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.
isPeripheral
P
axisIdentity.getIsPeripheral()
logical
Indicates whether the axis is a peripheral or part of an integrated device.
peripheralId
P
axisIdentity.getPeripheralId()
int32
Unique ID of the peripheral hardware.
peripheralName
P
axisIdentity.getPeripheralName()
char
Name of the peripheral.
AxisSettings
Class providing access to various axis settings and properties.
To use this type, add import zaber.motion.ascii.AxisSettings;
to the top of your source code.
convertFromNativeUnits()
M
axisSettings.convertFromNativeUnits(setting, value, unit)
Convert arbitrary setting value from Zaber native units.
Arguments
Name Type Description setting char
Name of the setting. value double
Value of the setting in Zaber native units. unit Units
Units to convert value to. Return Value
double
Setting value.
convertToNativeUnits()
M
axisSettings.convertToNativeUnits(setting, value, unit)
Convert arbitrary setting value to Zaber native units.
Arguments
Name Type Description setting char
Name of the setting. value double
Value of the setting in units specified by following argument. unit Units
Units of the value. Return Value
double
Setting value.
get()
Async M
axisSettings.get(setting, unit)
axisSettings.get(setting)
Returns any axis setting or property. For more information refer to the ASCII Protocol Manual.
Arguments
Name Type Description setting char
Name of the setting. unit Units
Units of setting. Return Value
double
Setting value.
set()
Async M
axisSettings.set(setting, value, unit)
axisSettings.set(setting, value)
Sets any axis setting. For more information refer to the ASCII Protocol Manual.
Arguments
Name Type Description setting char
Name of the setting. value double
Value of the setting. unit Units
Units of setting.
AxisType
Denotes type of an axis and units it accepts.
To use this type, add import zaber.motion.ascii.AxisType;
to the top of your source code.
Member | Numeric value |
---|---|
AxisType.UNKNOWN |
0 |
AxisType.LINEAR |
1 |
AxisType.ROTARY |
2 |
BinaryCommandFailedExceptionData
Contains additional data for BinaryCommandFailedException.
To use this type, add import zaber.motion.exceptions.BinaryCommandFailedExceptionData;
to the top of your source code.
responseData
P
binaryCommandFailedExceptionData.getResponseData()
int32
The response data.
CommandFailedExceptionData
Contains additional data for CommandFailedException.
To use this type, add import zaber.motion.exceptions.CommandFailedExceptionData;
to the top of your source code.
replyFlag
P
commandFailedExceptionData.getReplyFlag()
char
The flags on the reply sent by the device.
responseData
P
commandFailedExceptionData.getResponseData()
char
The response data.
status
P
commandFailedExceptionData.getStatus()
char
The current device status.
warningFlag
P
commandFailedExceptionData.getWarningFlag()
char
The current warning flag on the device.
Connection
Class representing access to particular connection (serial port, TCP connection).
To use this type, add import zaber.motion.ascii.Connection;
to the top of your source code.
checksumEnabled
P
connection.getChecksumEnabled()
logical
Controls whether outgoing messages contain checksum.
defaultRequestTimeout
P
connection.getDefaultRequestTimeout()
int32
The default timeout, in milliseconds, for a device to respond to a request. Setting the timeout to a too low value may cause request timeout exceptions.
interfaceId
P
connection.getInterfaceId()
int32
The interface ID identifies this Connection instance with the underlying library.
close()
Async M
connection.close()
Close the connection.
Arguments
No arguments
detectDevices()
Async M
connection.detectDevices(identifyDevices)
connection.detectDevices()
Attempts to detect any devices present on this connection.
Arguments
Name Type Description identifyDevices logical
Determines whether device identification should be performed as well. Return Value
Device[]
Array of detected devices.
genericCommand()
Async M
connection.genericCommand(command, device, axis, checkErrors, timeout)
connection.genericCommand(command, device, axis, checkErrors)
connection.genericCommand(command, device, axis)
connection.genericCommand(command, device)
connection.genericCommand(command)
Sends a generic ASCII command to this connection. For more information refer to the ASCII Protocol Manual.
Arguments
Name Type Description command char
Command and its parameters. device int32
Optional device address to send the command to. axis int32
Optional axis number to send the command to. checkErrors logical
Controls whether to throw an exception when the device rejects the command. timeout int32
The timeout, in milliseconds, for a device to respond to the command. Overrides the connection default request timeout. Return Value
Response
A response to the command.
genericCommandMultiResponse()
Async M
connection.genericCommandMultiResponse(command, device, axis, checkErrors, timeout)
connection.genericCommandMultiResponse(command, device, axis, checkErrors)
connection.genericCommandMultiResponse(command, device, axis)
connection.genericCommandMultiResponse(command, device)
connection.genericCommandMultiResponse(command)
Sends a generic ASCII command to this connection and expect multiple responses, either from one device or from many devices. Responses are returned in order of arrival. For more information refer to the ASCII Protocol Manual.
Arguments
Name Type Description command char
Command and its parameters. device int32
Optional device address to send the command to. axis int32
Optional axis number to send the command to. checkErrors logical
Controls whether to throw an exception when a device rejects the command. timeout int32
The timeout, in milliseconds, for a device to respond to the command. Overrides the connection default request timeout. Return Value
Response[]
All responses to the command.
genericCommandNoResponse()
Async M
connection.genericCommandNoResponse(command, device, axis)
connection.genericCommandNoResponse(command, device)
connection.genericCommandNoResponse(command)
Sends a generic ASCII command to this connection without expecting a response and without adding a message ID. For more information refer to the ASCII Protocol Manual.
Arguments
Name Type Description command char
Command and its parameters. device int32
Optional device address to send the command to. axis int32
Optional axis number to send the command to.
getDevice()
M
connection.getDevice(deviceAddress)
Gets a Device class instance which allows you to control a particular device on this connection. Devices are numbered from 1.
Arguments
Name Type Description deviceAddress int32
Address of device intended to control. Address is configured for each device. Return Value
Device
Device instance.
homeAll()
Async M
connection.homeAll(waitUntilIdle)
connection.homeAll()
Homes all of the devices on this connection.
Arguments
Name Type Description waitUntilIdle logical
Determines whether the function should return immediately or wait until the devices are homed. Return Value
int32[]
The addresses of the devices that were homed by this command.
openCustom()
Async S
Connection.openCustom(transport)
Opens a connection using a custom transport.
Arguments
Name Type Description transport Transport
The custom connection transport. Return Value
Connection
An object representing the connection.
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.
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.
name
P
deviceIdentity.getName()
char
Name of the product.
serialNumber
P
deviceIdentity.getSerialNumber()
int64
Serial number of the device.
DeviceIO
Class providing access to the I/O channels of the device.
To use this type, add import zaber.motion.ascii.DeviceIO;
to the top of your source code.
getAllAnalogInputs()
Async M
deviceIO.getAllAnalogInputs()
Returns the current values of all analog input channels.
Arguments
No arguments
Return Value
double[]
Measurements of the voltage present on the input channels.
getAllAnalogOutputs()
Async M
deviceIO.getAllAnalogOutputs()
Returns the current values of all analog output channels.
Arguments
No arguments
Return Value
double[]
Measurements of voltage that the output channels are conducting.
getAllDigitalInputs()
Async M
deviceIO.getAllDigitalInputs()
Returns the current values of all digital input channels.
Arguments
No arguments
Return Value
logical[]
True if voltage is present on the input channel and false otherwise.
getAllDigitalOutputs()
Async M
deviceIO.getAllDigitalOutputs()
Returns the current values of all digital output channels.
Arguments
No arguments
Return Value
logical[]
True if the output channel is conducting and false otherwise.
getAnalogInput()
Async M
deviceIO.getAnalogInput(channelNumber)
Returns the current value of the specified analog input channel.
Arguments
Name Type Description channelNumber int32
Channel number starting at 1. Return Value
double
A measurementsof the voltage present on the input channel.
getAnalogOutput()
Async M
deviceIO.getAnalogOutput(channelNumber)
Returns the current values of the specified analog output channel.
