MATLAB

AllAxes

Represents all axes of motion associated with a device.

To use this type, add import zaber.motion.ascii.AllAxes; to the top of your source code.

device

P

allAxes.getDevice()

Device Device that controls this axis.

home()

Async M

allAxes.home(waitUntilIdle)
allAxes.home()

Homes all axes. Axes return to their homing positions.

Arguments

Name Type Description

waitUntilIdle logical Determines whether function should return after the movement is finished or just started.

isBusy()

Async M

allAxes.isBusy()

Returns bool indicating whether any axis is executing a motion command.

Arguments

No arguments

Return Value

logical True if any axis is currently executing a motion command.

park()

Async M

allAxes.park()

Parks the device in anticipation of turning the power off. It can later be powered on, unparked, and moved without first having to home it.

Arguments

No arguments

stop()

Async M

allAxes.stop(waitUntilIdle)
allAxes.stop()

Stops ongoing axes movement. Decelerates until zero speed.

Arguments

Name Type Description

waitUntilIdle logical Determines whether function should return after the movement is finished or just started.

toString()

M

allAxes.toString()

Returns a string that represents the axes.

Arguments

No arguments

Return Value

char A string that represents the axes.

unpark()

Async M

allAxes.unpark()

Unparks the device. The device will now be able to move.

Arguments

No arguments

waitUntilIdle()

Async M

allAxes.waitUntilIdle(throwErrorOnFault)
allAxes.waitUntilIdle()

Waits until all axes of device stop moving.

Arguments

Name Type Description

throwErrorOnFault logical Determines whether to throw error when fault is observed.

Axis

Represents an axis of motion associated with a device.

To use this type, add import zaber.motion.ascii.Axis; to the top of your source code.

axisNumber

P

axis.getAxisNumber()

int32 The axis number identifies the axis on the device. The first axis has the number one.

axisType

P

axis.getAxisType()

AxisType Determines the type of an axis and units it accepts.

device

P

axis.getDevice()

Device Device that controls this axis.

identity

P

axis.getIdentity()

AxisIdentity Identity of the axis.

isPeripheral

P

axis.getIsPeripheral()

logical Indicates whether the axis is a peripheral or part of an integrated device.

peripheralId

P

axis.getPeripheralId()

int32 Unique ID of the peripheral hardware.

peripheralName

P

axis.getPeripheralName()

char Name of the peripheral.

settings

P

axis.getSettings()

AxisSettings Settings and properties of this axis.

warnings

P

axis.getWarnings()

Warnings Warnings and faults of this axis.

genericCommand()

Async M

axis.genericCommand(command, checkErrors, timeout)
axis.genericCommand(command, checkErrors)
axis.genericCommand(command)

Sends a generic ASCII command to this axis. For more information refer to: ASCII Protocol Manual.

Arguments

Name Type Description

command char Command and its parameters.

checkErrors logical Controls whether to throw an exception when the device rejects the command.

timeout int32 The timeout, in milliseconds, for a device to respond to the command. Overrides the connection default request timeout.

Return Value

Response A response to the command.

genericCommandMultiResponse()

Async M

axis.genericCommandMultiResponse(command, checkErrors, timeout)
axis.genericCommandMultiResponse(command, checkErrors)
axis.genericCommandMultiResponse(command)

Sends a generic ASCII command to this axis and expect multiple responses. Responses are returned in order of arrival. For more information refer to: ASCII Protocol Manual.

Arguments

Name Type Description

command char Command and its parameters.

checkErrors logical Controls whether to throw an exception when a device rejects the command.

timeout int32 The timeout, in milliseconds, for a device to respond to the command. Overrides the connection default request timeout.

Return Value

Response[] All responses to the command.

genericCommandNoResponse()

Async M

axis.genericCommandNoResponse(command)

Sends a generic ASCII command to this axis without expecting a response and without adding a message ID For more information refer to: ASCII Protocol Manual.

Arguments

Name Type Description

command char Command and its parameters.

getPosition()

Async M

axis.getPosition(unit)
axis.getPosition()

Returns current axis position.

Arguments

Name Type Description

unit Units Units of position.

Return Value

double Axis position.

home()

Async M

axis.home(waitUntilIdle)
axis.home()

Homes axis. Axis returns to its homing position.

Arguments

Name Type Description

waitUntilIdle logical Determines whether function should return after the movement is finished or just started.

isBusy()

Async M

axis.isBusy()

Returns bool indicating whether the axis is executing a motion command.

Arguments

No arguments

Return Value

logical True if the axis is currently executing a motion command.

isParked()

Async M

axis.isParked()

Returns bool indicating whether the axis is parked or not.

Arguments

No arguments

Return Value

logical True if the axis is currently parked. False otherwise.

moveAbsolute()

Async M

axis.moveAbsolute(position, unit, waitUntilIdle)
axis.moveAbsolute(position, unit)
axis.moveAbsolute(position)

Move axis to absolute position.

Arguments

Name Type Description

position double Absolute position.

unit Units Units of position.

waitUntilIdle logical Determines whether function should return after the movement is finished or just started.

moveMax()

Async M

axis.moveMax(waitUntilIdle)
axis.moveMax()

Moves the axis to the maximum position as specified by limit.max.

Arguments

Name Type Description

waitUntilIdle logical Determines whether function should return after the movement is finished or just started.

moveMin()

Async M

axis.moveMin(waitUntilIdle)
axis.moveMin()

Moves the axis to the minimum position as specified by limit.min.

Arguments

Name Type Description

waitUntilIdle logical Determines whether function should return after the movement is finished or just started.

moveRelative()

Async M

axis.moveRelative(position, unit, waitUntilIdle)
axis.moveRelative(position, unit)
axis.moveRelative(position)

Move axis to position relative to current position.

Arguments

Name Type Description

position double Relative position.

unit Units Units of position.

waitUntilIdle logical Determines whether function should return after the movement is finished or just started.

moveVelocity()

Async M

axis.moveVelocity(velocity, unit)
axis.moveVelocity(velocity)

Begins to move axis at specified speed.

Arguments

Name Type Description

velocity double Movement velocity.

unit Units Units of velocity.

park()

Async M

axis.park()

Parks the axis in anticipation of turning the power off. It can later be powered on, unparked, and moved without first having to home it.

Arguments

No arguments

prepareCommand()

M

axis.prepareCommand(commandTemplate, ...parameters)

Formats parameters into a command and performs unit conversions. Parameters in the command template are denoted by a question mark. Command returned is only valid for this axis and this device. For more information refer to: ASCII Protocol Manual.

Arguments

Name Type Description

commandTemplate char Template of a command to prepare. Parameters are denoted by question marks.

...parameters Measurement Variable number of command parameters.

Return Value

char Command with converted parameters.

stop()

Async M

axis.stop(waitUntilIdle)
axis.stop()

Stops ongoing axis movement. Decelerates until zero speed.

Arguments

Name Type Description

waitUntilIdle logical Determines whether function should return after the movement is finished or just started.

toString()

M

axis.toString()

Returns a string that represents the axis.

Arguments

No arguments

Return Value

char A string that represents the axis.

unpark()

Async M

axis.unpark()

Unparks axis. Axis will now be able to move.

Arguments

No arguments

waitUntilIdle()

Async M

axis.waitUntilIdle(throwErrorOnFault)
axis.waitUntilIdle()

Waits until axis stops moving.

Arguments

Name Type Description

throwErrorOnFault logical Determines whether to throw error when fault is observed.

AxisIdentity

Representation of data gathered during axis identification.

To use this type, add import zaber.motion.ascii.AxisIdentity; to the top of your source code.

axisType

P

axisIdentity.getAxisType()

AxisType Determines the type of an axis and units it accepts.

isModified

P

axisIdentity.getIsModified()

logical The peripheral has hardware modifications.

isPeripheral

P

axisIdentity.getIsPeripheral()

logical Indicates whether the axis is a peripheral or part of an integrated device.

peripheralId

P

axisIdentity.getPeripheralId()

int32 Unique ID of the peripheral hardware.

peripheralName

P

axisIdentity.getPeripheralName()

char Name of the peripheral.

AxisSettings

Class providing access to various axis settings and properties.

To use this type, add import zaber.motion.ascii.AxisSettings; to the top of your source code.

convertFromNativeUnits()

M

axisSettings.convertFromNativeUnits(setting, value, unit)

Convert arbitrary setting value from Zaber native units.

Arguments

Name Type Description

setting char Name of the setting.

value double Value of the setting in Zaber native units.

unit Units Units to convert value to.

Return Value

double Setting value.

convertToNativeUnits()

M

axisSettings.convertToNativeUnits(setting, value, unit)

Convert arbitrary setting value to Zaber native units.

Arguments

Name Type Description

setting char Name of the setting.

value double Value of the setting in units specified by following argument.

unit Units Units of the value.

Return Value

double Setting value.

get()

Async M

axisSettings.get(setting, unit)
axisSettings.get(setting)

Returns any axis setting or property. For more information refer to the ASCII Protocol Manual.

Arguments

Name Type Description

setting char Name of the setting.

unit Units Units of setting.

Return Value

double Setting value.

set()

Async M

axisSettings.set(setting, value, unit)
axisSettings.set(setting, value)

Sets any axis setting. For more information refer to the ASCII Protocol Manual.

Arguments

Name Type Description

setting char Name of the setting.

value double Value of the setting.

unit Units Units of setting.

AxisType

Denotes type of an axis and units it accepts.

To use this type, add import zaber.motion.ascii.AxisType; to the top of your source code.

Member	Numeric value
`AxisType.UNKNOWN`	0
`AxisType.LINEAR`	1
`AxisType.ROTARY`	2

BinaryCommandFailedExceptionData

Contains additional data for BinaryCommandFailedException.

To use this type, add import zaber.motion.exceptions.BinaryCommandFailedExceptionData; to the top of your source code.

responseData

P

binaryCommandFailedExceptionData.getResponseData()

int32 The response data.

CommandFailedExceptionData

Contains additional data for CommandFailedException.

To use this type, add import zaber.motion.exceptions.CommandFailedExceptionData; to the top of your source code.

replyFlag

P

commandFailedExceptionData.getReplyFlag()

char The flags on the reply sent by the device.

responseData

P

commandFailedExceptionData.getResponseData()

char The response data.

status

P

commandFailedExceptionData.getStatus()

char The current device status.

warningFlag

P

commandFailedExceptionData.getWarningFlag()

char The current warning flag on the device.

Connection

Class representing access to particular connection (serial port, TCP connection).

