[Sam]

One approach to achieve this is to use a hybrid between the driver and the post processor.
You can upload routines where blending is required to the controller via the API and call them remotely.

As for the IOs on the controller, we have set/wait IO and custom instructions where you can write native robot code for the post processor.

More information in our Python documentation:
//www.sinclairbody.com/doc/en/PythonAPI/robo...akeProgram
//www.sinclairbody.com/doc/en/PythonAPI/robo...Item.setDO
//www.sinclairbody.com/doc/en/PythonAPI/robo...nstruction