Arguments
Name Type Description channelNumber int32
Channel number starting at 1. Return Value
double
A measurement of voltage that the output channel is conducting.
getChannelsInfo()
Async M
deviceIO.getChannelsInfo()
Returns the number of I/O channels the device has.
Arguments
No arguments
Return Value
DeviceIOInfo
An object containing the number of I/O channels the device has.
getDigitalInput()
Async M
deviceIO.getDigitalInput(channelNumber)
Returns the current value of the specified digital input channel.
Arguments
Name Type Description channelNumber int32
Channel number starting at 1. Return Value
logical
True if voltage is present on the input channel and false otherwise.
getDigitalOutput()
Async M
deviceIO.getDigitalOutput(channelNumber)
Returns the current value of the specified digital output channel.
Arguments
Name Type Description channelNumber int32
Channel number starting at 1. Return Value
logical
True if the output channel is conducting and false otherwise.
setAllAnalogOutputs()
Async M
deviceIO.setAllAnalogOutputs(values)
Sets values for all analog output channels.
Arguments
Name Type Description values double[]
Voltage values to set the output channels to.
setAllDigitalOutputs()
Async M
deviceIO.setAllDigitalOutputs(values)
Sets values for all digital output channels.
Arguments
Name Type Description values logical[]
True to set the output channel to conducting and false to turn it off.
setAnalogOutput()
Async M
deviceIO.setAnalogOutput(channelNumber, value)
Sets value for the specified analog output channel.
Arguments
Name Type Description channelNumber int32
Channel number starting at 1. value double
Value to set the output channel voltage to.
setDigitalOutput()
Async M
deviceIO.setDigitalOutput(channelNumber, value)
Sets value for the specified digital output channel.
Arguments
Name Type Description channelNumber int32
Channel number starting at 1. value logical
True to set the output channel to conducting and false to turn it off.
DeviceIOInfo
Class representing information on the I/O channels of the device.
To use this type, add import zaber.motion.ascii.DeviceIOInfo;
to the top of your source code.
numberAnalogInputs
P
deviceIOInfo.getNumberAnalogInputs()
int32
Number of analog input channels.
numberAnalogOutputs
P
deviceIOInfo.getNumberAnalogOutputs()
int32
Number of analog output channels.
numberDigitalInputs
P
deviceIOInfo.getNumberDigitalInputs()
int32
Number of digital input channels.
numberDigitalOutputs
P
deviceIOInfo.getNumberDigitalOutputs()
int32
Number of digital output channels.
DeviceSettings
Class providing access to various device settings and properties.
To use this type, add import zaber.motion.ascii.DeviceSettings;
to the top of your source code.
convertFromNativeUnits()
M
deviceSettings.convertFromNativeUnits(setting, value, unit)
Convert arbitrary setting value from Zaber native units.
Arguments
Name Type Description setting char
Name of the setting. value double
Value of the setting in Zaber native units. unit Units
Units to convert value to. Return Value
double
Setting value.
convertToNativeUnits()
M
deviceSettings.convertToNativeUnits(setting, value, unit)
Convert arbitrary setting value to Zaber native units.
Arguments
Name Type Description setting char
Name of the setting. value double
Value of the setting in units specified by following argument. unit Units
Units of the value. Return Value
double
Setting value.
get()
Async M
deviceSettings.get(setting, unit)
deviceSettings.get(setting)
Returns any device setting or property. For more information refer to the ASCII Protocol Manual.
Arguments
Name Type Description setting char
Name of the setting. unit Units
Units of setting. Return Value
double
Setting value.
set()
Async M
deviceSettings.set(setting, value, unit)
deviceSettings.set(setting, value)
Sets any device setting. For more information refer to the ASCII Protocol Manual.
Arguments
Name Type Description setting char
Name of the setting. value double
Value of the setting. unit Units
Units of setting.
FirmwareVersion
Class representing version of firmware in the controller.
To use this type, add import zaber.motion.FirmwareVersion;
to the top of your source code.
build
P
firmwareVersion.getBuild()
int32
Build version number.
major
P
firmwareVersion.getMajor()
int32
Major version number.
minor
P
firmwareVersion.getMinor()
int32
Minor version number.
InvalidPacketExceptionData
Contains additional data for the InvalidPacketException.
To use this type, add import zaber.motion.exceptions.InvalidPacketExceptionData;
to the top of your source code.
packet
P
invalidPacketExceptionData.getPacket()
char
The invalid packet that caused the exception.
reason
P
invalidPacketExceptionData.getReason()
char
The reason for the exception.
InvalidResponseExceptionData
Contains additional data for InvalidResponseException.
To use this type, add import zaber.motion.exceptions.InvalidResponseExceptionData;
to the top of your source code.
response
P
invalidResponseExceptionData.getResponse()
char
The response data.
Library
Access class to general library information and configuration.
To use this type, add import zaber.motion.Library;
to the top of your source code.
disableDeviceDbStore()
S
Library.disableDeviceDbStore()
Disables Device DB store.
Arguments
No arguments
enableDeviceDbStore()
S
Library.enableDeviceDbStore(storeLocation)
Library.enableDeviceDbStore()
Enables Device DB store. The store uses filesystem to save information obtained from the Device DB. The stored data are later used instead of the Device DB.
Arguments
Name Type Description storeLocation char
Specifies relative or absolute path of the folder used by the store. If left empty defaults to a folder in user home directory. Must be accessible by the process.
setDeviceDbSource()
S
Library.setDeviceDbSource(sourceType, urlOrFilePath)
Library.setDeviceDbSource(sourceType)
Sets source of Device DB data. Allows selection of a web service or a local file.
Arguments
Name Type Description sourceType DeviceDbSourceType
Source type. urlOrFilePath char
URL of the web service or path to the local file. Leave empty for the default URL of Zaber web service.
setLogOutput()
S
Library.setLogOutput(mode, filePath)
Library.setLogOutput(mode)
Sets library logging output.
Arguments
Name Type Description mode LogOutputMode
Logging output mode. filePath char
Path of the file to open.
Lockstep
Represents a lockstep group with this ID on a device. A lockstep group is a movement synchronized pair of axes on a device.
To use this type, add import zaber.motion.ascii.Lockstep;
to the top of your source code.
device
P
lockstep.getDevice()
Device
Device that controls this lockstep group.
lockstepGroupId
P
lockstep.getLockstepGroupId()
int32
The number that identifies the lockstep group on the device.
disable()
Async M
lockstep.disable()
Disable the lockstep group.
Arguments
No arguments
enable()
Async M
lockstep.enable(...axes)
Activate the lockstep group on the axes specified.
Arguments
Name Type Description ...axes int32
The numbers of axes in the lockstep group.
getAxes()
Async M
lockstep.getAxes()
Gets the axes of the lockstep group.
Arguments
No arguments
Return Value
LockstepAxes
LockstepAxes instance which contains the axes numbers of the lockstep group.
getAxisNumbers()
Async M
lockstep.getAxisNumbers()
Gets the axis numbers of the lockstep group.
Arguments
No arguments
Return Value
int32[]
Axis numbers in order specified when enabling lockstep.
getOffsets()
Async M
lockstep.getOffsets(unit)
lockstep.getOffsets()
Gets the initial offsets of secondary axes of an enabled lockstep group.
Arguments
Name Type Description unit Units
Units of position. Return Value
double[]
Initial offset for each axis of the lockstep group.
getTwists()
Async M
lockstep.getTwists(unit)
lockstep.getTwists()
Gets the twists of secondary axes of an enabled lockstep group.
Arguments
Name Type Description unit Units
Units of position. Return Value
double[]
Difference between the initial offset and the actual offset for each axis of the lockstep group.
home()
Async M
lockstep.home(waitUntilIdle)
lockstep.home()
Retracts the axes of the lockstep group until a home associated with an individual axis is detected.
