So after posting on the robosavvy forums, one of the members robots42 informed me that you can indeed execute the stock motions that are available in the standard BASIC program. I totally did not read the very first line of the MR3024 serial data sheet, YOU CAN WRITE TO THE FIRST VARIABLE in the basic program. I think I will do some testing and see what I come up with. I would like to be able to read a specific BASIC variable or memory location via the direct serial connection. This would allow my program to find out when a motion command is completed. I think this is possible using READ_DATA and WRITE_DATA and peek and poke.