[DavidG]

In that case I would suggest you to add some auxiliary points to your program.
If your actual goal is to do something like

Code:

robot.MoveL(Target01) # Point B
robot.MoveL(Target02) # Point C
and so on...

you can add instructions like this:

Code:

robot.MoveL(Target01) # Point B
robot.MoveL(AuxiliaryPoint01) # Point that is close to Target02
setSpeed(1)
robot.MoveL(Target02) # Point C
setSpeed(100)

If you have your program ready you could do this quite simple with a script you only run once.
Where the additional points have to be placed depends on how certain you are about the position of your objects.
When using MoveL you could calculate the distance between two points and add an auxiliary point at 99% (for example) of the movement. For MoveJ this should also be possible only the math might be a little more tricky.
Please have in mind that this approach is pretty raw.
I am curious what you application looks like. It sounds like you are using a program to move your robot but can not really trust it so that you need the ability to interfere. I am not sure what use the program can be in that case. The question is, how do you proceed after stopping the robot? Do you correct the position of your object? Don't get me wrong, but as of yet it sounds like you could as well move the robot completely manual.
What type of robot are you working with?