To use this type, add import zaber.motion.ascii.Connection; to the top of your source code.

checksumEnabled

P

connection.getChecksumEnabled()

logical Controls whether outgoing messages contain checksum.

defaultRequestTimeout

P

connection.getDefaultRequestTimeout()

int32 The default timeout, in milliseconds, for a device to respond to a request. Setting the timeout to a too low value may cause request timeout exceptions.

interfaceId

P

connection.getInterfaceId()

int32 The interface ID identifies this Connection instance with the underlying library.

close()

Async M

connection.close()

Close the connection.

Arguments

No arguments

detectDevices()

Async M

connection.detectDevices(identifyDevices)
connection.detectDevices()

Attempts to detect any devices present on this connection.

Arguments

Name Type Description

identifyDevices logical Determines whether device identification should be performed as well.

Return Value

Device[] Array of detected devices.

genericCommand()

Async M

connection.genericCommand(command, device, axis, checkErrors, timeout)
connection.genericCommand(command, device, axis, checkErrors)
connection.genericCommand(command, device, axis)
connection.genericCommand(command, device)
connection.genericCommand(command)

Sends a generic ASCII command to this connection. For more information refer to the ASCII Protocol Manual.

Arguments

Name Type Description

command char Command and its parameters.

device int32 Optional device address to send the command to.

axis int32 Optional axis number to send the command to.

checkErrors logical Controls whether to throw an exception when the device rejects the command.

timeout int32 The timeout, in milliseconds, for a device to respond to the command. Overrides the connection default request timeout.

Return Value

Response A response to the command.

genericCommandMultiResponse()

Async M

connection.genericCommandMultiResponse(command, device, axis, checkErrors, timeout)
connection.genericCommandMultiResponse(command, device, axis, checkErrors)
connection.genericCommandMultiResponse(command, device, axis)
connection.genericCommandMultiResponse(command, device)
connection.genericCommandMultiResponse(command)

Sends a generic ASCII command to this connection and expect multiple responses, either from one device or from many devices. Responses are returned in order of arrival. For more information refer to the ASCII Protocol Manual.

Arguments

Name Type Description

command char Command and its parameters.

device int32 Optional device address to send the command to.

axis int32 Optional axis number to send the command to.

checkErrors logical Controls whether to throw an exception when a device rejects the command.

timeout int32 The timeout, in milliseconds, for a device to respond to the command. Overrides the connection default request timeout.

Return Value

Response[] All responses to the command.

genericCommandNoResponse()

Async M

connection.genericCommandNoResponse(command, device, axis)
connection.genericCommandNoResponse(command, device)
connection.genericCommandNoResponse(command)

Sends a generic ASCII command to this connection without expecting a response and without adding a message ID. For more information refer to the ASCII Protocol Manual.

Arguments

Name Type Description

command char Command and its parameters.

device int32 Optional device address to send the command to.

axis int32 Optional axis number to send the command to.

getDevice()

M

connection.getDevice(deviceAddress)

Gets a Device class instance which allows you to control a particular device on this connection. Devices are numbered from 1.

Arguments

Name Type Description

deviceAddress int32 Address of device intended to control. Address is configured for each device.

Return Value

Device Device instance.

homeAll()

Async M

connection.homeAll(waitUntilIdle)
connection.homeAll()

Homes all of the devices on this connection.

Arguments

Name Type Description

waitUntilIdle logical Determines whether the function should return immediately or wait until the devices are homed.

Return Value

int32[] The addresses of the devices that were homed by this command.

openCustom()

Async S

Connection.openCustom(transport)

Opens a connection using a custom transport.

Arguments

Name Type Description

transport Transport The custom connection transport.

Return Value

Connection An object representing the connection.

openIotAuthenticated()

Async S

Connection.openIotAuthenticated(cloudId, token, connectionName, realm, api)
Connection.openIotAuthenticated(cloudId, token, connectionName, realm)
Connection.openIotAuthenticated(cloudId, token, connectionName)
Connection.openIotAuthenticated(cloudId, token)

Opens a secured connection to a cloud connected device chain. Use this method to connect to devices on your account.

Arguments

Name Type Description

cloudId char The cloud ID to connect to.

token char The token to authenticate with.

connectionName char The name of the connection to open. Can be left empty to default to the only connection present. Otherwise, use serial port name for serial port connection or hostname:port for TCP connection.

realm char The realm to connect to.

api char The URL of the API to receive connection info from.

Return Value

Connection An object representing the connection.

openIotUnauthenticated()

Async S

Connection.openIotUnauthenticated(cloudId, connectionName, api)
Connection.openIotUnauthenticated(cloudId, connectionName)
Connection.openIotUnauthenticated(cloudId)

Opens a unauthenticated connection to a cloud connected device chain. Use this method to connect to Virtual Device Demo instance.

Arguments

Name Type Description

cloudId char The cloud ID to connect to.

connectionName char The name of the connection to open. Can be left empty to default to the only connection present. Otherwise, use serial port name for serial port connection or hostname:port for TCP connection.

api char The URL of the API to receive connection info from.

Return Value

Connection An object representing the connection.

openSerialPort()

Async S

Connection.openSerialPort(portName, baudRate)
Connection.openSerialPort(portName)

Opens a serial port, if Zaber Launcher controls the port, the port will be opened through Zaber Launcher. Zaber Launcher allows sharing of the port between multiple applications. Use openSerialPortDirectly if sharing is not desirable.

Arguments

Name Type Description

portName char Name of the port to open.

baudRate int32 Optional baud rate (defaults to 115200).

Return Value

Connection An object representing the port.

openSerialPortDirectly()

Async S

Connection.openSerialPortDirectly(portName, baudRate)
Connection.openSerialPortDirectly(portName)

Opens a serial port, bypassing Zaber Launcher. If the port is already opened by Zaber Launcher, this will fail.

Arguments

Name Type Description

portName char Name of the port to open.

baudRate int32 Optional baud rate (defaults to 115200).

Return Value

Connection An object representing the port.

openTcp()

Async S

Connection.openTcp(hostName, port)

Opens a TCP connection.

Arguments

Name Type Description

hostName char Hostname or IP address.

port int32 Port number.

Return Value

Connection An object representing the connection.

renumberDevices()

Async M

connection.renumberDevices(firstAddress)
connection.renumberDevices()

Renumbers devices present on this connection. After renumbering, devices need to be identified again.

Arguments

Name Type Description

firstAddress int32 This is the address that the device closest to the computer is given. Remaining devices are numbered consecutively.

Return Value

int32 Total number of devices that responded to the renumber.

stopAll()

Async M

connection.stopAll(waitUntilIdle)
connection.stopAll()

Stops all of the devices on this connection.

Arguments

Name Type Description

waitUntilIdle logical Determines whether the function should return immediately or wait until the devices are stopped.

Return Value

int32[] The addresses of the devices that were stopped by this command.

toString()

M

connection.toString()

Returns a string that represents the connection.

Arguments

No arguments

Return Value

char A string that represents the connection.

Device

Represents the controller part of one device - may be either a standalone controller or an integrated controller.

To use this type, add import zaber.motion.ascii.Device; to the top of your source code.

allAxes

P

device.getAllAxes()

AllAxes Virtual axis which allows you to target all axes of this device.

axisCount

P

device.getAxisCount()

int32 Number of axes this device has.

connection

P

device.getConnection()

Connection Connection of this device.

deviceAddress

P

device.getDeviceAddress()

int32 The device address uniquely identifies the device on the connection. It can be configured or automatically assigned by the renumber command.

deviceId

P

device.getDeviceId()

int32 Unique ID of the device hardware.

firmwareVersion

P

device.getFirmwareVersion()

FirmwareVersion Version of the firmware.

identity

P

device.getIdentity()

DeviceIdentity Identity of the device.

io

P

device.getIo()

DeviceIO I/O channels of this device.

isIdentified

P

device.getIsIdentified()

logical Indicates whether or not the device has been identified.

name

P

device.getName()

char Name of the product.

serialNumber

P

device.getSerialNumber()

int64 Serial number of the device.

settings

P

device.getSettings()

DeviceSettings Settings and properties of this device.

warnings

P

device.getWarnings()

Warnings Warnings and faults of this device and all its axes.

genericCommand()

Async M

device.genericCommand(command, axis, checkErrors, timeout)
device.genericCommand(command, axis, checkErrors)
device.genericCommand(command, axis)
device.genericCommand(command)

Sends a generic ASCII command to this device. For more information refer to: ASCII Protocol Manual.

Arguments

Name Type Description

command char Command and its parameters.

axis int32 Optional axis number to send the command to.

checkErrors logical Controls whether to throw an exception when the device rejects the command.

timeout int32 The timeout, in milliseconds, for a device to respond to the command. Overrides the connection default request timeout.

Return Value

Response A response to the command.

genericCommandMultiResponse()

Async M

device.genericCommandMultiResponse(command, axis, checkErrors, timeout)
device.genericCommandMultiResponse(command, axis, checkErrors)
device.genericCommandMultiResponse(command, axis)
device.genericCommandMultiResponse(command)

Sends a generic ASCII command to this device and expect multiple responses. Responses are returned in order of arrival. For more information refer to: ASCII Protocol Manual.

Arguments

Name Type Description

command char Command and its parameters.

axis int32 Optional axis number to send the command to.

checkErrors logical Controls whether to throw an exception when a device rejects the command.

timeout int32 The timeout, in milliseconds, for a device to respond to the command. Overrides the connection default request timeout.

Return Value

Response[] All responses to the command.

genericCommandNoResponse()

Async M

device.genericCommandNoResponse(command, axis)
device.genericCommandNoResponse(command)

Sends a generic ASCII command to this device without expecting a response and without adding a message ID For more information refer to: ASCII Protocol Manual.

Arguments

Name Type Description

command char Command and its parameters.

axis int32 Optional axis number to send the command to.

getAxis()

M

device.getAxis(axisNumber)

Gets an Axis class instance which allows you to control a particular axis on this device. Axes are numbered from 1.

Arguments

Name Type Description

axisNumber int32 Number of axis intended to control.

Return Value

Axis Axis instance.

getLockstep()

M

device.getLockstep(lockstepGroupId)

Gets a Lockstep class instance which allows you to control a particular lockstep group on the device.

Arguments

Name Type Description

lockstepGroupId int32 The ID of the lockstep group to control. Lockstep group IDs start at one.

Return Value

Lockstep Lockstep instance.

getStream()

M

device.getStream(streamId)

Gets a Stream class instance which allows you to control a particular stream on the device.

Arguments

Name Type Description

streamId int32 The ID of the stream to control. Stream IDs start at one.

