming language.