MoveL with joint position

Hello Dear Community,

Currently I’m working with project with UR10e. The robot has to make several movements in very limited working area. When I teach robot to go at certain point, it chooses joints position by its own, not as I wrote in the program (I program from teach pendant). But I need the robot to move exactly with the joint position which I write in the program.

MoveJ doesn’t work properly for me as MoveJ makes curves.

What fast solution I found is adding additional MoveJ movement which will use joint angles to reach essential joint position.

Is there any better way to solve this problem?

Thanks in advance.