Arguments
Name Type Description waitUntilIdle logical
Determines whether function should return after the movement is finished or just started.
isBusy()
Async M
lockstep.isBusy()
Returns bool indicating whether the lockstep group is executing a motion command.
Arguments
No arguments
Return Value
logical
True if the axes are currently executing a motion command.
isEnabled()
Async M
lockstep.isEnabled()
Checks if the lockstep group is currently enabled on the device.
Arguments
No arguments
Return Value
logical
True if a lockstep group with this ID is enabled on the device.
moveAbsolute()
Async M
lockstep.moveAbsolute(position, unit, waitUntilIdle)
lockstep.moveAbsolute(position, unit)
lockstep.moveAbsolute(position)
Move the first axis of the lockstep group to an absolute position. The other axes in the lockstep group maintain their offsets throughout movement.
Arguments
Name Type Description position double
Absolute position. unit Units
Units of position. waitUntilIdle logical
Determines whether function should return after the movement is finished or just started.
moveMax()
Async M
lockstep.moveMax(waitUntilIdle)
lockstep.moveMax()
Moves the axes to the maximum valid position. The axes in the lockstep group maintain their offsets throughout movement. Respects lim.max for all axes in the group.
Arguments
Name Type Description waitUntilIdle logical
Determines whether function should return after the movement is finished or just started.
moveMin()
Async M
lockstep.moveMin(waitUntilIdle)
lockstep.moveMin()
Moves the axes to the minimum valid position. The axes in the lockstep group maintain their offsets throughout movement. Respects lim.min for all axes in the group.
Arguments
Name Type Description waitUntilIdle logical
Determines whether function should return after the movement is finished or just started.
moveRelative()
Async M
lockstep.moveRelative(position, unit, waitUntilIdle)
lockstep.moveRelative(position, unit)
lockstep.moveRelative(position)
Move the first axis of the lockstep group to a position relative to its current position. The other axes in the lockstep group maintain their offsets throughout movement.
Arguments
Name Type Description position double
Relative position. unit Units
Units of position. waitUntilIdle logical
Determines whether function should return after the movement is finished or just started.
moveVelocity()
Async M
lockstep.moveVelocity(velocity, unit)
lockstep.moveVelocity(velocity)
Moves the first axis of the lockstep group at the specified speed. The other axes in the lockstep group maintain their offsets throughout movement.
Arguments
Name Type Description velocity double
Movement velocity. unit Units
Units of velocity.
stop()
Async M
lockstep.stop(waitUntilIdle)
lockstep.stop()
Stops ongoing lockstep group movement. Decelerates until zero speed.
Arguments
Name Type Description waitUntilIdle logical
Determines whether function should return after the movement is finished or just started.
toString()
M
lockstep.toString()
Returns a string which represents the enabled lockstep group.
Arguments
No arguments
Return Value
char
String which represents the enabled lockstep group.
waitUntilIdle()
Async M
lockstep.waitUntilIdle(throwErrorOnFault)
lockstep.waitUntilIdle()
Waits until the lockstep group stops moving.
Arguments
Name Type Description throwErrorOnFault logical
Determines whether to throw error when fault is observed.
LockstepAxes
The axis numbers of a lockstep group.
To use this type, add import zaber.motion.ascii.LockstepAxes;
to the top of your source code.
axis1
P
lockstepAxes.getAxis1()
int32
The axis number used to set the first axis.
axis2
P
lockstepAxes.getAxis2()
int32
The axis number used to set the second axis.
axis3
P
lockstepAxes.getAxis3()
int32
The axis number used to set the third axis.
axis4
P
lockstepAxes.getAxis4()
int32
The axis number used to set the fourth axis.
LogOutputMode
Mode of logging output of the library.
To use this type, add import zaber.motion.LogOutputMode;
to the top of your source code.
Member | Numeric value |
---|---|
LogOutputMode.OFF |
0 |
LogOutputMode.STDOUT |
1 |
LogOutputMode.STDERR |
2 |
LogOutputMode.FILE |
3 |
Measurement
Represents a numerical value with optional units specified.
To use this type, add import zaber.motion.Measurement;
to the top of your source code.
unit
P
measurement.getUnit()
Units
Optional units of the measurement.
value
P
measurement.getValue()
double
Value of the measurement.
MessageType
Denotes type of the response message. For more information refer to: ASCII Protocol Manual.
To use this type, add import zaber.motion.ascii.MessageType;
to the top of your source code.
Member | Numeric value |
---|---|
MessageType.REPLY |
0 |
MessageType.INFO |
1 |
MessageType.ALERT |
2 |
MotionLibException
Exception originating in the library.
To use this type, add import zaber.motion.MotionLibException;
to the top of your source code.
details
P
motionLibException.getDetails()
Additional data for a given exception subclass. The structure of this data is different for each subclass and some subclasses may not even have this property. See the list of available subclasses below for more details.
message
P
motionLibException.getMessage()
char
Error message of the exception.
toString()
M
motionLibException.toString()
Returns a string that represents the exception.
Arguments
No arguments
Return Value
char
A string that represents the exception.
Below are the subclasses of MotionLibException:
Exception | Description |
---|---|
BinaryCommandFailedException |
Thrown when a device rejects a binary command with an error. Details: BinaryCommandFailedExceptionData |
CommandFailedException |
Thrown when a device rejects a command. Details: CommandFailedExceptionData |
CommandPreemptedException |
Thrown when a movement command gets preempted by another command. |
ConnectionClosedException |
Thrown when attempting to communicate on a closed connection. |
ConnectionFailedException |
Thrown when a connection breaks during a request. |
ConversionFailedException |
Thrown when a value cannot be converted using the provided units. |
DeviceAddressConflictException |
Thrown when there is a conflict in device numbers preventing unique addressing. Details: DeviceAddressConflictExceptionData |
DeviceBusyException |
Thrown when a requested operation fails because the device is currently busy. |
DeviceDbFailedException |
Thrown when device information cannot be retrieved from the device database. |
DeviceFailedException |
Thrown when a device registers fatal failure. Contact support if you observe this exception. |
DeviceNotIdentifiedException |
Thrown when attempting an operation that requires an identified device. |
InternalErrorException |
Used for internal error handling. Please report an issue if observed. |
InvalidArgumentException |
Thrown when a function is called with invalid values. |
InvalidDataException |
Thrown when incoming device data cannot be parsed as expected. |
InvalidPacketException |
Thrown when a packet from a device cannot be parsed. Details: InvalidPacketExceptionData |
InvalidParkStateException |
Thrown when a device is unable to park. |
InvalidResponseException |
Thrown when a device sends a response with unexpected type or data. Details: InvalidResponseExceptionData |
IoChannelOutOfRangeException |
Thrown when a device IO operation cannot be performed because the provided channel is not valid. |
IoFailedException |
Thrown when the library cannot perform an operation on a file. |
LockstepEnabledException |
Thrown when an operation cannot be performed because lockstep motion is enabled. |
LockstepNotEnabledException |
Thrown when an operation cannot be performed because lockstep motion is not enabled. |
MovementFailedException |
Thrown when a device registers a fault during movement. Details: MovementFailedExceptionData |
MovementInterruptedException |
Thrown when ongoing movement is interrupted by another command or user input. Details: MovementInterruptedExceptionData |
NoDeviceFoundException |
Thrown when no devices can be found on a connection. |
NotSupportedException |
Thrown when a device does not support a requested command or setting. |
OsFailedException |
Thrown when an operation fails due to underlying operating system error. |
OutOfRequestIdsException |
Thrown when the library is overwhelmed with too many simultaneous requests. |
RequestTimeoutException |
Thrown when a device does not respond to a request in time. |
SerialPortBusyException |
Thrown when a serial port cannot be opened because it is in use by another application. |
SettingNotFoundException |
Thrown when a get or a set command cannot be found for a setting. |
StreamExecutionException |
Thrown when a streamed motion fails. Details: StreamExecutionExceptionData |
StreamModeException |
Thrown when an operation is not supported by a mode the stream is currently set up in. |
StreamMovementFailedException |
Thrown when a device registers a fault during streamed movement. Details: StreamMovementFailedExceptionData |
StreamMovementInterruptedException |
Thrown when ongoing stream movement is interrupted by another command or user input. Details: StreamMovementInterruptedExceptionData |
StreamSetupFailedException |
Thrown when setting up a stream fails. |
TransportAlreadyUsedException |
Thrown when a transport has already been used to open another connection. |
UnknownRequestException |
Used for internal error handling. Indicates mixed library binary files. Reinstall the library. |
MovementFailedExceptionData
Contains additional data for MovementFailedException.
