TinyG Status Codes

This page contains status codeas and other enumerations that may be returned in status reports See also:

• Gcode Commands

• Configuration Commands

• JSON Formatting

  Code	Label	Description
  Low level codes	System and comms status
  0	OK	universal OK code
  1	ERROR	generic error return
  2	EAGAIN	function would block here
  3	NOOP	function had no-operation
  4	COMPLETE	operation is complete
  5	TERMINATE	operation terminated (gracefully)
  6	RESET	operation was hard reset (sig kill)
  7	EOL	returned end-of-line
  8	EOF	returned end-of-file
  9	FILE_NOT_OPEN
  10	FILE_SIZE_EXCEEDED
  11	NO_SUCH_DEVICE
  12	BUFFER_EMPTY
  13	BUFFER_FULL
  14	BUFFER_FULL_FATAL
  15	INITIALIZING	initializing - not ready for use
  16	ENTERING_BOOT_LOADER	emitted by boot loader, not TinyG
  17	FUNCTION_IS_STUBBED
  18 - 19	Reserved

| Internal System Errors 20 | INTERNAL_ERROR | unrecoverable internal error 21 | INTERNAL_RANGE_ERROR 22 | FLOATING_POINT_ERROR | number conversion error 23 | DIVIDE_BY_ZERO 24 | INVALID_ADDRESS 25 | READ_ONLY_ADDRESS 26 | INIT_FAIL 27 | ALARMED 28 | FAILED_TO_GET_PLANNER_BUFFER 29 | GENERIC_EXCEPTION_REPORT | used for test 30 | PREP_LINE_MOVE_TIME_IS_INFINITE 31 | PREP_LINE_MOVE_TIME_IS_NAN 32 | FLOAT_IS_INFINITE 33 | FLOAT_IS_NAN 34 | PERSISTENCE_ERROR 35 | BAD_STATUS_REPORT_SETTING 36 – 89 | Reserved | Assertion Failures | Build down from 99 until meet system errors 90 | CONFIG_ASSERTION_FAILURE 91 | XIO_ASSERTION_FAILURE 92 | ENCODER_ASSERTION_FAILURE 93 | STEPPER_ASSERTION_FAILURE 94 | PLANNER_ASSERTION_FAILURE 95 | CANONICAL_MACHINE ASSERTION_FAILURE 96 | CONTROLLER_ASSERTION_FAILURE 97 | STACK_OVERFLOW 98 | MEMORY_FAULT | generic memory corruption detected 99 | GENERIC_ASSERTION_FAILURE | unclassified assertion failure | Application and Data Input Errors | Generic Data Input Errors 100 | UNRECOGNIZED_NAME | parser didn't recognize the command 101 | MALFORMED_COMMAND_INPUT | malformed line to parser 102 | BAD_NUMBER_FORMAT | number format error 103 | INPUT_EXCEEDS_MAX_LENGTH | input string too long 104 | INPUT_VALUE_TOO_SMALL | value is under minimum 105 | INPUT_VALUE_TOO_LARGE | value is over maximum 106 | INPUT_VALUE_RANGE_ERROR | value is out-of-range 107 | INPUT_VALUE_UNSUPPORTED | value is not supported 108 | JSON_SYNTAX_ERROR | JSON input string is not well formed 109 | JSON_TOO_MANY_PAIRS | JSON input string has too many pairs 110 | JSON_TOO_LONG | JSON output exceeds buffer size 111 | CONFIG_NOT_TAKEN | config value not taken while in machining cycle 112 | COMMAND_NOT_ACCEPTED | command cannot be accepted at this time 113 – 129 | Reserved | Gcode Errors and Warnings | Most are from NIST 130 | GCODE_GENERIC_INPUT_ERROR | generic error for gcode input 131 | GCODE_COMMAND_UNSUPPORTED | G command is not supported 132 | MCODE_COMMAND_UNSUPPORTED | M command is not supported 133 | GCODE_MODAL_GROUP_VIOLATION | gcode modal group error 134 | GCODE_AXIS_IS_MISSING | requires at least one axis present 135 | GCODE_AXIS_CANNOT_BE_PRESENT | error if G80 has axis words 136 | GCODE_AXIS_IS_INVALID | axis specified that’s illegal for command 137 | GCODE_AXIS_IS_NOT_CONFIGURED | WARNING: attempt to program an axis that is disabled 138 | GCODE_AXIS_NUMBER_IS_MISSING | axis word is missing its value 139 | GCODE_AXIS_NUMBER_IS_INVALID | axis word value is illegal 140 | GCODE_ACTIVE_PLANE_IS_MISSING | active plane is not programmed 141 | GCODE_ACTIVE_PLANE_IS_INVALID | active plane selected not valid