I am setting an output on after a MoveP command with a circle Move. The output turns on before I get to the waypoint position. is there a way to have the output turn on when i get to the position?
When moving to a waypoint in a MoveP (or any move with a blend radius), the robot will never reach the waypoint. So that’s why you’re seeing the behaviour, you are seeing.
So you can set the blend to 0 on that waypoint, if your application accepts it. Or you can replace the Set command with a variable that is set to True, and then have that variable enable an Event, which has a delay of X seconds, before turning on the output with
a Set. 
EDIT: So, I can see your waypoint is a part of a CircleMove. I don’t think the first method will work then.
Here’s a very pretty drawing showing how the blend radius works. When the robot reaches the blend radius sphere, it will turn on the output and proceed towards the next waypoint.
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