I have taken a few C-based programming classes, but am new to KRL. I am creating a program that at the end of every iteration of the for loop, it goes to a separate point (out of the way) where the HALT command will be called. The problem is that after every iteration of the for loop, the position is different. I was trying to think of a way for the program to define the robot's current position as a new point, so I can do one PTP to the out-of-the-way spot, and then another PTP to the program-defined point. I discovered the $AXIS_ACT_MES variable and was thinking I could use that, but I am unsure how to hard code a point that I can use $AXIS_ACT_MES with to define the point. Hopefully, this makes sense, any help would be appreciated! Also, if there would be a better way to do this, please let me know!