RobotStudio event

Conveyor tracking without hardware trigger

Hi everyone,

I need to set up a conveyor tracking application in which I cannot directly wire a sensor to the switch input of CMT, as my trigger is actually a logic condition, and its expression may change at runtime.

Is there any way to provide a soft trigger switch via RAPID? I am aware that I will introduce time uncertainty but my conveyor moves slowly and I need no extreme positioning accuracy.

Or, even better, is there a way to issue a Rapid instruction which cause a WObj to be continuously offset in a defined direction based on encoder measured distance? This is actually they way this application was made in the past with Kawasaki robots.

Any smarter idea than wiring a general purpose digital output to the trigger input of CMT?

Many thanks,