I currently use URScript to connect my program on my laptop to the UR robot. I don't know how to determine if a movement is finished.
When I send one movement command, say moveL, to the robotic arm. The moveL command will block until the movement is finished so that I can use UR script to send a socket message back to my laptop to know when the movement is finished, which is good.
However, if I pass a 'blend' parameter to the moveL function, it will not block, because it expects me to send further moveL functions which enable it to blend the series of movement. Because of this feature, I could not know when the series of movement is finished. I tried to get the speed of the robot, but it seems like there is always some delay.
Is it possible for me to get a notification or something after the robot finishes the movement?
Thank you very much!