Return Value

Stream Stream instance.

getStreamBuffer()

M

device.getStreamBuffer(streamBufferId)

Gets a StreamBuffer class instance which is a handle for a stream buffer on the device.

Arguments

Name Type Description

streamBufferId int32 The ID of the stream buffer to control. Stream buffer IDs start at one.

Return Value

StreamBuffer StreamBuffer instance.

identify()

Async M

device.identify()

Queries the device and the database, gathering information about the product. Without this information features such as unit conversions will not work. Usually, called automatically by detect devices method.

Arguments

No arguments

Return Value

DeviceIdentity Device identification data.

prepareCommand()

M

device.prepareCommand(commandTemplate, ...parameters)

Formats parameters into a command and performs unit conversions. Parameters in the command template are denoted by a question mark. Command returned is only valid for this device. For more information refer to: ASCII Protocol Manual.

Arguments

Name Type Description

commandTemplate char Template of a command to prepare. Parameters are denoted by question marks.

...parameters Measurement Variable number of command parameters.

Return Value

char Command with converted parameters.

toString()

M

device.toString()

Returns a string that represents the device.

Arguments

No arguments

Return Value

char A string that represents the device.

DeviceAddressConflictExceptionData

Contains additional data for DeviceAddressConflictException.

To use this type, add import zaber.motion.exceptions.DeviceAddressConflictExceptionData; to the top of your source code.

deviceAddresses

P

deviceAddressConflictExceptionData.getDeviceAddresses()

int32[] The full list of detected device addresses.

DeviceDbSourceType

Type of source of Device DB data.

To use this type, add import zaber.motion.DeviceDbSourceType; to the top of your source code.

Member	Numeric value
`DeviceDbSourceType.WEB_SERVICE`	0
`DeviceDbSourceType.FILE`	1

DeviceIdentity

Representation of data gathered during device identification.

To use this type, add import zaber.motion.ascii.DeviceIdentity; to the top of your source code.

axisCount

P

deviceIdentity.getAxisCount()

int32 Number of axes this device has.

deviceId

P

deviceIdentity.getDeviceId()

int32 Unique ID of the device hardware.

firmwareVersion

P

deviceIdentity.getFirmwareVersion()

FirmwareVersion Version of the firmware.

isModified

P

deviceIdentity.getIsModified()

logical The device has hardware modifications.

name

P

deviceIdentity.getName()

char Name of the product.

serialNumber

P

deviceIdentity.getSerialNumber()

int64 Serial number of the device.

DeviceIO

Class providing access to the I/O channels of the device.

To use this type, add import zaber.motion.ascii.DeviceIO; to the top of your source code.

getAllAnalogInputs()

Async M

deviceIO.getAllAnalogInputs()

Returns the current values of all analog input channels.

Arguments

No arguments

Return Value

double[] Measurements of the voltage present on the input channels.

getAllAnalogOutputs()

Async M

deviceIO.getAllAnalogOutputs()

Returns the current values of all analog output channels.

Arguments

No arguments

Return Value

double[] Measurements of voltage that the output channels are conducting.

getAllDigitalInputs()

Async M

deviceIO.getAllDigitalInputs()

Returns the current values of all digital input channels.

Arguments

No arguments

Return Value

logical[] True if voltage is present on the input channel and false otherwise.

getAllDigitalOutputs()

Async M

deviceIO.getAllDigitalOutputs()

Returns the current values of all digital output channels.

Arguments

No arguments

Return Value

logical[] True if the output channel is conducting and false otherwise.

getAnalogInput()

Async M

deviceIO.getAnalogInput(channelNumber)

Returns the current value of the specified analog input channel.

Arguments

Name Type Description

channelNumber int32 Channel number starting at 1.

Return Value

double A measurementsof the voltage present on the input channel.

getAnalogOutput()

Async M

deviceIO.getAnalogOutput(channelNumber)

Returns the current values of the specified analog output channel.

Arguments

Name Type Description

channelNumber int32 Channel number starting at 1.

Return Value

double A measurement of voltage that the output channel is conducting.

getChannelsInfo()

Async M

deviceIO.getChannelsInfo()

Returns the number of I/O channels the device has.

Arguments

No arguments

Return Value

DeviceIOInfo An object containing the number of I/O channels the device has.

getDigitalInput()

Async M

deviceIO.getDigitalInput(channelNumber)

Returns the current value of the specified digital input channel.

Arguments

Name Type Description

channelNumber int32 Channel number starting at 1.

Return Value

logical True if voltage is present on the input channel and false otherwise.

getDigitalOutput()

Async M

deviceIO.getDigitalOutput(channelNumber)

Returns the current value of the specified digital output channel.

Arguments

Name Type Description

channelNumber int32 Channel number starting at 1.

Return Value

logical True if the output channel is conducting and false otherwise.

setAllAnalogOutputs()

Async M

deviceIO.setAllAnalogOutputs(values)

Sets values for all analog output channels.

Arguments

Name Type Description

values double[] Voltage values to set the output channels to.

setAllDigitalOutputs()

Async M

deviceIO.setAllDigitalOutputs(values)

Sets values for all digital output channels.

Arguments

Name Type Description

values logical[] True to set the output channel to conducting and false to turn it off.

setAnalogOutput()

Async M

deviceIO.setAnalogOutput(channelNumber, value)

Sets value for the specified analog output channel.

Arguments

Name Type Description

channelNumber int32 Channel number starting at 1.

value double Value to set the output channel voltage to.

setDigitalOutput()

Async M

deviceIO.setDigitalOutput(channelNumber, value)

Sets value for the specified digital output channel.

Arguments

Name Type Description

channelNumber int32 Channel number starting at 1.

value logical True to set the output channel to conducting and false to turn it off.

DeviceIOInfo

Class representing information on the I/O channels of the device.

To use this type, add import zaber.motion.ascii.DeviceIOInfo; to the top of your source code.

numberAnalogInputs

P

deviceIOInfo.getNumberAnalogInputs()

int32 Number of analog input channels.

numberAnalogOutputs

P

deviceIOInfo.getNumberAnalogOutputs()

int32 Number of analog output channels.

numberDigitalInputs

P

deviceIOInfo.getNumberDigitalInputs()

int32 Number of digital input channels.

numberDigitalOutputs

P

deviceIOInfo.getNumberDigitalOutputs()

int32 Number of digital output channels.

DeviceSettings

Class providing access to various device settings and properties.

To use this type, add import zaber.motion.ascii.DeviceSettings; to the top of your source code.

convertFromNativeUnits()

M

deviceSettings.convertFromNativeUnits(setting, value, unit)

Convert arbitrary setting value from Zaber native units.

Arguments

Name Type Description

setting char Name of the setting.

value double Value of the setting in Zaber native units.

unit Units Units to convert value to.

Return Value

double Setting value.

convertToNativeUnits()

M

deviceSettings.convertToNativeUnits(setting, value, unit)

Convert arbitrary setting value to Zaber native units.

Arguments

Name Type Description

setting char Name of the setting.

value double Value of the setting in units specified by following argument.

unit Units Units of the value.

Return Value

double Setting value.

get()

Async M

deviceSettings.get(setting, unit)
deviceSettings.get(setting)

Returns any device setting or property. For more information refer to the ASCII Protocol Manual.

Arguments

Name Type Description

setting char Name of the setting.

unit Units Units of setting.

Return Value

double Setting value.

set()

Async M

deviceSettings.set(setting, value, unit)
deviceSettings.set(setting, value)

Sets any device setting. For more information refer to the ASCII Protocol Manual.

Arguments

Name Type Description

setting char Name of the setting.

value double Value of the setting.

unit Units Units of setting.

FirmwareVersion

Class representing version of firmware in the controller.

To use this type, add import zaber.motion.FirmwareVersion; to the top of your source code.

build

P

firmwareVersion.getBuild()

int32 Build version number.

major

P

firmwareVersion.getMajor()

int32 Major version number.

minor

P

firmwareVersion.getMinor()

int32 Minor version number.

InvalidPacketExceptionData

Contains additional data for the InvalidPacketException.

To use this type, add import zaber.motion.exceptions.InvalidPacketExceptionData; to the top of your source code.

packet

P

invalidPacketExceptionData.getPacket()

char The invalid packet that caused the exception.

reason

P

invalidPacketExceptionData.getReason()

char The reason for the exception.

InvalidResponseExceptionData

Contains additional data for InvalidResponseException.

To use this type, add import zaber.motion.exceptions.InvalidResponseExceptionData; to the top of your source code.

response

P

invalidResponseExceptionData.getResponse()

char The response data.

Library

Access class to general library information and configuration.

To use this type, add import zaber.motion.Library; to the top of your source code.

disableDeviceDbStore()

S

Library.disableDeviceDbStore()

Disables Device DB store.

Arguments

No arguments

enableDeviceDbStore()

S

Library.enableDeviceDbStore(storeLocation)
Library.enableDeviceDbStore()

Enables Device DB store. The store uses filesystem to save information obtained from the Device DB. The stored data are later used instead of the Device DB.

Arguments

Name Type Description

storeLocation char Specifies relative or absolute path of the folder used by the store. If left empty defaults to a folder in user home directory. Must be accessible by the process.

setDeviceDbSource()

S

Library.setDeviceDbSource(sourceType, urlOrFilePath)
Library.setDeviceDbSource(sourceType)

Sets source of Device DB data. Allows selection of a web service or a local file.

Arguments

Name Type Description

sourceType DeviceDbSourceType Source type.

urlOrFilePath char URL of the web service or path to the local file. Leave empty for the default URL of Zaber web service.

setLogOutput()

S

Library.setLogOutput(mode, filePath)
Library.setLogOutput(mode)

Sets library logging output.

Arguments

Name Type Description

mode LogOutputMode Logging output mode.

filePath char Path of the file to open.

Lockstep

Represents a lockstep group with this ID on a device. A lockstep group is a movement synchronized pair of axes on a device.

To use this type, add import zaber.motion.ascii.Lockstep; to the top of your source code.

device

P

lockstep.getDevice()

Device Device that controls this lockstep group.

lockstepGroupId

P

lockstep.getLockstepGroupId()

int32 The number that identifies the lockstep group on the device.

disable()

Async M

lockstep.disable()

Disable the lockstep group.

Arguments

No arguments

enable()

Async M

lockstep.enable(...axes)

Activate the lockstep group on the axes specified.

Arguments

Name Type Description

...axes int32 The numbers of axes in the lockstep group.

getAxes()

Async M

Obsolete: Use GetAxisNumbers instead.

lockstep.getAxes()

Gets the axes of the lockstep group.

