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Alden Hart edited this page May 30, 2018 · 29 revisions

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.

Any variable that can be independently queried can be included in a status report. For example fv would return the firmware version, but this would never change and would be boring.

A group variable such as pos or G55 is also allowed, but only in their individual form: e.g. posx or g55y. For example posx, posy, posz is allowed, but pos is not.

The variables listed below are commonly used in status reports, as they represent the dynamic model state:

Request Response Description
stat machine_state Machine dynamic state
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 the X axis values are shown for illustration. The other axes are implied.

Request Response Description
posx x work position X work position in current units & all offsets (See 1)
mpox x absolute position X canonical machine position (See 2)
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

Notes:

  1. {posx: ... through {posa:... are reported in the currently active Units mode (G20/G21), and also apply any offsets, including coordinate system selection, G92, and tool offsets. These are provided to drive digital readouts
  2. {mpox: ... through {mpoa:... are reported in the machine's internal coordinate system (canonical machine) and will always be in millimeters with no offsets. These are provided to drive graphical displays so they do not have to be aware of Gcode Units mode or any offsets in effect.

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

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}}

All variables are reset and must be specified in a single SET command.

Stat Values

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

# 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

Run State Transitions

System States

Incremental Status Report Settings

The following is a design specification for implementing an incremental status report setting function. This is NOT in the code yet - it's just here for discussion. (5/30/18)

Issue: Currently the entire status report setup string must be presented as a single string. The new string replaces the previous status report setting. With the addition of new status watches and UVW axes the setup string may exceed the line lengths available to on-board and host string buffers.

Incremental status report setup changes status report setting behavior as so:

  • {sr:f} removes all status reports (clears)
  • {sr:t} restores status reports to default settings from 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 SR list max fails with STAT_INPUT_EXCEEDS_MAX_LENGTH (stat=107)
  • Malformed JSON (bad syntax) fails as usual (stat=111)
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