# Go To position - not working **URL:** \ **Category:** Collaborative Robots\ **Created:** [May 19, 2022, 6:35pm UTC](https://tech-community.robotics.abb.com/t/go-to-position-not-working/10740 "2022-05-19T18:35:51Z")\ **Posts on this page:** 11\ **Page:** 1
**Author:** ![gczerkawski](https://avatars.discourse-cdn.com/v4/letter/g/d26b3c/32.png) [@gczerkawski](https://tech-community.robotics.abb.com/u/gczerkawski)\ **Post date:** [May 19, 2022, 6:35pm UTC](https://tech-community.robotics.abb.com/t/go-to-position-not-working/10740/1 "2022-05-19T18:35:51Z")
With the Flex Pendant I highlight the position, then Debug, and select Go to position. However, it the robot does not move to this position. Is there something I am missing? IRB14000 YUMI ---
**Author:** ![lemster68](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/lemster68/32/1945_2.png) [@lemster68](https://tech-community.robotics.abb.com/u/lemster68)\ **Post date:** [May 19, 2022, 7:32pm UTC](https://tech-community.robotics.abb.com/t/go-to-position-not-working/10740/2 "2022-05-19T19:32:38Z")
I never used the Yumi, but in other robots you use the jog screen to go to or move to position. ---
**Author:** ![gczerkawski](https://avatars.discourse-cdn.com/v4/letter/g/d26b3c/32.png) [@gczerkawski](https://tech-community.robotics.abb.com/u/gczerkawski)\ **Post date:** [May 19, 2022, 8:19pm UTC](https://tech-community.robotics.abb.com/t/go-to-position-not-working/10740/3 "2022-05-19T20:19:32Z")
> [@lemster68](#): > > I never used the Yumi, but in other robots you use the jog screen to go to or move to position. I’m not sure how to get to a position from the Jog function. Nothing shows up in the list, at least not in the virtual controller. I will have to connect and see if it works. ---
**Author:** ![gczerkawski](https://avatars.discourse-cdn.com/v4/letter/g/d26b3c/32.png) [@gczerkawski](https://tech-community.robotics.abb.com/u/gczerkawski)\ **Post date:** [May 19, 2022, 9:02pm UTC](https://tech-community.robotics.abb.com/t/go-to-position-not-working/10740/4 "2022-05-19T21:02:38Z")
I opened the Program Editor, and selected the position, then selected Go To position. I hold down the Go To button, and nothing. I don’t get it - shouldn’t the robot move to the position? ---
**Author:** ![graemepaulin](https://avatars.discourse-cdn.com/v4/letter/g/258eb7/32.png) [@graemepaulin](https://tech-community.robotics.abb.com/u/graemepaulin)\ **Post date:** [May 19, 2022, 10:20pm UTC](https://tech-community.robotics.abb.com/t/go-to-position-not-working/10740/5 "2022-05-19T22:20:43Z")
You need to be in the jogging screen, and tap Go To as below. Ensure you have the correct tool and workobject (if used) selected in the jogging screen. The Go To uses these as the co-ordinate systems to use with the Robtarget… ![image.jpg](https://europe1.discourse-cdn.com/flex005/uploads/robotics1/original/2X/2/2af81cdacb5c0d21d84cc6770ce23995544b9ce9.jpeg) This opens a new screen where you can select the position… Only works for named Robtargets not inline (\*) Robtargets ![image.jpg](https://europe1.discourse-cdn.com/flex005/uploads/robotics1/original/1X/454d0c25ba09d47729c06f39bc45f39c2539acd4.jpeg) ---
**Author:** ![gczerkawski](https://avatars.discourse-cdn.com/v4/letter/g/d26b3c/32.png) [@gczerkawski](https://tech-community.robotics.abb.com/u/gczerkawski)\ **Post date:** [May 20, 2022, 6:09pm UTC](https://tech-community.robotics.abb.com/t/go-to-position-not-working/10740/6 "2022-05-20T18:09:53Z")
> [@graemepaulin](#): > > You need to be in the jogging screen, and tap Go To as below. > Ensure you have the correct tool and workobject (if used) selected in the jogging screen. > The Go To uses these as the co-ordinate systems to use with the Robtarget… > > ![image.jpg](https://europe1.discourse-cdn.com/flex005/uploads/robotics1/original/2X/2/2af81cdacb5c0d21d84cc6770ce23995544b9ce9.jpeg) > > This opens a new screen where you can select the position… > Only works for named Robtargets