# Determine if target is reached when using asynchronous move command

**URL:** <https://forum.universal-robots.com/t/determine-if-target-is-reached-when-using-asynchronous-move-command/24635>\
**Category:** SDU ur\_rtde\
**Created:** [October 26, 2022, 9:12am UTC](https://forum.universal-robots.com/t/determine-if-target-is-reached-when-using-asynchronous-move-command/24635 "2022-10-26T09:12:22Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![lg95](https://avatars.discourse-cdn.com/v4/letter/l/ac91a4/32.png) [@lg95](https://forum.universal-robots.com/u/lg95)\
**Post date:** [October 26, 2022, 9:12am UTC](https://forum.universal-robots.com/t/determine-if-target-is-reached-when-using-asynchronous-move-command/24635/1 "2022-10-26T09:12:22Z")

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Hello,  
I’m controlling a Universal Robots via RTDE asynchronous movements .  
Is there a more elegant way to determine if a target position is reached other than simply checking if actual tcp pose is the same as the target tcp pose or if TCP-velocity is 0.

Thank you for your help!