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Maybe the hal pin "halui.program.is-running" might be more like what he is after?

25 Years of machinery service, retrofits and custom machinery means nothing to guys wearing suits that have a "don't you know who I am? I can do what I want" attitude. It's a long story but $4.7M in contracts canceled by a prick. If I could afford a lawyer we would be in court over it. 

Hey, yeah its been an insane learning curve but im happy to say i figured it out, i have the robot arm pretty much working at the moment, got 6 tmc 5160 drivers connected to the PI5 and am using an arduino for SPI to configure the drivers (i wouldnt have enough pins for toolheads if i used the Pi's SPI interface). Right now all i need to figure out is the DH parameters of the arm itself and some scaling stuff but that shouldnt be too difficult, i had another question though, is it a good idea atall to run 6 stepper motors with step/dir controls using the pi5? im not sure if its powerful enough to do it consistently, i get movement on all the motors with no problem i just dont know how reliable thats gonna be in the long run, maybe running the tmc5160's in SPI mode would be easier if i were to let them do their own stepgen, that would be a whole other learning process too although it might be better