not inline (\*) Robtargets > > ![image.jpg](https://europe1.discourse-cdn.com/flex005/uploads/robotics1/original/1X/454d0c25ba09d47729c06f39bc45f39c2539acd4.jpeg) Well, that is starting to make sense. I was wondering why I did not see any positon targets in the window. All my positions are “jointtargets”. I guess I will need to change these to robtargets. Thank you for the clarification. CONST jointtarget PposStart:=[[58.5188,-73.4665,44.0647,-1.55973,13.5018,-14.7421],[-74.036,9E+09,9E+09,9E+09,9E+09,9E+09]]; CONST jointtarget PposInsert:=[[65.9099,-68.1386,28.8881,-0.762834,45.0241,-55.3991],[-97.1017,9E+09,9E+09,9E+09,9E+09,9E+09]]; CONST jointtarget PposDrop:=[[53.3995,-68.1223,18.8865,-1.63301,66.5549,-55.2394],[-92.2589,9E+09,9E+09,9E+09,9E+09,9E+09]]; PROC main() MoveToHomeR; HalfSyncR; !FullSyncR; MoveToHomeR; ENDPROC PROC MoveToHomeR() MoveAbsJ pHomeR\NoEOffs, v1000, z0, gripRight\WObj:=wobjTable; g\_GripOut; ENDPROC PROC HalfSyncR() WaitSyncTask\inpos,sync1,tasklist;!-----------------------------------------wait sync1 - wait until both arms have homed… g\_GripOut; MoveAbsJ pPosAppr\NoEOffs, v1000, z50, gripRight\WObj:=wobjTable; WaitUntil \inpos, TRUE; !WaitTime 1; MoveAbsJ pPosPick\NoEOffs, v1000, z50, gripRight\WObj:=wobjTable; WaitUntil \inpos, TRUE; !WaitTime 1; ---
**Author:** ![gczerkawski](https://avatars.discourse-cdn.com/v4/letter/g/d26b3c/32.png) [@gczerkawski](https://tech-community.robotics.abb.com/u/gczerkawski)\ **Post date:** [May 20, 2022, 6:22pm UTC](https://tech-community.robotics.abb.com/t/go-to-position-not-working/10740/7 "2022-05-20T18:22:49Z")
Is it possible to change these jointtargets to robtargets? ---
**Author:** ![lemster68](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/lemster68/32/1945_2.png) [@lemster68](https://tech-community.robotics.abb.com/u/lemster68)\ **Post date:** [May 20, 2022, 7:37pm UTC](https://tech-community.robotics.abb.com/t/go-to-position-not-working/10740/8 "2022-05-20T19:37:35Z")
Use the Function CalcRobT ---
**Author:** ![gczerkawski](https://avatars.discourse-cdn.com/v4/letter/g/d26b3c/32.png) [@gczerkawski](https://tech-community.robotics.abb.com/u/gczerkawski)\ **Post date:** [May 20, 2022, 8:22pm UTC](https://tech-community.robotics.abb.com/t/go-to-position-not-working/10740/9 "2022-05-20T20:22:11Z")
> [@lemster68](#): > > Use the Function CalcRobT I tried this, however, the syntax seems to be incorrect: Var robtarget p1; CONST jointtarget pPosAppr:=[[48.6457,-47.2697,63.7466,44.4377,-57.9163,2.44986],[-81.4889,9E+09,9E+09,9E+09,9E+09,9E+09]]; _**p1 := CalcRobT(pPosAppr, gripRight\WObj:=wobjTable;**_ PROC main() MoveToHomeR; HalfSyncR; !FullSyncR; MoveToHomeR; ENDPROC PROC MoveToHomeR() MoveAbsJ pHomeR\NoEOffs, v1000, z0, gripRight\WObj:=wobjTable; g\_GripOut; ENDPROC PROC HalfSyncR() WaitSyncTask\inpos,sync1,tasklist;!-----------------------------------------wait sync1 - wait until both arms have homed… g\_GripOut; MoveAbsJ pPosAppr\NoEOffs, v1000, z50, gripRight\WObj:=wobjTable; WaitUntil \inpos, TRUE; WaitTime 1; ---
**Author:** ![lemster68](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/lemster68/32/1945_2.png) [@lemster68](https://tech-community.robotics.abb.com/u/lemster68)\ **Post date:** [May 23, 2022, 12:20pm UTC](https://tech-community.robotics.abb.com/t/go-to-position-not-working/10740/10 "2022-05-23T12:20:37Z")
You have left out the end parenthesis. ---
**Author:** ![gczerkawski](https://avatars.discourse-cdn.com/v4/letter/g/d26b3c/32.png) [@gczerkawski](https://tech-community.robotics.abb.com/u/gczerkawski)\ **Post date:** [May 23, 2022, 9:59pm UTC](https://tech-community.robotics.abb.com/t/go-to-position-not-working/10740/11 "2022-05-23T21:59:19Z")
> [@lemster68](#): > > You have left out the end parenthesis. Unfortunately that did not fix it. I did manage to change all the _jointtargets_ to _robtargets_, just had to go to each one step-by-step and add a new instruction. Would be nice to know why its not working.