# ABB IRB 14000 Yumi problem with jogging arm and task execution

I'm working on ABB's IRB 14000 Yumi robot but I'm having some problems.
I’m trying to figure out a way in which I could use a Yumi arm in jogging mode while it is carrying out some tasks (the task concerning the jogging arm is not active).
For now, I just tried it during the simulation on RobotStudio: I carried out the tasks, and then I moved the FlexPendant joystick but every time I get the “not allowed command” error.
The tasks that I carry out are: T_ROB_L and OtherMyTask all of them are set with “normal” type.
Has anybody succeeded in doing it or has suggestions regarding how I can be able to do it?

Thanks