To use this type, add import zaber.motion.exceptions.MovementFailedExceptionData;
to the top of your source code.
reason
P
movementFailedExceptionData.getReason()
char
The reason for the Exception.
warnings
P
movementFailedExceptionData.getWarnings()
char[]
The full list of warnings.
MovementInterruptedExceptionData
Contains additional data for MovementInterruptedException.
To use this type, add import zaber.motion.exceptions.MovementInterruptedExceptionData;
to the top of your source code.
reason
P
movementInterruptedExceptionData.getReason()
char
The reason for the Exception.
warnings
P
movementInterruptedExceptionData.getWarnings()
char[]
The full list of warnings.
Response
Response message from the device.
To use this type, add import zaber.motion.ascii.Response;
to the top of your source code.
axisNumber
P
response.getAxisNumber()
int32
Number of the axis which the response applies to. Zero denotes device scope.
data
P
response.getData()
char
Response data which varies depending on the request.
deviceAddress
P
response.getDeviceAddress()
int32
Number of the device that sent the message.
messageType
P
response.getMessageType()
MessageType
Type of the reply received.
replyFlag
P
response.getReplyFlag()
char
The reply flag indicates if the request was accepted (OK) or rejected (RJ).
status
P
response.getStatus()
char
The device status contains BUSY when the axis is moving and IDLE otherwise.
warningFlag
P
response.getWarningFlag()
char
The warning flag contains the highest priority warning currently active for the device or axis.
RotationDirection
Direction of rotation.
To use this type, add import zaber.motion.RotationDirection;
to the top of your source code.
Member | Numeric value |
---|---|
RotationDirection.CLOCKWISE |
0 |
RotationDirection.COUNTERCLOCKWISE |
1 |
RotationDirection.CW |
0 |
RotationDirection.CCW |
1 |
SettingConstants
Named constants for all Zaber ASCII protocol settings. For more information please refer to the ASCII Protocol Manual.
To use this type, add import zaber.motion.ascii.SettingConstants;
to the top of your source code.
Constant | Value |
---|---|
SettingConstants.ACCEL |
accel |
SettingConstants.CALIBRATION_TYPE |
calibration.type |
SettingConstants.CLOOP_CONTINUOUS_ENABLE |
cloop.continuous.enable |
SettingConstants.CLOOP_COUNTS |
cloop.counts |
SettingConstants.CLOOP_DISPLACE_TOLERANCE |
cloop.displace.tolerance |
SettingConstants.CLOOP_DURATION_MAX |
cloop.duration.max |
SettingConstants.CLOOP_ENABLE |
cloop.enable |
SettingConstants.CLOOP_MODE |
cloop.mode |
SettingConstants.CLOOP_RECOVERY_ENABLE |
cloop.recovery.enable |
SettingConstants.CLOOP_SETTLE_PERIOD |
cloop.settle.period |
SettingConstants.CLOOP_SETTLE_TOLERANCE |
cloop.settle.tolerance |
SettingConstants.CLOOP_STALLTIMEOUT |
cloop.stalltimeout |
SettingConstants.CLOOP_STEPS |
cloop.steps |
SettingConstants.CLOOP_TIMEOUT |
cloop.timeout |
SettingConstants.COMM_ADDRESS |
comm.address |
SettingConstants.COMM_ALERT |
comm.alert |
SettingConstants.COMM_CHECKSUM |
comm.checksum |
SettingConstants.COMM_PROTOCOL |
comm.protocol |
SettingConstants.COMM_RS_232_BAUD |
comm.rs232.baud |
SettingConstants.COMM_RS_232_PROTOCOL |
comm.rs232.protocol |
SettingConstants.COMM_RS_485_BAUD |
comm.rs485.baud |
SettingConstants.COMM_RS_485_ENABLE |
comm.rs485.enable |
SettingConstants.COMM_RS_485_PROTOCOL |
comm.rs485.protocol |
SettingConstants.COMM_USB_PROTOCOL |
comm.usb.protocol |
SettingConstants.DEVICEID |
deviceid |
SettingConstants.DRIVER_CURRENT_HOLD |
driver.current.hold |
SettingConstants.DRIVER_CURRENT_MAX |
driver.current.max |
SettingConstants.DRIVER_CURRENT_RUN |
driver.current.run |
SettingConstants.DRIVER_CURRENT_SERVO |
driver.current.servo |
SettingConstants.DRIVER_DIR |
driver.dir |
SettingConstants.DRIVER_ENABLED |
driver.enabled |
SettingConstants.DRIVER_TEMPERATURE |
driver.temperature |
SettingConstants.ENCODER_COUNT |
encoder.count |
SettingConstants.ENCODER_COUNT_CAL |
encoder.count.cal |
SettingConstants.ENCODER_COUNT_CALIBRATED |
encoder.count.calibrated |
SettingConstants.ENCODER_DIR |
encoder.dir |
SettingConstants.ENCODER_ERROR |
encoder.error |
SettingConstants.ENCODER_FAULT_TYPE |
encoder.fault.type |
SettingConstants.ENCODER_FILTER |
encoder.filter |
SettingConstants.ENCODER_INDEX_COUNT |
encoder.index.count |
SettingConstants.ENCODER_INDEX_MODE |
encoder.index.mode |
SettingConstants.ENCODER_INDEX_PHASE |
encoder.index.phase |
SettingConstants.ENCODER_MODE |
encoder.mode |
SettingConstants.ENCODER_POS |
encoder.pos |
SettingConstants.ENCODER_POS_ERROR |
encoder.pos.error |
SettingConstants.FILTER_HOLDERID |
filter.holderid |
SettingConstants.FORCE_AVERAGE |
force.average |
SettingConstants.JOY_DEBUG |
joy.debug |
SettingConstants.KNOB_DIR |
knob.dir |
SettingConstants.KNOB_DISTANCE |
knob.distance |
SettingConstants.KNOB_ENABLE |
knob.enable |
SettingConstants.KNOB_FORCE |
knob.force |
SettingConstants.KNOB_FORCEPROFILE |
knob.forceprofile |
SettingConstants.KNOB_MAXSPEED |
knob.maxspeed |
SettingConstants.KNOB_MODE |
knob.mode |
SettingConstants.KNOB_SPEEDPROFILE |
knob.speedprofile |
SettingConstants.LAMP_CURRENT |
lamp.current |
SettingConstants.LAMP_CURRENT_MAX |
lamp.current.max |
SettingConstants.LAMP_FLUX |
lamp.flux |
SettingConstants.LAMP_FLUX_MAX |
lamp.flux.max |
SettingConstants.LAMP_STATUS |
lamp.status |
SettingConstants.LAMP_TEMPERATURE |
lamp.temperature |
SettingConstants.LAMP_WAVELENGTH_FWHM |
lamp.wavelength.fwhm |
SettingConstants.LAMP_WAVELENGTH_PEAK |
lamp.wavelength.peak |
SettingConstants.LIMIT_APPROACH_ACCEL |
limit.approach.accel |
SettingConstants.LIMIT_APPROACH_MAXSPEED |
limit.approach.maxspeed |
SettingConstants.LIMIT_AWAY_ACTION |
limit.away.action |
SettingConstants.LIMIT_AWAY_EDGE |
limit.away.edge |
SettingConstants.LIMIT_AWAY_POS |
limit.away.pos |
SettingConstants.LIMIT_AWAY_POSUPDATE |
limit.away.posupdate |
SettingConstants.LIMIT_AWAY_PRESET |
limit.away.preset |
SettingConstants.LIMIT_AWAY_STATE |
limit.away.state |
SettingConstants.LIMIT_AWAY_TRIGGERED |
limit.away.triggered |
SettingConstants.LIMIT_AWAY_TYPE |
limit.away.type |
SettingConstants.LIMIT_C_ACTION |
limit.c.action |
SettingConstants.LIMIT_C_EDGE |
limit.c.edge |
SettingConstants.LIMIT_C_POS |
limit.c.pos |
SettingConstants.LIMIT_C_POSUPDATE |
limit.c.posupdate |
SettingConstants.LIMIT_C_PRESET |
