Status Reports

Status Reports

Status reports provide a real-time view of what's going on inside g2core by reporting the dynamic model. IOW they can tell you where you are (position), if the machine is moving, how fast, what it's doing, when a move is done, and other things as well.

They can be returned on-demand, or can be automatically generated during movement so you can see move progress. They are delivered in JSON so the UI can use it, or can be delivered in plain text for a command-line user.

The following variables can be reported in a status report

Request | Response | Description
---------|--------------|-------------
stat | machine_state      | See [`stat` values](#stat-values)
n | model line_number | Gcode line number `N` currently being read
line | runtime_line_number | Runtime line number currently being executed
vel | velocity | actual velocity - may be different than programmed feed rate 
feed | feed_rate          | gcode programmed feed rate (F word) 
unit | units_mode         | 0=inch, 1=mm
coor | coordinate_system  | 0=g53, 1=g54, 2=g55, 3=g56, 4=g57, 5=g58, 6=g59
momo | motion_mode        | 0=traverse, 1=straight feed, 2=cw arc, 3=ccw arc
plan | plane_select       | 0=XY plane, 1=XZ plane, 2=YZ plane
path | path_control_mode  | 0=exact stop, 1=exact path, 2=continuous
dist | distance_mode      | 0=absolute distance mode, 1=incremental distance mode
admo | arc distance_mode      | 0=absolute distance mode, 1=incremental distance mode
frmo | feed_rate_mode     | 0=units-per-minute-mode, 1=inverse-time-mode
macs | machine state | internal state for deeper inspection
cycs | cycle state | internal state for deeper inspection
mots | motion state | internal state for deeper inspection
hold | hold state | internal state for deeper inspection
tool | active tool | tool number currently active
g92e | g92 enabled | 1=temporary offsets in effect 

The following are available for all axes, XYZABC. Only posX is shown for illustration. The rest are implied.

Request | Response | Description
---------|--------------|-------------
posx | x work position | X work position in current units (mm/inch) (posy, posz...)
mpox | x absolute position | X machine position in absolute coordinate system (mm or inch).
g92x | offset | G92 origin offset for X axis
g54x | coord 1 offset | X axis G54 coordinate system offset
g55x | coord 2 offset | X axis G55 coordinate system offset
g56x | coord 3 offset | X axis G56 coordinate system offset
g57x | coord 4 offset | X axis G57 coordinate system offset
g58x | coord 5 offset | X axis G58 coordinate system offset
g59x | coord 6 offset | X axis G59 coordinate system offset
g28x | G28 position | X axis G28 saved position
g30x | G30 position | X axis G30 saved position

It's worth noting that any gettable variable can be put in a status report - the above variables are listed as they represent the Gcode model state. For example fv would return the firmware version, but this would not change.

It's also worth noting that any variable can be independently queried as an individual variable, and axis variables (e.g. pos, G55) can be queried as a group, e.g. pos, or g55

Text Mode Status Reports

Text Mode On-Demand Status Reports

Enter a ? to get a status report in text mode.

Text Mode Automatic Status Reports

Automatically generated status reports may enabled with $sv=1 or $sv=2 and a corresponding status interval $si=250 set in milliseconds. Reports will be generated for each new command entered, during movement every N milliseconds, and when the machine has stopped (i.e. at the end of the final move in the buffer).

Filtered status reports $sv=1 return only variables that have changed since the previous report. This saves serial bandwidth and host processing time. We recommend using filtered reports.

$sv=0      turn off automatic status reports
$sv=1      turn on filtered automatic status reports
$sv=2      turn on unfiltered automatic status reports
$si=250    request status reports every 250 ms during movement

JSON Mode Status Reports

JSON mode status reports are parent/child objects with a "sr" parent and one or more child NV pairs, as in the example below.

{"sr":{"line":1245,"posx":23.4352,"posx":-9.4386,"posx":0.125,"vel":600,"unit":"1","stat":"5"}}

JSON Mode On-Demand Status Reports

The following will return a single status report. The forms below are equivalent.