Arguments

No arguments

Return Value

LockstepAxes LockstepAxes instance which contains the axes numbers of the lockstep group.

getAxisNumbers()

Async M

lockstep.getAxisNumbers()

Gets the axis numbers of the lockstep group.

Arguments

No arguments

Return Value

int32[] Axis numbers in order specified when enabling lockstep.

getOffsets()

Async M

lockstep.getOffsets(unit)
lockstep.getOffsets()

Gets the initial offsets of secondary axes of an enabled lockstep group.

Arguments

Name Type Description

unit Units Units of position.

Return Value

double[] Initial offset for each axis of the lockstep group.

getTwists()

Async M

lockstep.getTwists(unit)
lockstep.getTwists()

Gets the twists of secondary axes of an enabled lockstep group.

Arguments

Name Type Description

unit Units Units of position.

Return Value

double[] Difference between the initial offset and the actual offset for each axis of the lockstep group.

home()

Async M

lockstep.home(waitUntilIdle)
lockstep.home()

Retracts the axes of the lockstep group until a home associated with an individual axis is detected.

Arguments

Name Type Description

waitUntilIdle logical Determines whether function should return after the movement is finished or just started.

isBusy()

Async M

lockstep.isBusy()

Returns bool indicating whether the lockstep group is executing a motion command.

Arguments

No arguments

Return Value

logical True if the axes are currently executing a motion command.

isEnabled()

Async M

lockstep.isEnabled()

Checks if the lockstep group is currently enabled on the device.

Arguments

No arguments

Return Value

logical True if a lockstep group with this ID is enabled on the device.

moveAbsolute()

Async M

lockstep.moveAbsolute(position, unit, waitUntilIdle)
lockstep.moveAbsolute(position, unit)
lockstep.moveAbsolute(position)

Move the first axis of the lockstep group to an absolute position. The other axes in the lockstep group maintain their offsets throughout movement.

Arguments

Name Type Description

position double Absolute position.

unit Units Units of position.

waitUntilIdle logical Determines whether function should return after the movement is finished or just started.

moveMax()

Async M

lockstep.moveMax(waitUntilIdle)
lockstep.moveMax()

Moves the axes to the maximum valid position. The axes in the lockstep group maintain their offsets throughout movement. Respects lim.max for all axes in the group.

Arguments

Name Type Description

waitUntilIdle logical Determines whether function should return after the movement is finished or just started.

moveMin()

Async M

lockstep.moveMin(waitUntilIdle)
lockstep.moveMin()

Moves the axes to the minimum valid position. The axes in the lockstep group maintain their offsets throughout movement. Respects lim.min for all axes in the group.

Arguments

Name Type Description

waitUntilIdle logical Determines whether function should return after the movement is finished or just started.

moveRelative()

Async M

lockstep.moveRelative(position, unit, waitUntilIdle)
lockstep.moveRelative(position, unit)
lockstep.moveRelative(position)

Move the first axis of the lockstep group to a position relative to its current position. The other axes in the lockstep group maintain their offsets throughout movement.

Arguments

Name Type Description

position double Relative position.

unit Units Units of position.

waitUntilIdle logical Determines whether function should return after the movement is finished or just started.

moveVelocity()

Async M

lockstep.moveVelocity(velocity, unit)
lockstep.moveVelocity(velocity)

Moves the first axis of the lockstep group at the specified speed. The other axes in the lockstep group maintain their offsets throughout movement.

Arguments

Name Type Description

velocity double Movement velocity.

unit Units Units of velocity.

stop()

Async M

lockstep.stop(waitUntilIdle)
lockstep.stop()

Stops ongoing lockstep group movement. Decelerates until zero speed.

Arguments

Name Type Description

waitUntilIdle logical Determines whether function should return after the movement is finished or just started.

toString()

M

lockstep.toString()

Returns a string which represents the enabled lockstep group.

Arguments

No arguments

Return Value

char String which represents the enabled lockstep group.

waitUntilIdle()

Async M

lockstep.waitUntilIdle(throwErrorOnFault)
lockstep.waitUntilIdle()

Waits until the lockstep group stops moving.

Arguments

Name Type Description

throwErrorOnFault logical Determines whether to throw error when fault is observed.

LockstepAxes

The axis numbers of a lockstep group.

To use this type, add import zaber.motion.ascii.LockstepAxes; to the top of your source code.

axis1

P

lockstepAxes.getAxis1()

int32 The axis number used to set the first axis.

axis2

P

lockstepAxes.getAxis2()

int32 The axis number used to set the second axis.

axis3

P

lockstepAxes.getAxis3()

int32 The axis number used to set the third axis.

axis4

P

lockstepAxes.getAxis4()

int32 The axis number used to set the fourth axis.

LogOutputMode

Mode of logging output of the library.

To use this type, add import zaber.motion.LogOutputMode; to the top of your source code.

Member	Numeric value
`LogOutputMode.OFF`	0
`LogOutputMode.STDOUT`	1
`LogOutputMode.STDERR`	2
`LogOutputMode.FILE`	3

Measurement

Represents a numerical value with optional units specified.

To use this type, add import zaber.motion.Measurement; to the top of your source code.

unit

P

measurement.getUnit()

Units Optional units of the measurement.

value

P

measurement.getValue()

double Value of the measurement.

MessageType

Denotes type of the response message. For more information refer to: ASCII Protocol Manual.

To use this type, add import zaber.motion.ascii.MessageType; to the top of your source code.

Member	Numeric value
`MessageType.REPLY`	0
`MessageType.INFO`	1
`MessageType.ALERT`	2

MotionLibException

Exception originating in the library.

To use this type, add import zaber.motion.MotionLibException; to the top of your source code.

details

P

motionLibException.getDetails()

Additional data for a given exception subclass. The structure of this data is different for each subclass and some subclasses may not even have this property. See the list of available subclasses below for more details.

message

P

motionLibException.getMessage()

char Error message of the exception.

toString()

M

motionLibException.toString()

Returns a string that represents the exception.

Arguments

No arguments

Return Value

char A string that represents the exception.

Below are the subclasses of MotionLibException:

Exception	Description
`BinaryCommandFailedException`	Thrown when a device rejects a binary command with an error. Details: `BinaryCommandFailedExceptionData`
`CommandFailedException`	Thrown when a device rejects a command. Details: `CommandFailedExceptionData`
`CommandPreemptedException`	Thrown when a movement command gets preempted by another command.
`ConnectionClosedException`	Thrown when attempting to communicate on a closed connection.
`ConnectionFailedException`	Thrown when a connection breaks during a request.
`ConversionFailedException`	Thrown when a value cannot be converted using the provided units.
`DeviceAddressConflictException`	Thrown when there is a conflict in device numbers preventing unique addressing. Details: `DeviceAddressConflictExceptionData`
`DeviceBusyException`	Thrown when a requested operation fails because the device is currently busy.
`DeviceDbFailedException`	Thrown when device information cannot be retrieved from the device database.
`DeviceFailedException`	Thrown when a device registers fatal failure. Contact support if you observe this exception.
`DeviceNotIdentifiedException`	Thrown when attempting an operation that requires an identified device.
`InternalErrorException`	Used for internal error handling. Please report an issue if observed.
`InvalidArgumentException`	Thrown when a function is called with invalid values.
`InvalidDataException`	Thrown when incoming device data cannot be parsed as expected.
`InvalidPacketException`	Thrown when a packet from a device cannot be parsed. Details: `InvalidPacketExceptionData`
`InvalidParkStateException`	Thrown when a device is unable to park.
`InvalidResponseException`	Thrown when a device sends a response with unexpected type or data. Details: `InvalidResponseExceptionData`
`IoChannelOutOfRangeException`	Thrown when a device IO operation cannot be performed because the provided channel is not valid.
`IoFailedException`	Thrown when the library cannot perform an operation on a file.
`LockstepEnabledException`	Thrown when an operation cannot be performed because lockstep motion is enabled.
`LockstepNotEnabledException`	Thrown when an operation cannot be performed because lockstep motion is not enabled.
`MovementFailedException`	Thrown when a device registers a fault during movement. Details: `MovementFailedExceptionData`
`MovementInterruptedException`	Thrown when ongoing movement is interrupted by another command or user input. Details: `MovementInterruptedExceptionData`
`NoDeviceFoundException`	Thrown when no devices can be found on a connection.
`NotSupportedException`	Thrown when a device does not support a requested command or setting.
`OsFailedException`	Thrown when an operation fails due to underlying operating system error.
`OutOfRequestIdsException`	Thrown when the library is overwhelmed with too many simultaneous requests.
`RequestTimeoutException`	Thrown when a device does not respond to a request in time.
`SerialPortBusyException`	Thrown when a serial port cannot be opened because it is in use by another application.
`SettingNotFoundException`	Thrown when a get or a set command cannot be found for a setting.
`StreamExecutionException`	Thrown when a streamed motion fails. Details: `StreamExecutionExceptionData`
`StreamModeException`	Thrown when an operation is not supported by a mode the stream is currently set up in.
`StreamMovementFailedException`	Thrown when a device registers a fault during streamed movement. Details: `StreamMovementFailedExceptionData`
`StreamMovementInterruptedException`	Thrown when ongoing stream movement is interrupted by another command or user input. Details: `StreamMovementInterruptedExceptionData`
`StreamSetupFailedException`	Thrown when setting up a stream fails.
`TransportAlreadyUsedException`	Thrown when a transport has already been used to open another connection.
`UnknownRequestException`	Used for internal error handling. Indicates mixed library binary files. Reinstall the library.

MovementFailedExceptionData

Contains additional data for MovementFailedException.

To use this type, add import zaber.motion.exceptions.MovementFailedExceptionData; to the top of your source code.

reason

P

movementFailedExceptionData.getReason()

char The reason for the Exception.

warnings

P

movementFailedExceptionData.getWarnings()

char[] The full list of warnings.

MovementInterruptedExceptionData

Contains additional data for MovementInterruptedException.

To use this type, add import zaber.motion.exceptions.MovementInterruptedExceptionData; to the top of your source code.

reason

P

movementInterruptedExceptionData.getReason()

char The reason for the Exception.

warnings

P

movementInterruptedExceptionData.getWarnings()

char[] The full list of warnings.

Response

Response message from the device.

To use this type, add import zaber.motion.ascii.Response; to the top of your source code.

axisNumber

P

response.getAxisNumber()

int32 Number of the axis which the response applies to. Zero denotes device scope.

data

P

response.getData()

char Response data which varies depending on the request.

deviceAddress

P

response.getDeviceAddress()

int32 Number of the device that sent the message.

messageType

P

response.getMessageType()

MessageType Type of the reply received.

replyFlag

P

response.getReplyFlag()

char The reply flag indicates if the request was accepted (OK) or rejected (RJ).

status

P

response.getStatus()

char The device status contains BUSY when the axis is moving and IDLE otherwise.

warningFlag

P

response.getWarningFlag()

char The warning flag contains the highest priority warning currently active for the device or axis.

