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.