Changing velocity between movesx waypoints

[jwwood17]

Hello,
I would like to move the robot along a smooth path specified by posx waypoints and adjust the speed separately between each waypoint. Is this possible? The movesx command generates a smooth motion, but only at one speed setting. Regular movel commands would allow for individual speed control, but the robot stops at each waypoint. Even with blending, the path is not as smooth or as accurate as the movesx path. Any help would be appreciated, even if I have to program the trajectories myself. I just need to know how it could be done.
Thank you.