RotationDirection

Direction of rotation.

To use this type, add import zaber.motion.RotationDirection; to the top of your source code.

Member	Numeric value
`RotationDirection.CLOCKWISE`	0
`RotationDirection.COUNTERCLOCKWISE`	1
`RotationDirection.CW`	0
`RotationDirection.CCW`	1

SettingConstants

Named constants for all Zaber ASCII protocol settings. For more information please refer to the ASCII Protocol Manual.

To use this type, add import zaber.motion.ascii.SettingConstants; to the top of your source code.

Constant	Value
`SettingConstants.ACCEL`	`accel`
`SettingConstants.CALIBRATION_TYPE`	`calibration.type`
`SettingConstants.CLOOP_CONTINUOUS_ENABLE`	`cloop.continuous.enable`
`SettingConstants.CLOOP_COUNTS`	`cloop.counts`
`SettingConstants.CLOOP_DISPLACE_TOLERANCE`	`cloop.displace.tolerance`
`SettingConstants.CLOOP_DURATION_MAX`	`cloop.duration.max`
`SettingConstants.CLOOP_ENABLE`	`cloop.enable`
`SettingConstants.CLOOP_MODE`	`cloop.mode`
`SettingConstants.CLOOP_RECOVERY_ENABLE`	`cloop.recovery.enable`
`SettingConstants.CLOOP_SETTLE_PERIOD`	`cloop.settle.period`
`SettingConstants.CLOOP_SETTLE_TOLERANCE`	`cloop.settle.tolerance`
`SettingConstants.CLOOP_STALLTIMEOUT`	`cloop.stalltimeout`
`SettingConstants.CLOOP_STEPS`	`cloop.steps`
`SettingConstants.CLOOP_TIMEOUT`	`cloop.timeout`
`SettingConstants.COMM_ADDRESS`	`comm.address`
`SettingConstants.COMM_ALERT`	`comm.alert`
`SettingConstants.COMM_CHECKSUM`	`comm.checksum`
`SettingConstants.COMM_PROTOCOL`	`comm.protocol`
`SettingConstants.COMM_RS_232_BAUD`	`comm.rs232.baud`
`SettingConstants.COMM_RS_232_PROTOCOL`	`comm.rs232.protocol`
`SettingConstants.COMM_RS_485_BAUD`	`comm.rs485.baud`
`SettingConstants.COMM_RS_485_ENABLE`	`comm.rs485.enable`
`SettingConstants.COMM_RS_485_PROTOCOL`	`comm.rs485.protocol`
`SettingConstants.COMM_USB_PROTOCOL`	`comm.usb.protocol`
`SettingConstants.DEVICEID`	`deviceid`
`SettingConstants.DRIVER_CURRENT_HOLD`	`driver.current.hold`
`SettingConstants.DRIVER_CURRENT_MAX`	`driver.current.max`
`SettingConstants.DRIVER_CURRENT_RUN`	`driver.current.run`
`SettingConstants.DRIVER_CURRENT_SERVO`	`driver.current.servo`
`SettingConstants.DRIVER_DIR`	`driver.dir`
`SettingConstants.DRIVER_ENABLED`	`driver.enabled`
`SettingConstants.DRIVER_TEMPERATURE`	`driver.temperature`
`SettingConstants.ENCODER_COUNT`	`encoder.count`
`SettingConstants.ENCODER_COUNT_CAL`	`encoder.count.cal`
`SettingConstants.ENCODER_COUNT_CALIBRATED`	`encoder.count.calibrated`
`SettingConstants.ENCODER_DIR`	`encoder.dir`
`SettingConstants.ENCODER_ERROR`	`encoder.error`
`SettingConstants.ENCODER_FAULT_TYPE`	`encoder.fault.type`
`SettingConstants.ENCODER_FILTER`	`encoder.filter`
`SettingConstants.ENCODER_INDEX_COUNT`	`encoder.index.count`
`SettingConstants.ENCODER_INDEX_MODE`	`encoder.index.mode`
`SettingConstants.ENCODER_INDEX_PHASE`	`encoder.index.phase`
`SettingConstants.ENCODER_MODE`	`encoder.mode`
`SettingConstants.ENCODER_POS`	`encoder.pos`
`SettingConstants.ENCODER_POS_ERROR`	`encoder.pos.error`
`SettingConstants.FILTER_HOLDERID`	`filter.holderid`
`SettingConstants.FORCE_AVERAGE`	`force.average`
`SettingConstants.JOY_DEBUG`	`joy.debug`
`SettingConstants.KNOB_DIR`	`knob.dir`
`SettingConstants.KNOB_DISTANCE`	`knob.distance`
`SettingConstants.KNOB_ENABLE`	`knob.enable`
`SettingConstants.KNOB_FORCE`	`knob.force`
`SettingConstants.KNOB_FORCEPROFILE`	`knob.forceprofile`
`SettingConstants.KNOB_MAXSPEED`	`knob.maxspeed`
`SettingConstants.KNOB_MODE`	`knob.mode`
`SettingConstants.KNOB_SPEEDPROFILE`	`knob.speedprofile`
`SettingConstants.LAMP_CURRENT`	`lamp.current`
`SettingConstants.LAMP_CURRENT_MAX`	`lamp.current.max`
`SettingConstants.LAMP_FLUX`	`lamp.flux`
`SettingConstants.LAMP_FLUX_MAX`	`lamp.flux.max`
`SettingConstants.LAMP_STATUS`	`lamp.status`
`SettingConstants.LAMP_TEMPERATURE`	`lamp.temperature`
`SettingConstants.LAMP_WAVELENGTH_FWHM`	`lamp.wavelength.fwhm`
`SettingConstants.LAMP_WAVELENGTH_PEAK`	`lamp.wavelength.peak`
`SettingConstants.LIMIT_APPROACH_ACCEL`	`limit.approach.accel`
`SettingConstants.LIMIT_APPROACH_MAXSPEED`	`limit.approach.maxspeed`
`SettingConstants.LIMIT_AWAY_ACTION`	`limit.away.action`
`SettingConstants.LIMIT_AWAY_EDGE`	`limit.away.edge`
`SettingConstants.LIMIT_AWAY_POS`	`limit.away.pos`
`SettingConstants.LIMIT_AWAY_POSUPDATE`	`limit.away.posupdate`
`SettingConstants.LIMIT_AWAY_PRESET`	`limit.away.preset`
`SettingConstants.LIMIT_AWAY_STATE`	`limit.away.state`
`SettingConstants.LIMIT_AWAY_TRIGGERED`	`limit.away.triggered`
`SettingConstants.LIMIT_AWAY_TYPE`	`limit.away.type`
`SettingConstants.LIMIT_C_ACTION`	`limit.c.action`
`SettingConstants.LIMIT_C_EDGE`	`limit.c.edge`
`SettingConstants.LIMIT_C_POS`	`limit.c.pos`
`SettingConstants.LIMIT_C_POSUPDATE`	`limit.c.posupdate`
`SettingConstants.LIMIT_C_PRESET`	`limit.c.preset`
`SettingConstants.LIMIT_C_STATE`	`limit.c.state`
`SettingConstants.LIMIT_C_TRIGGERED`	`limit.c.triggered`
`SettingConstants.LIMIT_C_TYPE`	`limit.c.type`
`SettingConstants.LIMIT_CYCLE_DIST`	`limit.cycle.dist`
`SettingConstants.LIMIT_D_ACTION`	`limit.d.action`
`SettingConstants.LIMIT_D_EDGE`	`limit.d.edge`
`SettingConstants.LIMIT_D_POS`	`limit.d.pos`
`SettingConstants.LIMIT_D_POSUPDATE`	`limit.d.posupdate`
`SettingConstants.LIMIT_D_PRESET`	`limit.d.preset`
`SettingConstants.LIMIT_D_STATE`	`limit.d.state`
`SettingConstants.LIMIT_D_TRIGGERED`	`limit.d.triggered`
`SettingConstants.LIMIT_D_TYPE`	`limit.d.type`
`SettingConstants.LIMIT_DETECT_DECELONLY`	`limit.detect.decelonly`
`SettingConstants.LIMIT_DETECT_MAXSPEED`	`limit.detect.maxspeed`
`SettingConstants.LIMIT_HOME_ACTION`	`limit.home.action`
`SettingConstants.LIMIT_HOME_EDGE`	`limit.home.edge`
`SettingConstants.LIMIT_HOME_POS`	`limit.home.pos`
`SettingConstants.LIMIT_HOME_POSUPDATE`	`limit.home.posupdate`
`SettingConstants.LIMIT_HOME_PRESET`	`limit.home.preset`
`SettingConstants.LIMIT_HOME_STATE`	`limit.home.state`
`SettingConstants.LIMIT_HOME_TRIGGERED`	`limit.home.triggered`
`SettingConstants.LIMIT_HOME_TYPE`	`limit.home.type`
`SettingConstants.LIMIT_MAX`	`limit.max`
`SettingConstants.LIMIT_MIN`	`limit.min`
`SettingConstants.LIMIT_START_POS`	`limit.start.pos`
`SettingConstants.LIMIT_SWAPINPUTS`	`limit.swapinputs`
`SettingConstants.LOCKSTEP_NUMGROUPS`	`lockstep.numgroups`
`SettingConstants.LOCKSTEP_TOLERANCE`	`lockstep.tolerance`
`SettingConstants.MAXSPEED`	`maxspeed`
`SettingConstants.MOTION_ACCELONLY`	`motion.accelonly`
`SettingConstants.MOTION_BUSY`	`motion.busy`
`SettingConstants.MOTION_DECELONLY`	`motion.decelonly`
`SettingConstants.MOTION_INDEX_DIST`	`motion.index.dist`
`SettingConstants.MOTION_INDEX_NUM`	`motion.index.num`
`SettingConstants.MOTOR_CURRENT_MAX`	`motor.current.max`
`SettingConstants.PARKING_STATE`	`parking.state`
`SettingConstants.PERIPHERAL_ID`	`peripheral.id`
`SettingConstants.PERIPHERAL_ID_PENDING`	`peripheral.id.pending`
`SettingConstants.PERIPHERAL_SERIAL`	`peripheral.serial`
`SettingConstants.PERIPHERAL_SERIAL_PENDING`	`peripheral.serial.pending`
`SettingConstants.PERIPHERALID`	`peripheralid`
`SettingConstants.POS`	`pos`
`SettingConstants.RESOLUTION`	`resolution`
`SettingConstants.SCOPE_DELAY`	`scope.delay`
`SettingConstants.SCOPE_TIMEBASE`	`scope.timebase`
`SettingConstants.STREAM_NUMBUFS`	`stream.numbufs`
`SettingConstants.STREAM_NUMSTREAMS`	`stream.numstreams`
`SettingConstants.SYSTEM_ACCESS`	`system.access`
`SettingConstants.SYSTEM_AXISCOUNT`	`system.axiscount`
`SettingConstants.SYSTEM_CURRENT`	`system.current`
`SettingConstants.SYSTEM_LED_ENABLE`	`system.led.enable`
`SettingConstants.SYSTEM_SERIAL`	`system.serial`
`SettingConstants.SYSTEM_TEMPERATURE`	`system.temperature`
`SettingConstants.SYSTEM_VOLTAGE`	`system.voltage`
`SettingConstants.TRIGGER_NUMACTIONS`	`trigger.numactions`
`SettingConstants.TRIGGER_NUMTRIGGERS`	`trigger.numtriggers`
`SettingConstants.VEL`	`vel`
`SettingConstants.VERSION`	`version`
`SettingConstants.VERSION_BUILD`	`version.build`
`SettingConstants.VIRTUAL_NUMVIRTUAL`	`virtual.numvirtual`

Stream

A handle for a stream with this ID on the device. Streams provide a way to execute or store a sequence of actions. Stream methods append actions to a queue which executes or stores actions in a first in, first out order.