limit.c.preset |
SettingConstants.LIMIT_C_STATE |
limit.c.state |
SettingConstants.LIMIT_C_TRIGGERED |
limit.c.triggered |
SettingConstants.LIMIT_C_TYPE |
limit.c.type |
SettingConstants.LIMIT_CYCLE_DIST |
limit.cycle.dist |
SettingConstants.LIMIT_D_ACTION |
limit.d.action |
SettingConstants.LIMIT_D_EDGE |
limit.d.edge |
SettingConstants.LIMIT_D_POS |
limit.d.pos |
SettingConstants.LIMIT_D_POSUPDATE |
limit.d.posupdate |
SettingConstants.LIMIT_D_PRESET |
limit.d.preset |
SettingConstants.LIMIT_D_STATE |
limit.d.state |
SettingConstants.LIMIT_D_TRIGGERED |
limit.d.triggered |
SettingConstants.LIMIT_D_TYPE |
limit.d.type |
SettingConstants.LIMIT_DETECT_DECELONLY |
limit.detect.decelonly |
SettingConstants.LIMIT_DETECT_MAXSPEED |
limit.detect.maxspeed |
SettingConstants.LIMIT_HOME_ACTION |
limit.home.action |
SettingConstants.LIMIT_HOME_EDGE |
limit.home.edge |
SettingConstants.LIMIT_HOME_POS |
limit.home.pos |
SettingConstants.LIMIT_HOME_POSUPDATE |
limit.home.posupdate |
SettingConstants.LIMIT_HOME_PRESET |
limit.home.preset |
SettingConstants.LIMIT_HOME_STATE |
limit.home.state |
SettingConstants.LIMIT_HOME_TRIGGERED |
limit.home.triggered |
SettingConstants.LIMIT_HOME_TYPE |
limit.home.type |
SettingConstants.LIMIT_MAX |
limit.max |
SettingConstants.LIMIT_MIN |
limit.min |
SettingConstants.LIMIT_START_POS |
limit.start.pos |
SettingConstants.LIMIT_SWAPINPUTS |
limit.swapinputs |
SettingConstants.LOCKSTEP_NUMGROUPS |
lockstep.numgroups |
SettingConstants.LOCKSTEP_TOLERANCE |
lockstep.tolerance |
SettingConstants.MAXSPEED |
maxspeed |
SettingConstants.MOTION_ACCELONLY |
motion.accelonly |
SettingConstants.MOTION_BUSY |
motion.busy |
SettingConstants.MOTION_DECELONLY |
motion.decelonly |
SettingConstants.MOTION_INDEX_DIST |
motion.index.dist |
SettingConstants.MOTION_INDEX_NUM |
motion.index.num |
SettingConstants.MOTOR_CURRENT_MAX |
motor.current.max |
SettingConstants.PARKING_STATE |
parking.state |
SettingConstants.PERIPHERAL_ID |
peripheral.id |
SettingConstants.PERIPHERAL_ID_PENDING |
peripheral.id.pending |
SettingConstants.PERIPHERAL_SERIAL |
peripheral.serial |
SettingConstants.PERIPHERAL_SERIAL_PENDING |
peripheral.serial.pending |
SettingConstants.PERIPHERALID |
peripheralid |
SettingConstants.POS |
pos |
SettingConstants.RESOLUTION |
resolution |
SettingConstants.SCOPE_DELAY |
scope.delay |
SettingConstants.SCOPE_TIMEBASE |
scope.timebase |
SettingConstants.STREAM_NUMBUFS |
stream.numbufs |
SettingConstants.STREAM_NUMSTREAMS |
stream.numstreams |
SettingConstants.SYSTEM_ACCESS |
system.access |
SettingConstants.SYSTEM_AXISCOUNT |
system.axiscount |
SettingConstants.SYSTEM_CURRENT |
system.current |
SettingConstants.SYSTEM_LED_ENABLE |
system.led.enable |
SettingConstants.SYSTEM_SERIAL |
system.serial |
SettingConstants.SYSTEM_TEMPERATURE |
system.temperature |
SettingConstants.SYSTEM_VOLTAGE |
system.voltage |
SettingConstants.TRIGGER_NUMACTIONS |
trigger.numactions |
SettingConstants.TRIGGER_NUMTRIGGERS |
trigger.numtriggers |
SettingConstants.VEL |
vel |
SettingConstants.VERSION |
version |
SettingConstants.VERSION_BUILD |
version.build |
SettingConstants.VIRTUAL_NUMVIRTUAL |
virtual.numvirtual |
Stream
A handle for a stream with this ID on the device. Streams provide a way to execute or store a sequence of actions. Stream methods append actions to a queue which executes or stores actions in a first in, first out order.
To use this type, add import zaber.motion.ascii.Stream;
to the top of your source code.
axes
P
stream.getAxes()
StreamAxisDefinition[]
An array of axes definitions the stream is set up to control.
device
P
stream.getDevice()
Device
Device that controls this stream.
mode
P
stream.getMode()
StreamMode
Current mode of the stream.
streamId
P
stream.getStreamId()
int32
The number that identifies the stream on the device.
arcAbsolute()
Async M
stream.arcAbsolute(rotationDirection, centerX, centerY, endX, endY)
Queue an absolute arc movement on the first two axes of the stream. Absolute meaning that the home positions of the axes is treated as the origin.
Arguments
Name Type Description rotationDirection RotationDirection
The direction of the rotation. centerX Measurement
The first dimensions of the position of the center of the circle on which the arc exists. centerY Measurement
The second dimensions of the position of the center of the circle on which the arc exists. endX Measurement
The first dimensions of the end position of the arc. endY Measurement
The second dimensions of the end position of the arc.
arcAbsoluteOn()
Async M
stream.arcAbsoluteOn(targetAxesIndices, rotationDirection, centerX, centerY, endX, endY)
Queue an absolute arc movement in the stream. The movement will only target the specified subset of axes in the stream.
Arguments
Name Type Description targetAxesIndices int32[]
Indices of the axes in the stream the movement targets. Refers to the axes provided during the stream setup or further execution. Indices are zero-based. rotationDirection RotationDirection
The direction of the rotation. centerX Measurement
The first dimensions of the position of the center of the circle on which the arc exists. centerY Measurement
The second dimensions of the position of the center of the circle on which the arc exists. endX Measurement
The first dimensions of the end position of the arc. endY Measurement
The second dimensions of the end position of the arc.
arcRelative()
Async M
stream.arcRelative(rotationDirection, centerX, centerY, endX, endY)
Queue a relative arc movement on the first two axes of the stream. Relative meaning that the current position of the axes is treated as the origin.
Arguments
Name Type Description rotationDirection RotationDirection
The direction of the rotation. centerX Measurement
The first dimensions of the position of the center of the circle on which the arc exists. centerY Measurement
The second dimensions of the position of the center of the circle on which the arc exists. endX Measurement
The first dimensions of the end position of the arc. endY Measurement
The second dimensions of the end position of the arc.
arcRelativeOn()
Async M
stream.arcRelativeOn(targetAxesIndices, rotationDirection, centerX, centerY, endX, endY)
Queue a relative arc movement in the stream. The movement will only target the specified subset of axes in the stream.
