We continuously need to coordinate multiple processes to accomplish our current goals. By means of its connection with multiple other areas of the brain, the prefrontal cortex (PF) plays a pivotal role in this cognitive challenge [1]. Neurons in PF are known to represent task-relevant information and to memorize current goals until the proper action can be selected. However, how PF neurons transform the goals into specific actions is not completely understood yet. To address this question, we used an experimental task that resembles a situation in which an object needs to be maintained in memory and then perform a motor plan to reach it. Two monkeys were trained to perform a distance discrimination task [2] while the activity of neurons ...