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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.

getString()

Async M

axisSettings.getString(setting)

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

Arguments

Name Type Description
setting char Name of the setting.

Return Value

char 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.

setString()

Async M

axisSettings.setString(setting, value)

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

Arguments

Name Type Description
setting char Name of the setting.
value char Value of the 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. Can be left empty for the default account realm.
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 free trial instances. The connection is not secured.

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.

openNetworkShare()

Async S

Connection.openNetworkShare(hostName, port, connectionName)
Connection.openNetworkShare(hostName, port)

Opens a connection to Zaber Launcher in your Local Area Network. The connection is not secured.

Arguments

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

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.

getString()

Async M

deviceSettings.getString(setting)

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

Arguments

Name Type Description
setting char Name of the setting.

Return Value

char 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.

setString()

Async M

deviceSettings.setString(setting, value)

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

Arguments

Name Type Description
setting char Name of the setting.
value char Value of the 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_SERVO_ENABLE cloop.servo.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_EN_IPV_4_ADDRESS comm.en.ipv4.address
SettingConstants.COMM_EN_IPV_4_DHCP_ENABLED comm.en.ipv4.dhcp.enabled
SettingConstants.COMM_EN_IPV_4_GATEWAY comm.en.ipv4.gateway
SettingConstants.COMM_EN_IPV_4_NETMASK comm.en.ipv4.netmask
SettingConstants.COMM_EN_MDNS_ENABLE comm.en.mdns.enable
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.DEVICE_HW_MODIFIED device.hw.modified
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_1_COUNT encoder.1.count
SettingConstants.ENCODER_1_COUNT_CAL encoder.1.count.cal
SettingConstants.ENCODER_1_DIR encoder.1.dir
SettingConstants.ENCODER_1_FAULT_TYPE encoder.1.fault.type
SettingConstants.ENCODER_1_FILTER encoder.1.filter
SettingConstants.ENCODER_1_INDEX_MODE encoder.1.index.mode
SettingConstants.ENCODER_1_MODE encoder.1.mode
SettingConstants.ENCODER_1_POS encoder.1.pos
SettingConstants.ENCODER_1_POS_ERROR encoder.1.pos.error
SettingConstants.ENCODER_1_RATIO_DIV encoder.1.ratio.div
SettingConstants.ENCODER_1_RATIO_MULT encoder.1.ratio.mult
SettingConstants.ENCODER_1_REF_PHASE encoder.1.ref.phase
SettingConstants.ENCODER_1_TYPE encoder.1.type
SettingConstants.ENCODER_2_COS encoder.2.cos
SettingConstants.ENCODER_2_COS_DC encoder.2.cos.dc
SettingConstants.ENCODER_2_COS_DC_TUNE encoder.2.cos.dc.tune
SettingConstants.ENCODER_2_COS_GAIN encoder.2.cos.gain
SettingConstants.ENCODER_2_COS_GAIN_TUNE encoder.2.cos.gain.tune
SettingConstants.ENCODER_2_COUNT encoder.2.count
SettingConstants.ENCODER_2_COUNT_CAL encoder.2.count.cal
SettingConstants.ENCODER_2_DIR encoder.2.dir
SettingConstants.ENCODER_2_FAULT_TYPE encoder.2.fault.type
SettingConstants.ENCODER_2_FILTER encoder.2.filter
SettingConstants.ENCODER_2_INDEX_MODE encoder.2.index.mode
SettingConstants.ENCODER_2_INTERPOLATION encoder.2.interpolation
SettingConstants.ENCODER_2_MODE encoder.2.mode
SettingConstants.ENCODER_2_POS encoder.2.pos
SettingConstants.ENCODER_2_POS_ERROR encoder.2.pos.error
SettingConstants.ENCODER_2_RATIO_DIV encoder.2.ratio.div