Arguments
Name Type Description targetAxesIndices int32[]
Indices of the axes in the stream the movement targets. Refers to the axes provided during the stream setup or further execution. Indices are zero-based. rotationDirection RotationDirection
The direction of the rotation. centerX Measurement
The first dimensions of the position of the center of the circle on which the arc exists. centerY Measurement
The second dimensions of the position of the center of the circle on which the arc exists. endX Measurement
The first dimensions of the end position of the arc. endY Measurement
The second dimensions of the end position of the arc.
call()
Async M
stream.call(streamBuffer)
Append the actions in a stream buffer to the queue.
Arguments
Name Type Description streamBuffer StreamBuffer
The stream buffer to call.
circleAbsolute()
Async M
stream.circleAbsolute(rotationDirection, centerX, centerY)
Queue an absolute circle movement on the first two axes of the stream. Absolute meaning that the home positions of the axes are treated as the origin.
Arguments
Name Type Description rotationDirection RotationDirection
The direction of the rotation. centerX Measurement
The first dimension of the position of the center of the circle. centerY Measurement
The second dimension of the position of the center of the circle.
circleAbsoluteOn()
Async M
stream.circleAbsoluteOn(targetAxesIndices, rotationDirection, centerX, centerY)
Queue an absolute circle movement in the stream. The movement will only target the specified subset of axes in the stream.
Arguments
Name Type Description targetAxesIndices int32[]
Indices of the axes in the stream the movement targets. Refers to the axes provided during the stream setup or further execution. Indices are zero-based. rotationDirection RotationDirection
The direction of the rotation. centerX Measurement
The first dimension of the position of the center of the circle. centerY Measurement
The second dimension of the position of the center of the circle.
circleRelative()
Async M
stream.circleRelative(rotationDirection, centerX, centerY)
Queue a relative circle movement on the first two axes of the stream. Relative meaning that the current position of the axes is treated as the origin.
Arguments
Name Type Description rotationDirection RotationDirection
The direction of the rotation. centerX Measurement
The first dimension of the position of the center of the circle. centerY Measurement
The second dimension of the position of the center of the circle.
circleRelativeOn()
Async M
stream.circleRelativeOn(targetAxesIndices, rotationDirection, centerX, centerY)
Queue a relative circle movement in the stream. The movement will only target the specified subset of axes in the stream.
Arguments
Name Type Description targetAxesIndices int32[]
Indices of the axes in the stream the movement targets. Refers to the axes provided during the stream setup or further execution. Indices are zero-based. rotationDirection RotationDirection
The direction of the rotation. centerX Measurement
The first dimension of the position of the center of the circle. centerY Measurement
The second dimension of the position of the center of the circle.
cork()
Async M
stream.cork()
Cork the front of the stream's action queue, blocking execution. Execution resumes upon uncorking the queue, or when the number of queued actions reaches its limit. Corking eliminates discontinuities in motion due to subsequent stream commands reaching the device late. You can only cork an idle live stream.
Arguments
No arguments
disable()
Async M
stream.disable()
Disable the stream. If the stream is not setup, this command does nothing. Once disabled, the stream will no longer accept stream commands. The stream will process the rest of the commands in the queue until it is empty.
Arguments
No arguments
getMaxCentripetalAcceleration()
Async M
stream.getMaxCentripetalAcceleration(unit)
stream.getMaxCentripetalAcceleration()
Gets the maximum centripetal acceleration of the live stream. Converts the units using the first axis of the stream.
Arguments
Name Type Description unit Units
Units of acceleration. Return Value
double
The maximum centripetal acceleration of the live stream.
getMaxSpeed()
Async M
stream.getMaxSpeed(unit)
stream.getMaxSpeed()
Gets the maximum speed of the live stream. Converts the units using the first axis of the stream.
Arguments
Name Type Description unit Units
Units of velocity. Return Value
double
The maximum speed of the stream.
getMaxTangentialAcceleration()
Async M
stream.getMaxTangentialAcceleration(unit)
stream.getMaxTangentialAcceleration()
Gets the maximum tangential acceleration of the live stream. Converts the units using the first axis of the stream.
Arguments
Name Type Description unit Units
Units of acceleration. Return Value
double
The maximum tangential acceleration of the live stream.
isBusy()
Async M
stream.isBusy()
Returns a boolean value indicating whether the live stream is executing a queued action.
Arguments
No arguments
Return Value
logical
True if the stream is executing a queued action.
lineAbsolute()
Async M
stream.lineAbsolute(...endpoint)
Queue an absolute line movement in the stream.
Arguments
Name Type Description ...endpoint Measurement
Positions for the axes to move to, relative to their home positions.
lineAbsoluteOn()
Async M
stream.lineAbsoluteOn(targetAxesIndices, endpoint)
Queue an absolute line movement in the stream, targeting a subset of the stream axes.
Arguments
Name Type Description targetAxesIndices int32[]
Indices of the axes in the stream the movement targets. Refers to the axes provided during the stream setup or further execution. Indices are zero-based. endpoint Measurement[]
Positions for the axes to move to, relative to their home positions.
lineRelative()
Async M
stream.lineRelative(...endpoint)
Queue a relative line movement in the stream.
Arguments
Name Type Description ...endpoint Measurement
Positions for the axes to move to, relative to their positions before movement.
lineRelativeOn()
Async M
stream.lineRelativeOn(targetAxesIndices, endpoint)
Queue a relative line movement in the stream, targeting a subset of the stream axes.
Arguments
Name Type Description targetAxesIndices int32[]
Indices of the axes in the stream the movement targets. Refers to the axes provided during the stream setup or further execution. Indices are zero-based. endpoint Measurement[]
Positions for the axes to move to, relative to their positions before movement.
setAnalogOutput()
Async M
stream.setAnalogOutput(channelNumber, value)
Set the value of an analog output channel.
Arguments
Name Type Description channelNumber int32
The number of the analog output channel. Channel numbers are numbered from one. value double
The value to set the channel to, in volts.
setDigitalOutput()
Async M
stream.setDigitalOutput(channelNumber, value)
Set the value of a digital output channel.
Arguments
Name Type Description channelNumber int32
The number of the digital output channel. Channel numbers are numbered from one. value logical
The value to set the channel to.
setMaxCentripetalAcceleration()
Async M
stream.setMaxCentripetalAcceleration(maxCentripetalAcceleration, unit)
stream.setMaxCentripetalAcceleration(maxCentripetalAcceleration)
Sets the maximum centripetal acceleration of the live stream. Converts the units using the first axis of the stream.
Arguments
Name Type Description maxCentripetalAcceleration double
Maximum centripetal acceleration at which any stream action is executed. unit Units
Units of acceleration.
setMaxSpeed()
Async M
stream.setMaxSpeed(maxSpeed, unit)
stream.setMaxSpeed(maxSpeed)
Sets the maximum speed of the live stream. Converts the units using the first axis of the stream.
Arguments
Name Type Description maxSpeed double
Maximum speed at which any stream action is executed. unit Units
Units of velocity.
setMaxTangentialAcceleration()
Async M
stream.setMaxTangentialAcceleration(maxTangentialAcceleration, unit)
stream.setMaxTangentialAcceleration(maxTangentialAcceleration)
Sets the maximum tangential acceleration of the live stream. Converts the units using the first axis of the stream.
Arguments
Name Type Description maxTangentialAcceleration double
Maximum tangential acceleration at which any stream action is executed. unit Units
Units of acceleration.
setupLive()
Async M
stream.setupLive(...axes)
Setup the stream to control the specified axes and to queue actions on the device.
Arguments
Name Type Description ...axes int32
Numbers of physical axes to setup the stream on.
setupLiveComposite()
Async M
stream.setupLiveComposite(...axes)
Setup the stream to control the specified axes and to queue actions on the device. Allows use of lockstep axes in a stream.
