Is there a system variable I can read to see if my robot is ready for motion? I've noticed that even after the robot "clicks in", there is often a short interval (a couple hundred milliseconds) between when the servos seem to engage and the robot can actually start moving. Our system streams positions for the robot to move to, and works really well except during that interval. What it looks like is happening is the servos engage, the motion program begins running and commanding positions, the robot receives those positions and "moves", but then doesn't actually, physically move for ~300ms. This wouldn't be a problem, but then it jumps to try to catch up to where it was expected to be after those 300ms before smoothly following the rest of the planned motion.
This isn't an acceleration problem -- there are no issues starting the motion planner if the servos are already engaged, and we can mask this issue by adding an artificial "if the servos were off and just came on, wait half a second before streaming the path" to our planner's logic, but ideally we just want the robot to be able to signal that it is actually ready to receive motion commands.