for this command 142 | GCODE_FEEDRATE_NOT_SPECIFIED | move has no feedrate 143 | GCODE_INVERSE_TIME_MODE CANNOT_BE_USED | G38.2 and some canned cycles cannot accept inverse time mode 144 | GCODE_ROTARY_AXIS CANNOT_BE_USED | G38.2 and some other commands cannot have rotary axes 145 | GCODE_G53_WITHOUT_G0_OR_G1 | G0 or G1 must be active for G53 146 | REQUESTED_VELOCITY EXCEEDS_LIMITS 147 | CUTTER_COMPENSATION CANNOT_BE_ENABLED 148 | PROGRAMMED_POINT SAME_AS_CURRENT_POINT 149 | SPINDLE_SPEED_BELOW_MINIMUM 150 | SPINDLE_SPEED_MAX_EXCEEDED 151 | S_WORD_IS_MISSING 152 | S_WORD_IS_INVALID 153 | SPINDLE_MUST_BE_OFF 154 | SPINDLE_MUST_BE_TURNING | some canned cycles require spindle to be turning when called 155 | ARC_SPECIFICATION_ERROR | generic arc specification error 156 | ARC_AXIS_MISSING FOR_SELECTED_PLANE | arc missing axis (axes) required by selected plane 157 | ARC_OFFSETS_MISSING FOR_SELECTED_PLANE | one or both offsets are not specified 158 | ARC_RADIUS OUT_OF_TOLERANCE | WARNING - radius arc is too large - accuracy in question 159 | ARC_ENDPOINT IS_STARTING_POINT 160 | P_WORD_IS_MISSING | P must be present for dwells and other functions 161 | P_WORD_IS_INVALID | generic P value error 162 | P_WORD_IS_ZERO 163 | P_WORD_IS_NEGATIVE | dwells require positive P values 164 | P_WORD_IS_NOT_AN_INTEGER | G10s and other commands require integer P numbers 165 | P_WORD_IS_NOT_VALID_TOOL_NUMBER 166 | D_WORD_IS_MISSING 167 | D_WORD_IS_INVALID 168 | E_WORD_IS_MISSING 169 | E_WORD_IS_INVALID 170 | H_WORD_IS_MISSING 171 | H_WORD_IS_INVALID 172 | L_WORD_IS_MISSING 173 | L_WORD_IS_INVALID 174 | Q_WORD_IS_MISSING 175 | Q_WORD_IS_INVALID 176 | R_WORD_IS_MISSING 177 | R_WORD_IS_INVALID 178 | T_WORD_IS_MISSING 179 | T_WORD_IS_INVALID 180 - 199| Reserved | reserved for Gcode errors | **TinyG Errors and Warnings 200 | GENERIC_ERROR 201 | MINIMUM_LENGTH_MOVE | move is less than minimum length 202 | MINIMUM_TIME_MOVE | move is less than minimum time 203 | MACHINE_ALARMED | machine is alarmed. Command not processed 204 | LIMIT_SWITCH_HIT | limit switch was hit causing shutdown 205 | PLANNER_FAILED_TO_CONVERGE | planner can throw this exception 206 - 219| Reserved 220 | SOFT_LIMIT_EXCEEDED | soft limit error - axis unspecified 221 | SOFT_LIMIT_EXCEEDED_XMIN | soft limit error - X minimum 222 | SOFT_LIMIT_EXCEEDED_XMAX | soft limit error - X maximum 223 | SOFT_LIMIT_EXCEEDED_YMIN | soft limit error - Y minimum 224 | SOFT_LIMIT_EXCEEDED_YMAX | soft limit error - Y maximum 225 | SOFT_LIMIT_EXCEEDED_ZMIN | soft limit error - Z minimum 226 | SOFT_LIMIT_EXCEEDED_ZMAX | soft limit error - Z maximum 227 | SOFT_LIMIT_EXCEEDED_AMIN | soft limit error - A minimum 228 | SOFT_LIMIT_EXCEEDED_AMAX | soft limit error - A maximum 229 | SOFT_LIMIT_EXCEEDED_BMIN | soft limit error - B minimum 230 | SOFT_LIMIT_EXCEEDED_BMAX | soft limit error - B maximum 231 | SOFT_LIMIT_EXCEEDED_CMIN | soft limit error - C minimum 232 | SOFT_LIMIT_EXCEEDED_CMAX | soft limit error - C maximum 233 – 239 | Reserved 240 | HOMING_CYCLE_FAILED 240 | homing cycle did not complete 241 | HOMING_ERROR BAD_OR_NO_AXIS 242 | HOMING_ERROR ZERO_SEARCH_VELOCITY 243 | HOMING_ERROR ZERO_LATCH_VELOCITY 244 | HOMING_ERROR TRAVEL_MIN_MAX_IDENTICAL 245 | HOMING_ERROR NEGATIVE_LATCH_BACKOFF 246 | HOMING_ERROR SWITCH_MISCONFIGURATION 247 – 249 | Reserved 250 | PROBE_CYCLE_FAILED | probing cycle did not complete 251 | PROBE_ENDPOINT IS_STARTING_POINT 252 | JOGGING_CYCLE_FAILED | jogging cycle did not complete