To use this type, add import zaber.motion.ascii.Stream; to the top of your source code.

axes

P

stream.getAxes()

StreamAxisDefinition[] An array of axes definitions the stream is set up to control.

device

P

stream.getDevice()

Device Device that controls this stream.

mode

P

stream.getMode()

StreamMode Current mode of the stream.

streamId

P

stream.getStreamId()

int32 The number that identifies the stream on the device.

arcAbsolute()

Async M

stream.arcAbsolute(rotationDirection, centerX, centerY, endX, endY)

Queue an absolute arc movement on the first two axes of the stream. Absolute meaning that the home positions of the axes is treated as the origin.

Arguments

Name Type Description

rotationDirection RotationDirection The direction of the rotation.

centerX Measurement The first dimensions of the position of the center of the circle on which the arc exists.

centerY Measurement The second dimensions of the position of the center of the circle on which the arc exists.

endX Measurement The first dimensions of the end position of the arc.

endY Measurement The second dimensions of the end position of the arc.

arcAbsoluteOn()

Async M

stream.arcAbsoluteOn(targetAxesIndices, rotationDirection, centerX, centerY, endX, endY)

Queue an absolute arc movement in the stream. The movement will only target the specified subset of axes in the stream.

Arguments

Name Type Description

targetAxesIndices int32[] Indices of the axes in the stream the movement targets. Refers to the axes provided during the stream setup or further execution. Indices are zero-based.

rotationDirection RotationDirection The direction of the rotation.

centerX Measurement The first dimensions of the position of the center of the circle on which the arc exists.

centerY Measurement The second dimensions of the position of the center of the circle on which the arc exists.

endX Measurement The first dimensions of the end position of the arc.

endY Measurement The second dimensions of the end position of the arc.

arcRelative()

Async M

stream.arcRelative(rotationDirection, centerX, centerY, endX, endY)

Queue a relative arc movement on the first two axes of the stream. Relative meaning that the current position of the axes is treated as the origin.

Arguments

Name Type Description

rotationDirection RotationDirection The direction of the rotation.

centerX Measurement The first dimensions of the position of the center of the circle on which the arc exists.

centerY Measurement The second dimensions of the position of the center of the circle on which the arc exists.

endX Measurement The first dimensions of the end position of the arc.

endY Measurement The second dimensions of the end position of the arc.

arcRelativeOn()

Async M

stream.arcRelativeOn(targetAxesIndices, rotationDirection, centerX, centerY, endX, endY)

Queue a relative arc movement in the stream. The movement will only target the specified subset of axes in the stream.

Arguments

Name Type Description

targetAxesIndices int32[] Indices of the axes in the stream the movement targets. Refers to the axes provided during the stream setup or further execution. Indices are zero-based.

rotationDirection RotationDirection The direction of the rotation.

centerX Measurement The first dimensions of the position of the center of the circle on which the arc exists.

centerY Measurement The second dimensions of the position of the center of the circle on which the arc exists.

endX Measurement The first dimensions of the end position of the arc.

endY Measurement The second dimensions of the end position of the arc.

call()

Async M

stream.call(streamBuffer)

Append the actions in a stream buffer to the queue.

Arguments

Name Type Description

streamBuffer StreamBuffer The stream buffer to call.

circleAbsolute()

Async M

stream.circleAbsolute(rotationDirection, centerX, centerY)

Queue an absolute circle movement on the first two axes of the stream. Absolute meaning that the home positions of the axes are treated as the origin.

Arguments

Name Type Description

rotationDirection RotationDirection The direction of the rotation.

centerX Measurement The first dimension of the position of the center of the circle.

centerY Measurement The second dimension of the position of the center of the circle.

circleAbsoluteOn()

Async M

stream.circleAbsoluteOn(targetAxesIndices, rotationDirection, centerX, centerY)

Queue an absolute circle movement in the stream. The movement will only target the specified subset of axes in the stream.

Arguments

Name Type Description

targetAxesIndices int32[] Indices of the axes in the stream the movement targets. Refers to the axes provided during the stream setup or further execution. Indices are zero-based.

rotationDirection RotationDirection The direction of the rotation.

centerX Measurement The first dimension of the position of the center of the circle.

centerY Measurement The second dimension of the position of the center of the circle.

circleRelative()

Async M

stream.circleRelative(rotationDirection, centerX, centerY)

Queue a relative circle movement on the first two axes of the stream. Relative meaning that the current position of the axes is treated as the origin.

Arguments

Name Type Description

rotationDirection RotationDirection The direction of the rotation.

centerX Measurement The first dimension of the position of the center of the circle.

centerY Measurement The second dimension of the position of the center of the circle.

circleRelativeOn()

Async M

stream.circleRelativeOn(targetAxesIndices, rotationDirection, centerX, centerY)

Queue a relative circle movement in the stream. The movement will only target the specified subset of axes in the stream.

Arguments

Name Type Description

targetAxesIndices int32[] Indices of the axes in the stream the movement targets. Refers to the axes provided during the stream setup or further execution. Indices are zero-based.

rotationDirection RotationDirection The direction of the rotation.

centerX Measurement The first dimension of the position of the center of the circle.

centerY Measurement The second dimension of the position of the center of the circle.

cork()

Async M

stream.cork()

Cork the front of the stream's action queue, blocking execution. Execution resumes upon uncorking the queue, or when the number of queued actions reaches its limit. Corking eliminates discontinuities in motion due to subsequent stream commands reaching the device late. You can only cork an idle live stream.

Arguments

No arguments

disable()

Async M

stream.disable()

Disable the stream. If the stream is not setup, this command does nothing. Once disabled, the stream will no longer accept stream commands. The stream will process the rest of the commands in the queue until it is empty.

Arguments

No arguments

getMaxCentripetalAcceleration()

Async M

stream.getMaxCentripetalAcceleration(unit)
stream.getMaxCentripetalAcceleration()

Gets the maximum centripetal acceleration of the live stream. Converts the units using the first axis of the stream.

Arguments

Name Type Description

unit Units Units of acceleration.

Return Value

double The maximum centripetal acceleration of the live stream.

getMaxSpeed()

Async M

stream.getMaxSpeed(unit)
stream.getMaxSpeed()

Gets the maximum speed of the live stream. Converts the units using the first axis of the stream.

Arguments

Name Type Description

unit Units Units of velocity.

Return Value

double The maximum speed of the stream.

getMaxTangentialAcceleration()

Async M

stream.getMaxTangentialAcceleration(unit)
stream.getMaxTangentialAcceleration()

Gets the maximum tangential acceleration of the live stream. Converts the units using the first axis of the stream.

Arguments

Name Type Description

unit Units Units of acceleration.

Return Value

double The maximum tangential acceleration of the live stream.

isBusy()

Async M

stream.isBusy()

Returns a boolean value indicating whether the live stream is executing a queued action.

Arguments

No arguments

Return Value

logical True if the stream is executing a queued action.

lineAbsolute()

Async M

stream.lineAbsolute(...endpoint)

Queue an absolute line movement in the stream.

Arguments

Name Type Description

...endpoint Measurement Positions for the axes to move to, relative to their home positions.

lineAbsoluteOn()

Async M

stream.lineAbsoluteOn(targetAxesIndices, endpoint)

Queue an absolute line movement in the stream, targeting a subset of the stream axes.

Arguments

Name Type Description

targetAxesIndices int32[] Indices of the axes in the stream the movement targets. Refers to the axes provided during the stream setup or further execution. Indices are zero-based.

endpoint Measurement[] Positions for the axes to move to, relative to their home positions.

lineRelative()

Async M

stream.lineRelative(...endpoint)

Queue a relative line movement in the stream.

Arguments

Name Type Description

...endpoint Measurement Positions for the axes to move to, relative to their positions before movement.

lineRelativeOn()

Async M

stream.lineRelativeOn(targetAxesIndices, endpoint)

Queue a relative line movement in the stream, targeting a subset of the stream axes.

Arguments

Name Type Description

targetAxesIndices int32[] Indices of the axes in the stream the movement targets. Refers to the axes provided during the stream setup or further execution. Indices are zero-based.

endpoint Measurement[] Positions for the axes to move to, relative to their positions before movement.

setAnalogOutput()

Async M

stream.setAnalogOutput(channelNumber, value)

Set the value of an analog output channel.

Arguments

Name Type Description

channelNumber int32 The number of the analog output channel. Channel numbers are numbered from one.

value double The value to set the channel to, in volts.

setDigitalOutput()

Async M

stream.setDigitalOutput(channelNumber, value)

Set the value of a digital output channel.

Arguments

Name Type Description

channelNumber int32 The number of the digital output channel. Channel numbers are numbered from one.

value logical The value to set the channel to.

setMaxCentripetalAcceleration()

Async M

stream.setMaxCentripetalAcceleration(maxCentripetalAcceleration, unit)
stream.setMaxCentripetalAcceleration(maxCentripetalAcceleration)

Sets the maximum centripetal acceleration of the live stream. Converts the units using the first axis of the stream.

