2 suggestions:

1. Move to positions

BASE(0)

REPEAT

  MOVEABS(position1)

  MOVEABS(position2)

UNTIL event=TRUE

2. Move to sensor position1 and position 2 are set to be beyond the sensor postion

BASE(0)

REPEAT

  MOVEABS(position1)

  WAIT UNTIL IN(1)=ON

  CANCEL

  WAIT IDLE

  MOVEABS(position2)

  WAIT UNTIL IN(2)=ON

  CANCEL

  WAIT IDLE

UNTIL event=TRUE