[petenc]

If its not an issue to modify the Gcode you can just call an external script (say bash or python)
by using a "user defined M-code"

M Codes

I really like this solution and it seems straightforward. Being a robot application, I just worry about e-stops and restarts and where the program leaves off. My mind goes to a constant feedback approach just so the robot always knows. Not knowing the application, or the type of operator running the machine, it may not be a concern.

Pete

Pete