Which robot arm is more suitable for ROS secondary development?

[zp2546265641]

Hello, i want to plan the trajectory through MoveIt and send it to the robot to execute the motion trajectory. Is this possible? In addition, I need to control external devices through the IO interface of the control cabinet, such as the air pressure input and output interface of the 3D printer. Is it possible? In addition, you said that you can control the speed of the path point to achieve the speed control of the robot, right? I have used the ur robot before and encountered a problem. When I use MoveIt to control the movement of the robot, and then send io control instructions, the movement of the robot will be interrupted. The reason is that only one ur robot script control can be sent at the same time. If you want to achieve both, you need to add a proxy service to do it. I wonder if our robot can send io control instructions during the movement of the robot?

Can the above requirements be met by 1200-7? My customer wants to use this robot arm first.