# Independent moves
**URL:** https://tech-community.robotics.abb.com/t/independent-moves/839
**Category:** Robot Controller
**Created:** [September 7, 2006, 2:33pm UTC](https://tech-community.robotics.abb.com/t/independent-moves/839 "2006-09-07T14:33:58Z")
**Posts on this page:** 2
**Page:** 1
### Author:  [@abenaki](https://tech-community.robotics.abb.com/u/abenaki)
#### Post date: [September 7, 2006, 2:33pm UTC](https://tech-community.robotics.abb.com/t/independent-moves/839/1 "2006-09-07T14:33:58Z")
Hello,
Is there a way of ready the external axis position other than CRobT() or CJointT()? e.g. monitoring its value to take some action when a certain position is reached?
Is there a way to know if an independent move has been initiated but not completed?
Is there a concept of zone relating to independent moves?
Any clarification would be appreciated.
Thank you
Michel OBomsawin
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### Author:  [@claudio](https://tech-community.robotics.abb.com/u/claudio)
#### Post date: [September 30, 2006, 11:40am UTC](https://tech-community.robotics.abb.com/t/independent-moves/839/2 "2006-09-30T11:40:20Z")
Hi Michel
I usually use the following trick to do something in a certain position.
1. Define a simulated signal in the EIO
2. Define an interrupt monitoring this signal
3. Write the TRAP, doing what you need.
4. Move with a TriggL/J triggering the simulated signal at the position you’re intersted in.
NOTE: Usually, writing in the trap any blocking statements like WaitDI or WaitTime is not a good idea.
Another way is using a MoveSync. I usually use this instruction to record all the position the robot reach, to be able to move bakwards to home if the program is stopped.
Another way is using world-zones, especially if you are interested in a volume of space instead of a specified position.
Hope this can help.
Claudio