writing: how to animate "End Bevel Factor" along a path


I’m trying to make an animation of a robot writing on a paper.
I’m using a path with a bevel. With that I can animate the End Bevel Factor (keyframes begin and end) so it looks like the path is written.
In order to make a robot arm to follow the point where the bevelling ends (like the robot arm is writing it) I want to use an empty that is precisely at the end of the bevelled section. However, if I animate the empty along the same path, there is an offset between the position of the empty and where the bevel ends.

Anyone any suggestions how I can track the end of the bevel position with an empty accurately?


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this question is also of interest, it seems to me that you can not do without scripts or drivers, unfortunately I do not know them (((