Status Codes

Status codes are returned in the second element of the footer array, e.g.

"f":[1,0,255,1234]

Codes:

errno | name | Description
---------|--------------|-------------
0 | TG_OK | universal OK code (function completed successfully)
 |  **Low level codes** | typically system and communications status
1 | TG_ERROR | generic error return (EPERM)
2 | TG_EAGAIN | function would block here (call again)
3 | TG_NOOP | function had no-operation
4 | TG_COMPLETE | operation is complete
5 | TG_TERMINATE | operation terminated (gracefully)
6 | TG_RESET | operation was hard reset (sig kill)
7 | TG_EOL | function returned end-of-line or end-of-message
8 | TG_EOF | function returned end-of-file 
9 | TG_FILE_NOT_OPEN 
10 | TG_FILE_SIZE_EXCEEDED 
11 | TG_NO_SUCH_DEVICE 
12 | TG_BUFFER_EMPTY 
13 | TG_BUFFER_FULL 
14 | TG_BUFFER_FULL_FATAL 
15 | TG_INITIALIZING | initializing - not ready for use
16 | TG_ENTERING_BOOT_LOADER | entering boot loader from application
17-19 | TG_ERROR_16 - TG_ERROR_19 | reserved
 | **Internal errors** | typically unrecoverable
20 | TG_INTERNAL_ERROR | unrecoverable internal error
21 | TG_INTERNAL_RANGE_ERROR | number range error other than by user input
22 | TG_FLOATING_POINT_ERROR | number conversion error
23 | TG_DIVIDE_BY_ZERO
24 | TG_INVALID_ADDRESS
25 | TG_READ_ONLY_ADDRESS
26 | TG_INIT_FAIL | Initialization failure
[27](https://github.com/synthetos/TinyG/wiki/TinyG-Status-Codes#status-code-27---system-shutdown) | TG_SHUTDOWN | System alarmed and went into shutdown
28 | TG_MEMORY_FAULT | Memory fault or corruption detected
29-39 | TG_ERROR_29 - TG_ERROR_39 | reserved
 | **Input errors** | typically data problems on inputs
40 | TG_UNRECOGNIZED_COMMAND | parser didn't recognize the command
41 | TG_EXPECTED_COMMAND_LETTER | malformed line to parser
42 | TG_BAD_NUMBER_FORMAT | number format error
43 | TG_INPUT_EXCEEDS_MAX_LENGTH | input string is too long 
44 | TG_INPUT_VALUE_TOO_SMALL | value is under minimum for this parameter
45 | TG_INPUT_VALUE_TOO_LARGE | value is over maximum for this parameter
46 | TG_INPUT_VALUE_RANGE_ERROR | input error: value is out-of-range for this parameter
47 | TG_INPUT_VALUE_UNSUPPORTED | input error: value is not supported for this parameter
48 | TG_JSON_SYNTAX_ERROR | JSON string is not well formed
49 | TG_JSON_TOO_MANY_PAIRS | JSON string or has too many name:value pairs
50 | TG_JSON_TOO_LONG | JSON output string too long for output buffer
51 | TG_NO_BUFFER_SPACE | Buffer pool is full and cannot perform this operation
52 - 59 | TG_ERROR_51 - TG_ERROR_59 | reserved
 | **Gcode and machining errors** | application specific errors for Gcode problems
60 | TG_MINIMUM_LENGTH_MOVE_ERROR | move is below minimum length or zero
61 | TG_MINIMUM_TIME_MOVE_ERROR | move is below minimum time or zero
62 | TG_GCODE_BLOCK_SKIPPED | block was skipped - usually because it was is too short
63 | TG_GCODE_INPUT_ERROR | general error for gcode input 
64 | TG_GCODE_FEEDRATE_ERROR | no feedrate specified
65 | TG_GCODE_AXIS_WORD_MISSING | command requires at least one axis present
66 | TG_MODAL_GROUP_VIOLATION | gcode modal group error
67 | TG_HOMING_CYCLE_FAILED | homing cycle did not complete
68 | TG_MAX_TRAVEL_EXCEEDED 
69 | TG_MAX_SPINDLE_SPEED_EXCEEDED 
70 | TG_ARC_SPECIFICATION_ERROR
71-79 | TG_ERROR_71 - TG_ERROR_79 | reserved
80-99 | Expansion | Expansion ranges
100-119 | Expansion  | 
etc. | Expansion | 