SettingConstants.ENCODER_2_RATIO_MULT encoder.2.ratio.mult
SettingConstants.ENCODER_2_SIGNAL_MIN encoder.2.signal.min
SettingConstants.ENCODER_2_SIN encoder.2.sin
SettingConstants.ENCODER_2_SIN_DC encoder.2.sin.dc
SettingConstants.ENCODER_2_SIN_DC_TUNE encoder.2.sin.dc.tune
SettingConstants.ENCODER_2_SIN_GAIN encoder.2.sin.gain
SettingConstants.ENCODER_2_SIN_GAIN_TUNE encoder.2.sin.gain.tune
SettingConstants.ENCODER_2_TYPE encoder.2.type
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_PORT_DEFAULT encoder.port.default
SettingConstants.ENCODER_POS encoder.pos
SettingConstants.ENCODER_POS_ERROR encoder.pos.error
SettingConstants.ENCODER_RATIO_DIV encoder.ratio.div
SettingConstants.ENCODER_RATIO_MULT encoder.ratio.mult
SettingConstants.FILTER_HOLDERID filter.holderid
SettingConstants.FORCE_AVERAGE force.average
SettingConstants.IO_DI_PORT io.di.port
SettingConstants.IO_DO_PORT io.do.port
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_SOURCE limit.away.source
SettingConstants.LIMIT_AWAY_STATE limit.away.state
SettingConstants.LIMIT_AWAY_TRIGGERED limit.away.triggered
SettingConstants.LIMIT_AWAY_TUNE limit.away.tune
SettingConstants.LIMIT_AWAY_TYPE limit.away.type
SettingConstants.LIMIT_AWAY_WIDTH limit.away.width
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_SOURCE limit.c.source
SettingConstants.LIMIT_C_STATE limit.c.state
SettingConstants.LIMIT_C_TRIGGERED limit.c.triggered
SettingConstants.LIMIT_C_TUNE limit.c.tune
SettingConstants.LIMIT_C_TYPE limit.c.type
SettingConstants.LIMIT_C_WIDTH limit.c.width
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_BIDIRECTIONAL limit.home.bidirectional
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_SOURCE limit.home.source
SettingConstants.LIMIT_HOME_STATE limit.home.state
SettingConstants.LIMIT_HOME_TRIGGERED limit.home.triggered
SettingConstants.LIMIT_HOME_TUNE limit.home.tune
SettingConstants.LIMIT_HOME_TYPE limit.home.type
SettingConstants.LIMIT_HOME_WIDTH limit.home.width
SettingConstants.LIMIT_MAX limit.max
SettingConstants.LIMIT_MIN limit.min
SettingConstants.LIMIT_RANGE_MODE limit.range.mode
SettingConstants.LIMIT_REF_PHASE limit.ref.phase
SettingConstants.LIMIT_REF_PHASE_MEASURED limit.ref.phase.measured
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_ACCEL_RAMPTIME motion.accel.ramptime
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.MOTOR_INDUCTANCE motor.inductance
SettingConstants.MOTOR_PHASE motor.phase
SettingConstants.MOTOR_PHASE_RATIO_DIV_1 motor.phase.ratio.div1
SettingConstants.MOTOR_PHASE_RATIO_DIV_2 motor.phase.ratio.div2
SettingConstants.MOTOR_PHASE_RATIO_MULT motor.phase.ratio.mult
SettingConstants.MOTOR_RESISTANCE motor.resistance
SettingConstants.PARKING_STATE parking.state
SettingConstants.PERIPHERAL_HW_MODIFIED peripheral.hw.modified
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.USER_DATA_0 user.data.0
SettingConstants.USER_DATA_1 user.data.1
SettingConstants.USER_DATA_10 user.data.10
SettingConstants.USER_DATA_11 user.data.11
SettingConstants.USER_DATA_12 user.data.12
SettingConstants.USER_DATA_13 user.data.13
SettingConstants.USER_DATA_14 user.data.14
SettingConstants.USER_DATA_15 user.data.15
SettingConstants.USER_DATA_2 user.data.2
SettingConstants.USER_DATA_3 user.data.3
SettingConstants.USER_DATA_4 user.data.4
SettingConstants.USER_DATA_5 user.data.5
SettingConstants.USER_DATA_6 user.data.6
SettingConstants.USER_DATA_7 user.data.7
SettingConstants.USER_DATA_8 user.data.8
SettingConstants.USER_DATA_9 user.data.9
SettingConstants.USER_VDATA_0 user.vdata.0
SettingConstants.USER_VDATA_1 user.vdata.1
SettingConstants.USER_VDATA_2 user.vdata.2
SettingConstants.USER_VDATA_3 user.vdata.3
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.