Arguments
Name Type Description ...axes StreamAxisDefinition
Definition of the stream axes.
setupStore()
Async M
stream.setupStore(streamBuffer, ...axes)
Setup the stream to control the specified axes and queue actions into a stream buffer.
Arguments
Name Type Description streamBuffer StreamBuffer
The stream buffer to queue actions in. ...axes int32
Numbers of physical axes to setup the stream on.
setupStoreArbitraryAxes()
Async M
stream.setupStoreArbitraryAxes(streamBuffer, axesCount)
Setup the stream to use a specified number of axes, and to queue actions in a stream buffer. Afterwards, you may call the resulting stream buffer on arbitrary axes. This mode does not allow for unit conversions.
Arguments
Name Type Description streamBuffer StreamBuffer
The stream buffer to queue actions in. axesCount int32
The number of axes in the stream.
setupStoreComposite()
Async M
stream.setupStoreComposite(streamBuffer, ...axes)
Setup the stream to control the specified axes and queue actions into a stream buffer. Allows use of lockstep axes in a stream.
Arguments
Name Type Description streamBuffer StreamBuffer
The stream buffer to queue actions in. ...axes StreamAxisDefinition
Definition of the stream axes.
toggleDigitalOutput()
Async M
stream.toggleDigitalOutput(channelNumber)
Toggle the value of a digital output channel.
Arguments
Name Type Description channelNumber int32
The number of the digital output channel. Channel numbers are numbered from one.
toString()
M
stream.toString()
Returns a string which represents the stream.
Arguments
No arguments
Return Value
char
String which represents the stream.
uncork()
Async M
stream.uncork()
Uncork the front of the queue, unblocking command execution. You can only uncork an idle live stream that is corked.
Arguments
No arguments
wait()
Async M
stream.wait(time, unit)
stream.wait(time)
Wait a specified time.
Arguments
Name Type Description time double
Amount of time to wait. unit Units
Units of time.
waitAnalogInput()
Async M
stream.waitAnalogInput(channelNumber, condition, value)
Wait for the value of a analog input channel to reach a condition concerning a given value.
Arguments
Name Type Description channelNumber int32
The number of the analog input channel. Channel numbers are numbered from one. condition char
A condition (e.g. <, <=, ==, !=). value double
The value that the condition concerns, in volts.
waitDigitalInput()
Async M
stream.waitDigitalInput(channelNumber, value)
Wait for a digital input channel to reach a given value.
Arguments
Name Type Description channelNumber int32
The number of the digital input channel. Channel numbers are numbered from one. value logical
The value that the stream should wait for.
waitUntilIdle()
Async M
stream.waitUntilIdle(throwErrorOnFault)
stream.waitUntilIdle()
Waits until the live stream executes all queued actions.
Arguments
Name Type Description throwErrorOnFault logical
Determines whether to throw error when fault is observed.
StreamAxisDefinition
Defines an axis of the stream.
To use this type, add import zaber.motion.ascii.StreamAxisDefinition;
to the top of your source code.
axisNumber
P
streamAxisDefinition.getAxisNumber()
int32
Number of a physical axis or a lockstep group.
axisType
P
streamAxisDefinition.getAxisType()
StreamAxisType
Defines the type of the axis.
StreamAxisType
Denotes type of the stream axis.
To use this type, add import zaber.motion.ascii.StreamAxisType;
to the top of your source code.
Member | Numeric value |
---|---|
StreamAxisType.PHYSICAL |
0 |
StreamAxisType.LOCKSTEP |
1 |
StreamBuffer
Represents a stream buffer with this ID on a device. A stream buffer is a place to store a queue of stream actions.
To use this type, add import zaber.motion.ascii.StreamBuffer;
to the top of your source code.
bufferId
P
streamBuffer.getBufferId()
int32
The number identifying the buffer on the device.
device
P
streamBuffer.getDevice()
Device
The Device this buffer exists on.
erase()
Async M
streamBuffer.erase()
Erase the contents of the buffer.
Arguments
No arguments
getContent()
Async M
streamBuffer.getContent()
Get the buffer contents as an array of strings.
Arguments
No arguments
Return Value
char[]
A string array containing all the stream commands stored in the buffer.
StreamExecutionExceptionData
Contains additional data for StreamExecutionException.
To use this type, add import zaber.motion.exceptions.StreamExecutionExceptionData;
to the top of your source code.
errorFlag
P
streamExecutionExceptionData.getErrorFlag()
char
The error flag that caused the exception.
reason
P
streamExecutionExceptionData.getReason()
char
The reason for the exception.
StreamMode
Mode of a stream.
To use this type, add import zaber.motion.ascii.StreamMode;
to the top of your source code.
Member | Numeric value |
---|---|
StreamMode.DISABLED |
0 |
StreamMode.STORE |
1 |
StreamMode.STORE_ARBITRARY_AXES |
2 |
StreamMode.LIVE |
3 |
StreamMovementFailedExceptionData
Contains additional data for StreamMovementFailedException.
To use this type, add import zaber.motion.exceptions.StreamMovementFailedExceptionData;
to the top of your source code.
reason
P
streamMovementFailedExceptionData.getReason()
char
The reason for the Exception.
warnings
P
streamMovementFailedExceptionData.getWarnings()
char[]
The full list of warnings.
StreamMovementInterruptedExceptionData
Contains additional data for StreamMovementInterruptedException.
To use this type, add import zaber.motion.exceptions.StreamMovementInterruptedExceptionData;
to the top of your source code.
reason
P
streamMovementInterruptedExceptionData.getReason()
char
The reason for the Exception.
warnings
P
streamMovementInterruptedExceptionData.getWarnings()
char[]
The full list of warnings.
Tools
Class providing various utility functions.
To use this type, add import zaber.motion.Tools;
to the top of your source code.
listSerialPorts()
Async S
Tools.listSerialPorts()
Lists all serial ports on the computer.
Arguments
No arguments
Return Value
char[]
Array of serial port names.
Transport
Connection transport backend allowing to carry Zaber ASCII protocol over arbitrary protocols. Can only be used with a single connection.
To use this type, add import zaber.motion.ascii.Transport;
to the top of your source code.
transportId
P
transport.getTransportId()
int32
The transport ID identifies this transport instance with the underlying library.
close()
Async M
transport.close()
Closes the transport. Also closes the connection using the transport.
Arguments
No arguments
closeWithError()
Async M
transport.closeWithError(errorMessage)
Closes the transport with error. Also closes the connection using the transport propagating the error.
Arguments
Name Type Description errorMessage char
Error to be propagated.
open()
S
Transport.open()
Creates new instance allowing to read/write messages from/to a single connection.
Arguments
No arguments
Return Value
Transport
New instance of transport.
read()
Async M
transport.read()
Reads a single message generated by the connection. The message is a request for the device. Read should be called continuously in a loop to ensure all generated messages are processed. Subsequent read call confirms that previous message was delivered to the device.
Arguments
No arguments
Return Value
char
Message generated by the connection.
write()
Async M
transport.write(message)
Writes a single message to the connection. The message will be processed as a reply from the device.
Arguments
Name Type Description message char
Single message of Zaber ASCII protocol.
Units
Represents all units available across the library.