Status Report Enumerations

Values commonly reported in status reports are listed below. See canonical_machine.h for the actual code.

Token | Value | Description
------|-------|-------------
"stat" || Machine State
| 0 | machine is initializing
| 1 | machine is ready for use
| 2 | machine is in alarm state (shut down)
| 3 | program stop or no more blocks (M0, M1, M60)
| 4 | program end via M2, M30
| 5 | motion is running
| 6 | motion is holding
| 7 | probe cycle active
| 8 | machine is running (cycling)
| 9 | machine is homing 
"momo" | | Gcode Motion Mode
| 0 | G0 - straight traverse
| 1 | G1 - straight feed
| 2 | G3/G4 - arc traverse
| 3 | G80 - cancel motion mode (no motion mode active)
"unit" | | Gcode Units
| 0 | G20 - inches mode
| 1 | G21 - millimeter mode
"macs" || Raw Machine State
| 0 | machine is initializing
| 1 | machine is ready for use
| 2 | machine is in alarm state (shut down)
| 3 | program stop or no more blocks (M0, M1, M60)
| 4 | program end via M2, M30
| 5 | machine is in cycle
"cycs" || Cycle State
| 0 | cycle off (not in cycle)
| 1 | normal machine cycle
| 2 | probe cycle
| 3 | homing cycle
| 4 | jog cycle
"mots" || Motion State
| 0 | motion off
| 1 | motion run
| 2 | motion hold
"hold" || Feedhold State
| 0 | feedhold off (not in feedhold)
| 1 | feedhold sync phase
| 2 | feedhold planning phase
| 3 | feedhold deceleration phase
| 4 | feedhold holding
| 5 | feedhold end hold
"coor" || Gcode Coordinate System
| 0 | G53 - machine coordinate system
| 1 | G54 - coordinate system 1
| 2 | G55 - coordinate system 2
| 3 | G56 - coordinate system 3
| 4 | G57 - coordinate system 4
| 5 | G58 - coordinate system 5
| 6 | G59 - coordinate system 6
"plan" || Gcode Arc Plane Selected
| 0 | G17 - XY plane
| 1 | G18 - XZ plane
| 2 | G19 - YZ plane
"path" || Gcode Path Control Mode
| 0 | G61 - Exact stop mode
| 1 | G61.1 - Exact path mode
| 2 | G64 - Continuous mode
"dist" || Gcode Distance Mode
| 0 | G90 - Absolute distance mode
| 1 | G91 - Incremental distance mode
"frmo" || Gcode Feed Rate Mode
| 0 | G94 - Normal time mode (cancel inverse time mode)
| 1 | G93 - Inverse time mode

