Stopping an Axis-Controlled Motor

[M.Kong-Sivert]

Our robot has an arm that is supposed to pick up the ball and is controlled by a gearbox, which is connected to a CIM and a Mini-CIM. We used to have it programmed so that the arm was controlled by buttons (one to make it go up and one to go down), but we decided to change it by controlling it with one of the axes instead. This gave us more control, and, overall, we prefer it. However, we designed the arm so that it could stop halfway up to catch the ball, and now we can't stop the arm in the middle anymore. Is there a way for us to program it so that it can stop in the middle? Thank you.