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.

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.

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

Return Value

Response A response to the command.

genericCommandMultiResponse()

Async M

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

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 to send.

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.

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.

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.

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.

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.

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.

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.

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

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.

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)
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 to send.
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.

Return Value

Response A response to the command.

genericCommandMultiResponse()

Async M

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 to send.
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.

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 to send.
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.

Arguments

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

Return Value

Device Device instance.

openSerialPort()

Async S

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

Opens a serial port.

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.

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.

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)
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 to send.
axis	int32	Optional axis number to send the command to.
checkErrors	logical	Controls whether to throw an exception when the device rejects the command.

Return Value

Response A response to the command.

genericCommandMultiResponse()

Async M

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 to send.
axis	int32	Optional axis number to send the command to.
checkErrors	logical	Controls whether to throw an exception when a device rejects the command.

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 to send.
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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

toggleDeviceDbStore()

S

Library.toggleDeviceDbStore(toggleOn, storeLocation)
Library.toggleDeviceDbStore(toggleOn)

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

Arguments

Name	Type	Description
toggleOn	logical	True to turn on, false to turn off.
storeLocation	char	Specifies relative or absolute path of the folder used by the store. Must be accessible by the process.

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(axis1, axis2)

Activate the lockstep group on the two axes specified.

Arguments

Name	Type	Description
axis1	int32	The number of the first axis in the lockstep group.
axis2	int32	The number of the second axis in the lockstep group.

getAxes()

Async M

lockstep.getAxes()

Gets the axes of the lockstep group.

Arguments

No arguments

Return Value

LockstepAxes LockstepAxes instance which contains both the axis numbers of the lockstep group.

getOffset()

Async M

lockstep.getOffset(unit)
lockstep.getOffset()

Gets the initial offset of an enabled lockstep group.

Arguments

Name	Type	Description
unit	Units	Units of position.

Return Value

double Initial offset of the lockstep group.

getTwist()

Async M

lockstep.getTwist(unit)
lockstep.getTwist()

Gets the twist 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 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 axis is 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 axis in the lockstep group maintains its offset 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.

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 axis in the lockstep group maintains its offset 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 axis in the lockstep group maintains its offset 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.

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

Exceptions

MotionLibException

Exception originating in the library.

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

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:

Exceptions
BinaryCommandFailedException
BinaryErrorException
CommandFailedException
CommandPreemptedException
ConnectionClosedException
ConnectionFailedException
ConversionFailedException
DeviceAddressConflictException
DeviceDbFailedException
DeviceFailedException
DeviceNotIdentifiedException
InternalErrorException
InvalidArgumentException
InvalidDataException
InvalidPacketException
InvalidResponseException
IoChannelOutOfRangeException
IoFailedException
LockstepEnabledException
LockstepNotEnabledException
MovementFailedException
MovementInterruptedException
NoDeviceFoundException
NotSupportedException
OsFailedException
OutOfRequestIdsException
RequestTimeoutException
SettingNotFoundException
UnknownRequestException

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.

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_COUNTH	encoder.counth
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.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_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_SERIAL	peripheral.serial
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

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.

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.DEVICE_NOT_HOMED	WH
WarningFlags.DISPLACED_WHEN_STATIONARY	WM
WarningFlags.DRIVER_DISABLED	FD
WarningFlags.ENCODER_ERROR	FQ
WarningFlags.EXCESSIVE_TWIST	FT
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.MOVEMENT_INTERRUPTED	NI
WarningFlags.NO_REFERENCE_POSITION	WR
WarningFlags.OVERVOLTAGE_OR_UNDERVOLTAGE	FV
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.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.