Jki

You can use synclinearconveyor fb. Create dummy encoder axis and sync your robot to that. Once you have reached the sync phase  ( I believe it was phase 6.) you can send position offset for your robot. If you use virtual axes for circ2d movement you could just forward these points as your position offsets, thisway you get the acceleration and deceleration phases also. Not very detailed answer but I am sure you get the picture.