ASCII Character Usage

Hex | char | name | used by ---- | ---- | ---------- | -------------------- 0x00 | NUL | null | everything; may be returned to Kinen SPI when no device is plugged in 0x01 | SOH | ctrl-A 0x02 | STX | ctrl-B | Kinen SPI protocol - Request character 0x03 | ETX | ctrl-C | Kinen SPI protocol - Return no character 0x04 | EOT | ctrl-D 0x05 | ENQ | ctrl-E 0x06 | ACK | ctrl-F 0x07 | BEL | ctrl-G 0x08 | BS | ctrl-H 0x09 | HT | ctrl-I 0x0A | LF | ctrl-J 0x0B | VT | ctrl-K 0x0C | FF | ctrl-L 0x0D | CR | ctrl-M 0x0E | SO | ctrl-N 0x0F | SI | ctrl-O 0x10 | DLE | ctrl-P 0x11 | DC1 | ctrl-Q | XOFF 0x12 | DC2 | ctrl-R 0x13 | DC3 | ctrl-S | XON 0x14 | DC4 | ctrl-T 0x15 | NAK | ctrl-U | Kinen SPI protocol - Slave buffer overrun detected 0x16 | SYN | ctrl-V 0x17 | ETB | ctrl-W | 0x18 | CAN | ctrl-X | TinyG / grbl software reset 0x19 | EM | ctrl-Y 0x1A | SUB | ctrl-Z 0x1B | ESC | ctrl-[ | Used to enter the boot loader - ESC is an AVRdude convention 0x1C | FS | ctrl-
0x1D | GS | ctrl-] 0x1E | RS | ctrl-^ 0x1F | US | ctrl-_ 0x20 | space | | Gcode blocks, other uses 0x21 | ! | excl point | TinyG feedhold command character 0x22 | " | quote | JSON notation 0x23 | # | number | Gcode parameter prefix; JSON topic prefix 0x24 | $ | dollar | TinyG / grbl out-of-cycle settings prefix 0x25 | & | ampersand | universal symbol for logical AND (not used here) 0x26 | % | percent | TinyG Queue Flush command character 0x27 | ' | single quote 0x28 | ( | open paren | Gcode comments 0x29 | ) | close paren | Gcode comments 0x2A | * | asterisk | Gcode expressions 0x2B | + | plus | Gcode numbers, parameters and expressions 0x2C | , | comma | JSON notation 0x2D | - | minus | Gcode numbers, parameters and expressions 0x2E | . | period | Gcode numbers, parameters and expressions 0x2F | / | fwd slash | Gcode expressions & block delete char 0x3A | : | colon | JSON notation 0x3B | ; | semicolon | Gcode comment - Mach3 and reprap style 0x3C | < | less than | Gcode expressions 0x3D | = | equals | Gcode expressions 0x3E | > | greater than | Gcode expressions 0x3F | ? | question mk | TinyG / grbl query 0x40 | @ | at symbol | JSON address prefix 0x41 – 0x5A | | chars | regular old alphanumeric characters 0x5B | [ | open bracket | Gcode expressions 0x5C | \ | backslash | JSON notation (escape) 0x5D | ] | close bracket | Gcode expressions 0x5E | ^ | caret | Reserved for TinyG in-cycle command prefix 0x5F | _ | underscore 0x60 | ` | grave accent 0x7B | { | open brace | JSON notation (start object) 0x7C | pipe | pipe | universal symbol for logical OR (not used here) 0x7D | } | close brace | JSON notation (end object) 0x7E | ~ | tilde | TinyG cycle start command character 0x7F | DEL 0xFF | DEL | | may be returned to Kinen SPI when no device is plugged in

Notes

Status Code 27 - System Alarmed

System alarms occur when the system must halt operation for some reason. You will see a message like this:

{“er”:{“fb”:370.08,”st”:27,”msg”:”System alarmed”,”val”:1}}

Alarms may occur when:

• A limit switch has been hit. This is normal if you have limit switches enabled. This can also happen sporadically if there is noise on the limit switch line.
• Memory fault or corruption has been detected. This indicates a program error. Please report this to Synthetos.