Driving a preconfigured toolpath (toolpath URCap) while conveyor tracking

Good morning everybody.

We’re currently employing our CoBot in a way where the cobot needs to follow certain predefined trajectories (that are given to the CoBot by G-Code). We’re using the toolpath-urcap, and this works fine. However, as an additional requirement the cobot needs to fulfill its task while following the movement of a conveyor, so we thought that we can simply combine the conveyor-tracking.

However, this is not the case, the CoBot gives error messages. Has something like the described task ever been done, or is the conveyor-tracking capabillity simply not designed to work with the toolpath-urcap?