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How to ensure the tip of the end effector is facing toward the center of the object

I'm using kuka youbot now. Current situation is that I have set the coordinate for the tip of it's end effector and an object is situated at the center of the workspace. Supposingly, when the tip of the end effector reaches the coordinate I set, it should face toward the center of my object. After I set the xyz coordinate in the inverse kinematic code, the tip of the end effector do move to the coordinate I set, but it do not face towards the center point of the object I set. So, may I know is there any way to ensure the tip of the end effector is facing toward the center of the object? Or is there a way to ensure the joint 3 to the tip of the end effector is in 90 degree from the x-axis?