Hi All, I am a new bite here. I am currently working on a project to use the robot UR5 for cake top decorating. The challenge is the decorating pattern is vertical to the object moving direction. I am planning to put a encoder for this application to make the robot decorating pattern following the object movement. For the conveyor tacking setting and Feature setting etc., what will be main concern? Can anyone help out and walk me trough? Thank you.