@heki so in rough outline the data flow is:
read from input (SD card, USB, Network, UART etc)
process (buffer, plan, step generation)
step output to motors
The difference in SBC mode for commands coming from the SBC is the input stage can be intercepted and logged/used in some way. Other than that the Duet is doing the processing and step generation.
What exactly do you need to collect?
Whole moves?
individual steps?
something in between?
You may be able to get what you need but running a move, capturing the accelerometer data as we do already and then processing it after the fact. then running another move. After all you know the move you commanded, and you know the accelerometer response.