Is there any G-code command to identify if DexArm is currently in motion from executing a move command, for example, a G0 or G1 command? Or determine if DexArm has finished processing a move command, i.e. has reached target coordinates.
The current workaround I have is to send the G-code command: “M894” in a loop with a small delay, to return encoder positions. If successive returned values are equal, then I assume the arm has stopped moving. This time based polling approach works in a pinch, but it isn’t always reliable, especially if the axis feedrate is low.