Native
Constant | Unit |
---|---|
Units.NATIVE |
Device native units |
Length
Constant | Unit |
---|---|
Units.LENGTH_METRES |
Metres |
Units.LENGTH_CENTIMETRES |
Centimetres |
Units.LENGTH_MILLIMETRES |
Millimetres |
Units.LENGTH_MICROMETRES |
Micrometres |
Units.LENGTH_NANOMETRES |
Nanometres |
Units.LENGTH_INCHES |
Inches |
Velocity
Constant | Unit |
---|---|
Units.VELOCITY_METRES_PER_SECOND |
Metres per second |
Units.VELOCITY_CENTIMETRES_PER_SECOND |
Centimetres per second |
Units.VELOCITY_MILLIMETRES_PER_SECOND |
Millimetres per second |
Units.VELOCITY_MICROMETRES_PER_SECOND |
Micrometres per second |
Units.VELOCITY_NANOMETRES_PER_SECOND |
Nanometres per second |
Units.VELOCITY_INCHES_PER_SECOND |
Inches per second |
Acceleration
Constant | Unit |
---|---|
Units.ACCELERATION_METRES_PER_SECOND_SQUARED |
Metres per second squared |
Units.ACCELERATION_CENTIMETRES_PER_SECOND_SQUARED |
Centimetres per second squared |
Units.ACCELERATION_MILLIMETRES_PER_SECOND_SQUARED |
Millimetres per second squared |
Units.ACCELERATION_MICROMETRES_PER_SECOND_SQUARED |
Micrometres per second squared |
Units.ACCELERATION_NANOMETRES_PER_SECOND_SQUARED |
Nanometres per second squared |
Units.ACCELERATION_INCHES_PER_SECOND_SQUARED |
Inches per second squared |
Angle
Constant | Unit |
---|---|
Units.ANGLE_DEGREES |
Degrees |
Units.ANGLE_RADIANS |
Radians |
Angular Velocity
Constant | Unit |
---|---|
Units.ANGULAR_VELOCITY_DEGREES_PER_SECOND |
Degrees per second |
Units.ANGULAR_VELOCITY_RADIANS_PER_SECOND |
Radians per second |
Angular Acceleration
Constant | Unit |
---|---|
Units.ANGULAR_ACCELERATION_DEGREES_PER_SECOND_SQUARED |
Degrees per second squared |
Units.ANGULAR_ACCELERATION_RADIANS_PER_SECOND_SQUARED |
Radians per second squared |
AC Electric Current
Constant | Unit |
---|---|
Units.AC_ELECTRIC_CURRENT_AMPERES_PEAK |
Amperes peak |
Units.AC_ELECTRIC_CURRENT_AMPERES_RMS |
Amperes RMS |
Percent
Constant | Unit |
---|---|
Units.PERCENT_PERCENT |
Percent |
DC Electric Current
Constant | Unit |
---|---|
Units.DC_ELECTRIC_CURRENT_AMPERES |
Amperes |
Force
Constant | Unit |
---|---|
Units.FORCE_NEWTONS |
Newtons |
Units.FORCE_MILLINEWTONS |
Millinewtons |
Units.FORCE_POUNDS_FORCE |
Pounds-force |
Units.FORCE_KILONEWTONS |
Kilonewtons |
Time
Constant | Unit |
---|---|
Units.TIME_SECONDS |
Seconds |
Units.TIME_MILLISECONDS |
Milliseconds |
Units.TIME_MICROSECONDS |
Microseconds |
Torque
Constant | Unit |
---|---|
Units.TORQUE_NEWTON_METRES |
Newton metres |
Units.TORQUE_NEWTON_CENTIMETRES |
Newton centimetres |
Units.TORQUE_POUND_FORCE_FEET |
Pound-force-feet |
Units.TORQUE_OUNCE_FORCE_INCHES |
Ounce-force-inches |
Inertia
Constant | Unit |
---|---|
Units.INERTIA_GRAMS |
Grams |
Units.INERTIA_KILOGRAMS |
Kilograms |
Units.INERTIA_MILLIGRAMS |
Milligrams |
Units.INERTIA_POUNDS |
Pounds |
Units.INERTIA_OUNCES |
Ounces |
Rotational Inertia
Constant | Unit |
---|---|
Units.ROTATIONAL_INERTIA_GRAM_SQUARE_METRE |
Gram-square metre |
Units.ROTATIONAL_INERTIA_KILOGRAM_SQUARE_METRE |
Kilogram-square metre |
Units.ROTATIONAL_INERTIA_POUND_SQUARE_FEET |
Pound-square-feet |
Force Constant
Constant | Unit |
---|---|
Units.FORCE_CONSTANT_NEWTONS_PER_AMP |
Newtons per amp |
Units.FORCE_CONSTANT_MILLINEWTONS_PER_AMP |
Millinewtons per amp |
Units.FORCE_CONSTANT_KILONEWTONS_PER_AMP |
Kilonewtons per amp |
Units.FORCE_CONSTANT_POUNDS_FORCE_PER_AMP |
Pounds-force per amp |
Torque Constant
Constant | Unit |
---|---|
Units.TORQUE_CONSTANT_NEWTON_METRES_PER_AMP |
Newton metres per amp |
Units.TORQUE_CONSTANT_MILLINEWTON_METRES_PER_AMP |
Millinewton metres per amp |
Units.TORQUE_CONSTANT_KILONEWTON_METRES_PER_AMP |
Kilonewton metres per amp |
Units.TORQUE_CONSTANT_POUND_FORCE_FEET_PER_AMP |
Pound-force-feet per amp |
WarningFlags
Warning flag constants that indicate whether any device fault or warning is active. For more information please refer to the ASCII Protocol Manual.
To use this type, add import zaber.motion.ascii.WarningFlags;
to the top of your source code.
Constant | Value |
---|---|
WarningFlags.ANALOG_ENCODER_SYNC_ERROR |
FA |
WarningFlags.CONTROLLER_TEMPERATURE_HIGH |
WT |
WarningFlags.CRITICAL_SYSTEM_ERROR |
FF |
WarningFlags.CURRENT_INRUSH_ERROR |
FC |
WarningFlags.DEVICE_NOT_HOMED |
WH |
WarningFlags.DISPLACED_WHEN_STATIONARY |
WM |
WarningFlags.DRIVER_DISABLED |
FD |
WarningFlags.DRIVER_DISABLED_NO_FAULT |
FO |
WarningFlags.ENCODER_ERROR |
FQ |
WarningFlags.EXCESSIVE_TWIST |
FT |
WarningFlags.HARDWARE_EMERGENCY_STOP |
FH |
WarningFlags.INDEX_ERROR |
FI |
WarningFlags.INTERPOLATED_PATH_DEVIATION |
FP |
WarningFlags.INVALID_CALIBRATION_TYPE |
WP |
WarningFlags.JOYSTICK_CALIBRATING |
NJ |
WarningFlags.LIMIT_ERROR |
FE |
WarningFlags.MANUAL_CONTROL |
NC |
WarningFlags.MOTOR_TEMPERATURE_ERROR |
FM |
WarningFlags.MOVEMENT_INTERRUPTED |
NI |
WarningFlags.NO_REFERENCE_POSITION |
WR |
WarningFlags.OVERVOLTAGE_OR_UNDERVOLTAGE |
FV |
WarningFlags.PERIPHERAL_INACTIVE |
FZ |
WarningFlags.PERIPHERAL_NOT_SUPPORTED |
FN |
WarningFlags.SETTING_UPDATE_PENDING |
NU |
WarningFlags.STALLED_AND_STOPPED |
FS |
WarningFlags.STALLED_WITH_RECOVERY |
WS |
WarningFlags.STREAM_BOUNDS_ERROR |
FB |
WarningFlags.STREAM_DISCONTINUITY |
ND |
WarningFlags.UNEXPECTED_LIMIT_TRIGGER |
WL |
WarningFlags.VALUE_ROUNDED |
NR |
WarningFlags.VALUE_TRUNCATED |
NT |
WarningFlags.VOLTAGE_OUT_OF_RANGE |
WV |
Warnings
Class used to check and reset warnings and faults on device or axis.
To use this type, add import zaber.motion.ascii.Warnings;
to the top of your source code.
clearFlags()
Async M
warnings.clearFlags()
Clears (acknowledges) current warnings and faults on axis or device and returns them.
Arguments
No arguments
Return Value
java.util.Set<char>
Warnings and faults before clearing. Refer to WarningFlags to check a particular flag.
getFlags()
Async M
warnings.getFlags()
Returns current warnings and faults on axis or device.
Arguments
No arguments
Return Value
java.util.Set<char>
Retrieved warnings and faults. Refer to WarningFlags to check a particular flag.