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Robot carries external axis

Is it possible to program an external axis that is carried on the flange of the robot?  I do not need it synchronized with robot motion (but it could be).  

The only success I have had so far is by creating a program for every position that my carried axis needs to go to, and calling those programs manually from my robot program like a gripper.  Unfortunately I haven't found an example that shows me how to add program call instructions via the API so I'm not sure how feasible it would be to automate this.

My current application has a rotary axis on the flange, but we have also had applications where the robot carries multiple linear axes.
There is no official way of doing that, but I would do the same to be honest.

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