We use the standard Grbl 1.1 status report. This is done to preserve compatibility with gcode senders This has some limitations, so it cannot report individual switches on axes with multiple switches. We have added some extra pin reporting.
The command to get status is the ? character. It is an immediate command. It does not wait for other commands to complete and it will not return an OK response.
A typical response looks like this.
<Idle|MPos:151.000,149.000,-1.000|Pn:XP|FS:0,0|WCO:12.000,28.000,78.000>
Each section of the response is separated by the '|' character.
FluidNC Only: You can have the firmware automatically report status whenever something changes. The eliminates the need to poll for status. See this page
The reporting mask is the $10 setting. It determines what data is reported with the real-time status report. It is a binary mask.
So...
This shows the current mode of the machine. It will be one of the following.
IdleAlarmCheck This shows that the machine is in check mode. This is a special mode that allows gcode to run and be checked without actually sending I/O.HomingRunJogHold
Hold:0 Hold complete. Ready to resume.Hold:1 Hold in-progress. Reset will throw an alarm.Door
Door:0 Door closed. Ready to resume.Door:1 Machine stopped. Door still ajar. Can't resume until closed.Door:2 Door opened. Hold (or parking retract) in-progress. Reset will throw an alarm.Door:3 Door closed and resuming. Restoring from park, if applicable. Reset will throw an alarmSleepThis section shows the current position. It will report MPos for machine position and WPos for work position. You can change type with $10=1 for MPos and $10=2 for WPos. It will show a value for each axis you have defined. It does not label the values, so they are always in XYZABC order. Therefore you cannot skip an axis in your config file.
The Pn: section shows any input pins in the currently active state. It does not show the state of individual limit switch pins. It shows the axis as active if any limit switch on that is active. We have a $Limits command to show those for debugging.
XYZABC Limit switch pinsP Probe pinR Reset pinS Cycle start pinH Feed hold pinD Door pin0123 Macro pins statusF Fault pinE E-Stop pinThis is the section FS: section and tells the current feed rate and spindle speed.
The feed rate is actual feed rate, so it shows intermediate values when acceleration to the requested speed.
The spindle speed is the current S value in M3 and M4 modes. It will report 0 in M5 mode.
This show the current work offset from the machine position. This allows you to calculate WPos from MPos, or the other way. This will only show up in the report when it has changed. It is also sent periodically, even if it has not change. The WCO results from things like zero'ing an axis or setting a G54-G59 offset.
This is the Bf: section. It only reports if $10=2 or $10=3
Bf:15,128. The first value is the number of available blocks in the planner buffer and the second is the number of available bytes in the serial RX buffer.
The number of planner blocks is set in the config file. Read about it here.
This reports the current line number is you have use_line_numbers: true in your config file.
Ln:99999 indicates line 99999 is currently being executed.
If you have the option set, but are not using line numbers, nothing is reported.
This gives you the current Feed:Rapid:Spindle override values. The numbers are in percent.
<Idle|MPos:0.000,0.000,0.000|FS:0,0|Ov:100,100,100>
This shows the percent complete SD:nn.nn of the file sent from an SD card to the FluidNC motion planner. FluidNC still has to complete the last motion commands after they have all been sent. This is only present while an SD card job is running.
<Run|MPos:0.000,0.000,0.000|FS:0,0|Ov:100,100,100|SD:47.32>