# Teach Position

**URL:** <https://tech-community.robotics.abb.com/t/teach-position/4959>\
**Category:** Robot Controller\
**Created:** [June 30, 2012, 8:59am UTC](https://tech-community.robotics.abb.com/t/teach-position/4959 "2012-06-30T08:59:27Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![Franklin](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/franklin/32/4381_2.png) [@Franklin](https://tech-community.robotics.abb.com/u/Franklin)\
**Post date:** [June 30, 2012, 8:59am UTC](https://tech-community.robotics.abb.com/t/teach-position/4959/1 "2012-06-30T08:59:27Z")

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Hello Everyone

I wanted to ask how you guys solved this.  
At the moment i have a program with a defined 0 point. From this point i target different positions with offsets. This works fine. Now what i want to do is teach the point 0. I want the Robot to move to a position then stop the program and let the operator move the robot manually to the correct position. Then start the Program again, the robot will then take this position as its point 0.  
Could someone help me with this? i just cant solve this. Or does someone have an other idea?

Here my code:

MoveJ Offs(pPositioning,0,0,-20),v100,fine,tPenWObj:=obTable;

WaitRob InPos;

TPWrite “Pleese Teach Position!”;

Stop;

pPositioning:=CRobT(Tool:=tPen WObj:=obTable);

Thanks for your help

Franklin

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**Author:** ![Henrik\_Berlin](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/henrik_berlin/32/1011_2.png) [@Henrik\_Berlin](https://tech-community.robotics.abb.com/u/Henrik_Berlin)\
**Post date:** [July 2, 2012, 11:25am UTC](https://tech-community.robotics.abb.com/t/teach-position/4959/2 "2012-07-02T11:25:09Z")

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Moved to RobotWare forum.

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**Author:** ![LiamGwallace](https://avatars.discourse-cdn.com/v4/letter/l/9e8a1a/32.png) [@LiamGwallace](https://tech-community.robotics.abb.com/u/LiamGwallace)\
**Post date:** [November 13, 2012, 2:48pm UTC](https://tech-community.robotics.abb.com/t/teach-position/4959/3 "2012-11-13T14:48:09Z")

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You may need to use “Stop NoRegain;” This allows you to move the robot away from the stop position before you continue.

Liam