{"sr":null}    request status report in strict JSON mode
{"sr":n}       same as above but null is abbreviated to n
{sr:n}         request status report in relaxed JSON mode

Note that JSON can be received in either strict or relaxed mode, but results 
will be will be returned in strict or relaxed mode depending on {js:N} setting

JSON Mode Automatic Status Reports

Automatically generated status reports may enabled with {sv:1} or {sv:2}. Reports will be generated for each new command entered, during movement every N milliseconds according to {si:N}, and when the machine has stopped (i.e. at the end of the final move in the buffer).

Filtered status reports {sv:1} return only variables that have changed since the previous report. This saves serial bandwidth and host processing time. However, "stat" is always returned for a final report (i.e. after movement has stopped) so that UI's can reliably know that motion is complete (stat=3) or an M2/M30 program end has been received (stat=4). We recommend using filtered status reports for all UIs.

{sv:0}        turn off automatic status reports
{sv:1}        turn on filtered automatic status reports
{sv:2}        turn on unfiltered automatic status reports
{si:250}      request status reports every 250 ms during movement

##Setting Status Report Fields

Set Status Report Fields - Firmware Build 440.21 and earlier

In addition to on-demand and automatic status reports, JSON mode also supports setting the fields to be displayed in status reports. Although this command is only supported in JSON mode, the fields set in JSON apply to both JSON and text mode reports.

Variables to be included in a status reports are selected by setting values to 'true'. These variables will be returned on subsequent SR requests in the order they were provided in the SET command. For example, the string below could be used to set up the status report in the example above. It will eliminate any previously recorded settings. Note that the t is not in quotes - it is actually an abbreviated JSON value for true, not a string that says "true". Example:

{sr:{line:t,posx:t,posy:t,posz:t,vel:t,unit:t,stat:t}}

In firmware build 440.21 and below there is no incremental setting of variables - all variables are reset and must be specified in a single SET command. See Incremental Status Report Setting (below) for further details

Set Status Report Fields - Firmware Build 440.22 and later

Incremental status report setup is supported as of build 440.22. Everything above still applies except that sending a status report setup string will add to the existing settings. Behaviors are:

• {sr:f} removes all status reports (clears)
• {sr:t} restores status reports to default settings for the stored profile
• {sr:{<key1>:t,...<keyN>:t}} adds key1 through keyN to the status report list
• {sr:{<key1>:f,...<keyN>:f}} removes key1 through keyN from the status report list

• Lines may have a mix of t and f pairs
• List ordering is not guaranteed in the case of mixed removes and adds in the same command

Error conditions:

• All failures leave original status report list untouched
• A key that is not recognized fails with STAT_UNRECOGNIZED_NAME (stat=100)
• A value other than 't', or 'f' fails with STAT_INPUT_VALUE_RANGE_ERROR (stat=110)
• An attempt to add an element that exceeds list max fails with STAT_INPUT_EXCEEDS_MAX_LENGTH (stat=107)
• Malformed JSON (bad syntax) fails as usual (stat=111)

stat

stat is the machine state variable that can be queried directly or set to return in a status report.

    {stat:n}  queries this value
    
    {sr:"line", "posx", "posy", "posz", "feed", "vel", "momo", "stat"}

Stat Values

# | Value | Description
---------|--------------|-------------
0 | INITIALIZING | Machine is initializing
1 | READY | Machine is ready for use
2 | ALARM | Machine is in alarm state
3 | PROGRAM_STOP | Machine has encountered program stop
4 | PROGRAM_END| Machine has encountered program end
5 | RUN | Machine is running
6 | HOLD | Machine is holding
7 | PROBE | Machine is in probing operation
8 | CYCLE | reserved for canned cycles (not used) 
9 | HOMING | Machine is in a homing cycle
10 | JOG | Machine is in a jogging cycle
11 | INTERLOCK | Machine is in safety interlock hold
12 | SHUTDOWN | Machine is in shutdown state. Will not process commands
13 | PANIC | Machine is in panic state. Needs to be physically reset