diff --git a/Firmware/communication/ascii_protocol.cpp b/Firmware/communication/ascii_protocol.cpp
index f0ee9f9c..a5c5d623 100644
--- a/Firmware/communication/ascii_protocol.cpp
+++ b/Firmware/communication/ascii_protocol.cpp
@@ -170,7 +170,8 @@ void ASCII_protocol_process_line(const uint8_t* buffer, size_t len, StreamSink&
         } else {
             Axis* axis = axes[motor_number];
             axis->controller_.config_.input_mode = Controller::INPUT_MODE_TRAP_TRAJ;
-            axis->controller_.move_to_pos(goal_point);
+            axis->controller_.input_pos_ = goal_point;
+            axis->controller_.input_pos_updated();
             axis->watchdog_feed();
         }