Arguments

Name Type Description

maxCentripetalAcceleration double Maximum centripetal acceleration at which any stream action is executed.

unit Units Units of acceleration.

setMaxSpeed()

Async M

stream.setMaxSpeed(maxSpeed, unit)
stream.setMaxSpeed(maxSpeed)

Sets the maximum speed of the live stream. Converts the units using the first axis of the stream.

Arguments

Name Type Description

maxSpeed double Maximum speed at which any stream action is executed.

unit Units Units of velocity.

setMaxTangentialAcceleration()

Async M

stream.setMaxTangentialAcceleration(maxTangentialAcceleration, unit)
stream.setMaxTangentialAcceleration(maxTangentialAcceleration)

Sets the maximum tangential acceleration of the live stream. Converts the units using the first axis of the stream.

Arguments

Name Type Description

maxTangentialAcceleration double Maximum tangential acceleration at which any stream action is executed.

unit Units Units of acceleration.

setupLive()

Async M

stream.setupLive(...axes)

Setup the stream to control the specified axes and to queue actions on the device.

Arguments

Name Type Description

...axes int32 Numbers of physical axes to setup the stream on.

setupLiveComposite()

Async M

stream.setupLiveComposite(...axes)

Setup the stream to control the specified axes and to queue actions on the device. Allows use of lockstep axes in a stream.

Arguments

Name Type Description

...axes StreamAxisDefinition Definition of the stream axes.

setupStore()

Async M

stream.setupStore(streamBuffer, ...axes)

Setup the stream to control the specified axes and queue actions into a stream buffer.

Arguments

Name Type Description

streamBuffer StreamBuffer The stream buffer to queue actions in.

...axes int32 Numbers of physical axes to setup the stream on.

setupStoreArbitraryAxes()

Async M

stream.setupStoreArbitraryAxes(streamBuffer, axesCount)

Setup the stream to use a specified number of axes, and to queue actions in a stream buffer. Afterwards, you may call the resulting stream buffer on arbitrary axes. This mode does not allow for unit conversions.

Arguments

Name Type Description

streamBuffer StreamBuffer The stream buffer to queue actions in.

axesCount int32 The number of axes in the stream.

setupStoreComposite()

Async M

stream.setupStoreComposite(streamBuffer, ...axes)

Setup the stream to control the specified axes and queue actions into a stream buffer. Allows use of lockstep axes in a stream.

Arguments

Name Type Description

streamBuffer StreamBuffer The stream buffer to queue actions in.

...axes StreamAxisDefinition Definition of the stream axes.

toggleDigitalOutput()

Async M

stream.toggleDigitalOutput(channelNumber)

Toggle the value of a digital output channel.

Arguments

Name Type Description

channelNumber int32 The number of the digital output channel. Channel numbers are numbered from one.

toString()

M

stream.toString()

Returns a string which represents the stream.

Arguments

No arguments

Return Value

char String which represents the stream.

uncork()

Async M

stream.uncork()

Uncork the front of the queue, unblocking command execution. You can only uncork an idle live stream that is corked.

Arguments

No arguments

wait()

Async M

stream.wait(time, unit)
stream.wait(time)

Wait a specified time.

Arguments

Name Type Description

time double Amount of time to wait.

unit Units Units of time.

waitAnalogInput()

Async M

stream.waitAnalogInput(channelNumber, condition, value)

Wait for the value of a analog input channel to reach a condition concerning a given value.

Arguments

Name Type Description

channelNumber int32 The number of the analog input channel. Channel numbers are numbered from one.

condition char A condition (e.g. <, <=, ==, !=).

value double The value that the condition concerns, in volts.

waitDigitalInput()

Async M

stream.waitDigitalInput(channelNumber, value)

Wait for a digital input channel to reach a given value.

Arguments

Name Type Description

channelNumber int32 The number of the digital input channel. Channel numbers are numbered from one.

value logical The value that the stream should wait for.

waitUntilIdle()

Async M

stream.waitUntilIdle(throwErrorOnFault)
stream.waitUntilIdle()

Waits until the live stream executes all queued actions.

Arguments

Name Type Description

throwErrorOnFault logical Determines whether to throw error when fault is observed.

StreamAxisDefinition

Defines an axis of the stream.

To use this type, add import zaber.motion.ascii.StreamAxisDefinition; to the top of your source code.

axisNumber

P

streamAxisDefinition.getAxisNumber()

int32 Number of a physical axis or a lockstep group.

axisType

P

streamAxisDefinition.getAxisType()

StreamAxisType Defines the type of the axis.

StreamAxisType

Denotes type of the stream axis.

To use this type, add import zaber.motion.ascii.StreamAxisType; to the top of your source code.

Member	Numeric value
`StreamAxisType.PHYSICAL`	0
`StreamAxisType.LOCKSTEP`	1

StreamBuffer

Represents a stream buffer with this ID on a device. A stream buffer is a place to store a queue of stream actions.

To use this type, add import zaber.motion.ascii.StreamBuffer; to the top of your source code.

bufferId

P

streamBuffer.getBufferId()

int32 The number identifying the buffer on the device.

device

P

streamBuffer.getDevice()

Device The Device this buffer exists on.

erase()

Async M

streamBuffer.erase()

Erase the contents of the buffer.

Arguments

No arguments

getContent()

Async M

streamBuffer.getContent()

Get the buffer contents as an array of strings.

Arguments

No arguments

Return Value

char[] A string array containing all the stream commands stored in the buffer.

StreamExecutionExceptionData

Contains additional data for StreamExecutionException.

To use this type, add import zaber.motion.exceptions.StreamExecutionExceptionData; to the top of your source code.

errorFlag

P

streamExecutionExceptionData.getErrorFlag()

char The error flag that caused the exception.

reason

P

streamExecutionExceptionData.getReason()

char The reason for the exception.

StreamMode

Mode of a stream.

To use this type, add import zaber.motion.ascii.StreamMode; to the top of your source code.

Member	Numeric value
`StreamMode.DISABLED`	0
`StreamMode.STORE`	1
`StreamMode.STORE_ARBITRARY_AXES`	2
`StreamMode.LIVE`	3

StreamMovementFailedExceptionData

Contains additional data for StreamMovementFailedException.

To use this type, add import zaber.motion.exceptions.StreamMovementFailedExceptionData; to the top of your source code.

reason

P

streamMovementFailedExceptionData.getReason()

char The reason for the Exception.

warnings

P

streamMovementFailedExceptionData.getWarnings()

char[] The full list of warnings.

StreamMovementInterruptedExceptionData

Contains additional data for StreamMovementInterruptedException.

To use this type, add import zaber.motion.exceptions.StreamMovementInterruptedExceptionData; to the top of your source code.

reason

P

streamMovementInterruptedExceptionData.getReason()

char The reason for the Exception.

warnings

P

streamMovementInterruptedExceptionData.getWarnings()

char[] The full list of warnings.

Tools

Class providing various utility functions.

To use this type, add import zaber.motion.Tools; to the top of your source code.

listSerialPorts()

Async S

Tools.listSerialPorts()

Lists all serial ports on the computer.

Arguments

No arguments

Return Value

char[] Array of serial port names.

Transport

Connection transport backend allowing to carry Zaber ASCII protocol over arbitrary protocols. Can only be used with a single connection.

To use this type, add import zaber.motion.ascii.Transport; to the top of your source code.

transportId

P

transport.getTransportId()

int32 The transport ID identifies this transport instance with the underlying library.

close()

Async M

transport.close()

Closes the transport. Also closes the connection using the transport.

Arguments

No arguments

closeWithError()

Async M

transport.closeWithError(errorMessage)

Closes the transport with error. Also closes the connection using the transport propagating the error.

Arguments

Name Type Description

errorMessage char Error to be propagated.

open()

S

Transport.open()

Creates new instance allowing to read/write messages from/to a single connection.

Arguments

No arguments

Return Value

Transport New instance of transport.

read()

Async M

transport.read()

Reads a single message generated by the connection. The message is a request for the device. Read should be called continuously in a loop to ensure all generated messages are processed. Subsequent read call confirms that previous message was delivered to the device.

Arguments

No arguments

Return Value

char Message generated by the connection.

write()

Async M

transport.write(message)

Writes a single message to the connection. The message will be processed as a reply from the device.

Arguments

Name Type Description

message char Single message of Zaber ASCII protocol.

Units

Represents all units available across the library.

Native

Constant	Unit
`Units.NATIVE`	Device native units

Length

Constant	Unit
`Units.LENGTH_METRES`	Metres
`Units.LENGTH_CENTIMETRES`	Centimetres
`Units.LENGTH_MILLIMETRES`	Millimetres
`Units.LENGTH_MICROMETRES`	Micrometres
`Units.LENGTH_NANOMETRES`	Nanometres
`Units.LENGTH_INCHES`	Inches

Velocity

Constant	Unit
`Units.VELOCITY_METRES_PER_SECOND`	Metres per second
`Units.VELOCITY_CENTIMETRES_PER_SECOND`	Centimetres per second
`Units.VELOCITY_MILLIMETRES_PER_SECOND`	Millimetres per second
`Units.VELOCITY_MICROMETRES_PER_SECOND`	Micrometres per second
`Units.VELOCITY_NANOMETRES_PER_SECOND`	Nanometres per second
`Units.VELOCITY_INCHES_PER_SECOND`	Inches per second

Acceleration

Constant	Unit
`Units.ACCELERATION_METRES_PER_SECOND_SQUARED`	Metres per second squared
`Units.ACCELERATION_CENTIMETRES_PER_SECOND_SQUARED`	Centimetres per second squared
`Units.ACCELERATION_MILLIMETRES_PER_SECOND_SQUARED`	Millimetres per second squared
`Units.ACCELERATION_MICROMETRES_PER_SECOND_SQUARED`	Micrometres per second squared
`Units.ACCELERATION_NANOMETRES_PER_SECOND_SQUARED`	Nanometres per second squared
`Units.ACCELERATION_INCHES_PER_SECOND_SQUARED`	Inches per second squared

Angle

Constant	Unit
`Units.ANGLE_DEGREES`	Degrees
`Units.ANGLE_RADIANS`	Radians

Angular Velocity

Constant	Unit
`Units.ANGULAR_VELOCITY_DEGREES_PER_SECOND`	Degrees per second
`Units.ANGULAR_VELOCITY_RADIANS_PER_SECOND`	Radians per second

Angular Acceleration

Constant	Unit
`Units.ANGULAR_ACCELERATION_DEGREES_PER_SECOND_SQUARED`	Degrees per second squared
`Units.ANGULAR_ACCELERATION_RADIANS_PER_SECOND_SQUARED`	Radians per second squared

