Currently have a UR 10e doing conveyor tracking. I only have a small window to program all the positions. I want the UR to pick up the tool right when it enters the window and begin tracking, the issue is that I have to program all the points within the window. I attached a photo showing where the tool is to show where I have to do the programming and the robot is where I want it to start tracking. Conveyor moves from right to left. The Left side of the tool would be the leading edge coming past the robot arm.