Comparison of the values ??from array with clo

bajerek

Hi Everyone,
How to solve a task, that the robot will be able perform specific movements after a predetermined time, which takes the value from the array.
Using the command WaitTime not enough, because there are delays and then the Delays grow linearly. Also after about 2 minutes of operation is about 5 seconds delay.
Is any internal clock to which I can hook up and use it to compare with the value from the table and the value from the clock and then when these values will be equal, to generate an interrupt occurs, or go to another procedure?
Thanks for answers.