AC Electric Current

Constant	Unit
`Units.AC_ELECTRIC_CURRENT_AMPERES_PEAK`	Amperes peak
`Units.AC_ELECTRIC_CURRENT_AMPERES_RMS`	Amperes RMS

Percent

Constant	Unit
`Units.PERCENT_PERCENT`	Percent

DC Electric Current

Constant	Unit
`Units.DC_ELECTRIC_CURRENT_AMPERES`	Amperes

Force

Constant	Unit
`Units.FORCE_NEWTONS`	Newtons
`Units.FORCE_MILLINEWTONS`	Millinewtons
`Units.FORCE_POUNDS_FORCE`	Pounds-force
`Units.FORCE_KILONEWTONS`	Kilonewtons

Time

Constant	Unit
`Units.TIME_SECONDS`	Seconds
`Units.TIME_MILLISECONDS`	Milliseconds
`Units.TIME_MICROSECONDS`	Microseconds

Torque

Constant	Unit
`Units.TORQUE_NEWTON_METRES`	Newton metres
`Units.TORQUE_NEWTON_CENTIMETRES`	Newton centimetres
`Units.TORQUE_POUND_FORCE_FEET`	Pound-force-feet
`Units.TORQUE_OUNCE_FORCE_INCHES`	Ounce-force-inches

Inertia

Constant	Unit
`Units.INERTIA_GRAMS`	Grams
`Units.INERTIA_KILOGRAMS`	Kilograms
`Units.INERTIA_MILLIGRAMS`	Milligrams
`Units.INERTIA_POUNDS`	Pounds
`Units.INERTIA_OUNCES`	Ounces

Rotational Inertia

Constant	Unit
`Units.ROTATIONAL_INERTIA_GRAM_SQUARE_METRE`	Gram-square metre
`Units.ROTATIONAL_INERTIA_KILOGRAM_SQUARE_METRE`	Kilogram-square metre
`Units.ROTATIONAL_INERTIA_POUND_SQUARE_FEET`	Pound-square-feet

Force Constant

Constant	Unit
`Units.FORCE_CONSTANT_NEWTONS_PER_AMP`	Newtons per amp
`Units.FORCE_CONSTANT_MILLINEWTONS_PER_AMP`	Millinewtons per amp
`Units.FORCE_CONSTANT_KILONEWTONS_PER_AMP`	Kilonewtons per amp
`Units.FORCE_CONSTANT_POUNDS_FORCE_PER_AMP`	Pounds-force per amp

Torque Constant

Constant	Unit
`Units.TORQUE_CONSTANT_NEWTON_METRES_PER_AMP`	Newton metres per amp
`Units.TORQUE_CONSTANT_MILLINEWTON_METRES_PER_AMP`	Millinewton metres per amp
`Units.TORQUE_CONSTANT_KILONEWTON_METRES_PER_AMP`	Kilonewton metres per amp
`Units.TORQUE_CONSTANT_POUND_FORCE_FEET_PER_AMP`	Pound-force-feet per amp

WarningFlags

Warning flag constants that indicate whether any device fault or warning is active. For more information please refer to the ASCII Protocol Manual.

To use this type, add import zaber.motion.ascii.WarningFlags; to the top of your source code.

Constant	Value
`WarningFlags.ANALOG_ENCODER_SYNC_ERROR`	`FA`
`WarningFlags.CONTROLLER_TEMPERATURE_HIGH`	`WT`
`WarningFlags.CRITICAL_SYSTEM_ERROR`	`FF`
`WarningFlags.CURRENT_INRUSH_ERROR`	`FC`
`WarningFlags.DEVICE_NOT_HOMED`	`WH`
`WarningFlags.DISPLACED_WHEN_STATIONARY`	`WM`
`WarningFlags.DRIVER_DISABLED`	`FD`
`WarningFlags.DRIVER_DISABLED_NO_FAULT`	`FO`
`WarningFlags.ENCODER_ERROR`	`FQ`
`WarningFlags.EXCESSIVE_TWIST`	`FT`
`WarningFlags.HARDWARE_EMERGENCY_STOP`	`FH`
`WarningFlags.INDEX_ERROR`	`FI`
`WarningFlags.INTERPOLATED_PATH_DEVIATION`	`FP`
`WarningFlags.INVALID_CALIBRATION_TYPE`	`WP`
`WarningFlags.JOYSTICK_CALIBRATING`	`NJ`
`WarningFlags.LIMIT_ERROR`	`FE`
`WarningFlags.MANUAL_CONTROL`	`NC`
`WarningFlags.MOTOR_TEMPERATURE_ERROR`	`FM`
`WarningFlags.MOVEMENT_INTERRUPTED`	`NI`
`WarningFlags.NO_REFERENCE_POSITION`	`WR`
`WarningFlags.OVERVOLTAGE_OR_UNDERVOLTAGE`	`FV`
`WarningFlags.PERIPHERAL_INACTIVE`	`FZ`
`WarningFlags.PERIPHERAL_NOT_SUPPORTED`	`FN`
`WarningFlags.SETTING_UPDATE_PENDING`	`NU`
`WarningFlags.STALLED_AND_STOPPED`	`FS`
`WarningFlags.STALLED_WITH_RECOVERY`	`WS`
`WarningFlags.STREAM_BOUNDS_ERROR`	`FB`
`WarningFlags.STREAM_DISCONTINUITY`	`ND`
`WarningFlags.UNEXPECTED_LIMIT_TRIGGER`	`WL`
`WarningFlags.VALUE_ROUNDED`	`NR`
`WarningFlags.VALUE_TRUNCATED`	`NT`
`WarningFlags.VOLTAGE_OUT_OF_RANGE`	`WV`

Warnings

Class used to check and reset warnings and faults on device or axis.

To use this type, add import zaber.motion.ascii.Warnings; to the top of your source code.

clearFlags()

Async M

warnings.clearFlags()

Clears (acknowledges) current warnings and faults on axis or device and returns them.

Arguments

No arguments

Return Value

java.util.Set<char> Warnings and faults before clearing. Refer to WarningFlags to check a particular flag.

getFlags()

Async M

warnings.getFlags()

Returns current warnings and faults on axis or device.

Arguments

No arguments

Return Value

java.util.Set<char> Retrieved warnings and faults. Refer to WarningFlags to check a particular flag.

Name	Type	Description
command	`char`	Command and its parameters.
checkErrors	`logical`	Controls whether to throw an exception when the device rejects the command.
timeout	`int32`	The timeout, in milliseconds, for a device to respond to the command. Overrides the connection default request timeout.

Name	Type	Description
position	`double`	Absolute position.
unit	`Units`	Units of position.
waitUntilIdle	`logical`	Determines whether function should return after the movement is finished or just started.

Name	Type	Description
position	`double`	Relative position.
unit	`Units`	Units of position.
waitUntilIdle	`logical`	Determines whether function should return after the movement is finished or just started.

Name	Type	Description
velocity	`double`	Movement velocity.
unit	`Units`	Units of velocity.

Name	Type	Description
commandTemplate	`char`	Template of a command to prepare. Parameters are denoted by question marks.
...parameters	`Measurement`	Variable number of command parameters.

Name	Type	Description
setting	`char`	Name of the setting.
value	`double`	Value of the setting in Zaber native units.
unit	`Units`	Units to convert value to.

Name	Type	Description
cloudId	`char`	The cloud ID to connect to.
token	`char`	The token to authenticate with.
connectionName	`char`	The name of the connection to open. Can be left empty to default to the only connection present. Otherwise, use serial port name for serial port connection or hostname:port for TCP connection.
realm	`char`	The realm to connect to.
api	`char`	The URL of the API to receive connection info from.

Name	Type	Description
portName	`char`	Name of the port to open.
baudRate	`int32`	Optional baud rate (defaults to 115200).

Name	Type	Description
hostName	`char`	Hostname or IP address.
port	`int32`	Port number.

Name	Type	Description
channelNumber	`int32`	Channel number starting at 1.
value	`double`	Value to set the output channel voltage to.

Name	Type	Description
sourceType	`DeviceDbSourceType`	Source type.
urlOrFilePath	`char`	URL of the web service or path to the local file. Leave empty for the default URL of Zaber web service.

Name	Type	Description
mode	`LogOutputMode`	Logging output mode.
filePath	`char`	Path of the file to open.

Name	Type	Description
rotationDirection	`RotationDirection`	The direction of the rotation.
centerX	`Measurement`	The first dimensions of the position of the center of the circle on which the arc exists.
centerY	`Measurement`	The second dimensions of the position of the center of the circle on which the arc exists.
endX	`Measurement`	The first dimensions of the end position of the arc.
endY	`Measurement`	The second dimensions of the end position of the arc.

Name	Type	Description
targetAxesIndices	`int32[]`	Indices of the axes in the stream the movement targets. Refers to the axes provided during the stream setup or further execution. Indices are zero-based.
rotationDirection	`RotationDirection`	The direction of the rotation.
centerX	`Measurement`	The first dimensions of the position of the center of the circle on which the arc exists.
centerY	`Measurement`	The second dimensions of the position of the center of the circle on which the arc exists.
endX	`Measurement`	The first dimensions of the end position of the arc.
endY	`Measurement`	The second dimensions of the end position of the arc.

Name	Type	Description
channelNumber	`int32`	The number of the analog output channel. Channel numbers are numbered from one.
value	`double`	The value to set the channel to, in volts.

Name	Type	Description
channelNumber	`int32`	The number of the digital output channel. Channel numbers are numbered from one.
value	`logical`	The value to set the channel to.

Name	Type	Description
maxCentripetalAcceleration	`double`	Maximum centripetal acceleration at which any stream action is executed.
unit	`Units`	Units of acceleration.

Name	Type	Description
maxSpeed	`double`	Maximum speed at which any stream action is executed.
unit	`Units`	Units of velocity.

Name	Type	Description
maxTangentialAcceleration	`double`	Maximum tangential acceleration at which any stream action is executed.
unit	`Units`	Units of acceleration.

Name	Type	Description
streamBuffer	`StreamBuffer`	The stream buffer to queue actions in.
...axes	`int32`	Numbers of physical axes to setup the stream on.

Name	Type	Description
time	`double`	Amount of time to wait.
unit	`Units`	Units of time.

Name	Type	Description
channelNumber	`int32`	The number of the analog input channel. Channel numbers are numbered from one.
condition	`char`	A condition (e.g. <, <=, ==, !=).
value	`double`	The value that the condition concerns, in volts.

Name	Type	Description
channelNumber	`int32`	The number of the digital input channel. Channel numbers are numbered from one.
value	`logical`	The value that the stream should wait for.