# MoveL with joint position

**URL:** <https://forum.universal-robots.com/t/movel-with-joint-position/21479>\
**Category:** Technical Questions\
**Created:** [May 23, 2022, 10:45am UTC](https://forum.universal-robots.com/t/movel-with-joint-position/21479 "2022-05-23T10:45:26Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![giorgigedaminski](https://avatars.discourse-cdn.com/v4/letter/g/898d66/32.png) [@giorgigedaminski](https://forum.universal-robots.com/u/giorgigedaminski)\
**Post date:** [May 23, 2022, 10:45am UTC](https://forum.universal-robots.com/t/movel-with-joint-position/21479/1 "2022-05-23T10:45:26Z")

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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.

Giorgi