C++

AlertEvent

Alert message received from the device.

To use this type, add #include <zaber/motion/ascii/alert_event.h> to the top of your source code.

axisNumber

P

alertEvent.getAxisNumber()

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

data

P

alertEvent.getData()

std::string Response data which varies depending on the request.

deviceAddress

P

alertEvent.getDeviceAddress()

int Number of the device that sent the message.

status

P

alertEvent.getStatus()

std::string The device status contains BUSY when the axis is moving and IDLE otherwise.

warningFlag

P

alertEvent.getWarningFlag()

std::string The warning flag contains the highest priority warning currently active for the device or axis.

AllAxes

Represents all axes of motion associated with a device.

To use this type, add #include <zaber/motion/ascii/all_axes.h> to the top of your source code.

device

P

allAxes.getDevice()

Device Device that controls this axis.

home()

M

allAxes.home(waitUntilIdle = true)
allAxes.home(AllAxes::HomeOptions options)

Homes all axes. Axes return to their homing positions.

Arguments

Name	Type	Description
waitUntilIdle	const bool	Determines whether function should return after the movement is finished or just started.

AllAxes::HomeOptions

Name	Type	Default	Description
waitUntilIdle	const bool	true	Determines whether function should return after the movement is finished or just started.

isBusy()

M

allAxes.isBusy()

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

Arguments

No arguments

Return Value

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

isHomed()

M

allAxes.isHomed()

Returns bool indicating whether all axes have position reference and were homed.

Arguments

No arguments

Return Value

bool True if all axes have position reference and were homed.

park()

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()

M

allAxes.stop(waitUntilIdle = true)
allAxes.stop(AllAxes::StopOptions options)

Stops ongoing axes movement. Decelerates until zero speed.

Arguments

Name	Type	Description
waitUntilIdle	const bool	Determines whether function should return after the movement is finished or just started.

AllAxes::StopOptions

Name	Type	Default	Description
waitUntilIdle	const bool	true	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

std::string A string that represents the axes.

unpark()

M

allAxes.unpark()

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

Arguments

No arguments

waitUntilIdle()

M

allAxes.waitUntilIdle(throwErrorOnFault = true)
allAxes.waitUntilIdle(AllAxes::WaitUntilIdleOptions options)

Waits until all axes of device stop moving.

Arguments

Name	Type	Description
throwErrorOnFault	const bool	Determines whether to throw error when fault is observed.

AllAxes::WaitUntilIdleOptions

Name	Type	Default	Description
throwErrorOnFault	const bool	true	Determines whether to throw error when fault is observed.

Axis

Represents an axis of motion associated with a device.

To use this type, add #include <zaber/motion/ascii/axis.h> to the top of your source code.

axisNumber

P

axis.getAxisNumber()

int 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()

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

peripheralId

P

axis.getPeripheralId()

int Unique ID of the peripheral hardware.

peripheralName

P

axis.getPeripheralName()

std::string Name of the peripheral.

settings

P

axis.getSettings()

AxisSettings Settings and properties of this axis.

storage

P

axis.getStorage()

AxisStorage Key-value storage of this axis. Requires at least Firmware 7.30.

warnings

P

axis.getWarnings()

Warnings Warnings and faults of this axis.

genericCommand()

M

axis.genericCommand(command, checkErrors = true, timeout = 0)
axis.genericCommand(command, Axis::GenericCommandOptions options)

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

Arguments

Name	Type	Description
command	const std::string&	Command and its parameters.
checkErrors	const bool	Controls whether to throw an exception when the device rejects the command.
timeout	const int	The timeout, in milliseconds, for a device to respond to the command. Overrides the connection default request timeout.

Axis::GenericCommandOptions

Name	Type	Default	Description
checkErrors	const bool	true	Controls whether to throw an exception when the device rejects the command.
timeout	const int	0	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()

M

axis.genericCommandMultiResponse(command, checkErrors = true, timeout = 0)
axis.genericCommandMultiResponse(command, Axis::GenericCommandMultiResponseOptions options)

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	const std::string&	Command and its parameters.
checkErrors	const bool	Controls whether to throw an exception when a device rejects the command.
timeout	const int	The timeout, in milliseconds, for a device to respond to the command. Overrides the connection default request timeout.

Axis::GenericCommandMultiResponseOptions

Name	Type	Default	Description
checkErrors	const bool	true	Controls whether to throw an exception when a device rejects the command.
timeout	const int	0	The timeout, in milliseconds, for a device to respond to the command. Overrides the connection default request timeout.

Return Value

std::vector<Response> All responses to the command.

genericCommandNoResponse()

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	const std::string&	Command and its parameters.

getPosition()

M

axis.getPosition(unit = Units::NATIVE)

Returns current axis position.

Arguments

Name	Type	Description
unit	const Units	Units of position.

Return Value

double Axis position.

getState()

M

axis.getState()

Returns a serialization of the current axis state that can be saved and reapplied.

Arguments

No arguments

Return Value

std::string A serialization of the current state of the axis.

home()

M

axis.home(waitUntilIdle = true)
axis.home(Axis::HomeOptions options)

Homes axis. Axis returns to its homing position.

Arguments

Name	Type	Description
waitUntilIdle	const bool	Determines whether function should return after the movement is finished or just started.

Axis::HomeOptions

Name	Type	Default	Description
waitUntilIdle	const bool	true	Determines whether function should return after the movement is finished or just started.

isBusy()

M

axis.isBusy()

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

Arguments

No arguments

Return Value

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

isHomed()

M

axis.isHomed()

Returns bool indicating whether the axis has position reference and was homed.

Arguments

No arguments

Return Value

bool True if the axis has position reference and was homed.

isParked()

M

axis.isParked()

Returns bool indicating whether the axis is parked or not.

Arguments

No arguments

Return Value

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

moveAbsolute()

M

axis.moveAbsolute(position, unit = Units::NATIVE, waitUntilIdle = true, velocity = 0, velocityUnit = Units::NATIVE, acceleration = 0, accelerationUnit = Units::NATIVE)
axis.moveAbsolute(position, unit, Axis::MoveAbsoluteOptions options)

Move axis to absolute position.

Arguments

Name	Type	Description
position	const double	Absolute position.
unit	const Units	Units of position.
waitUntilIdle	const bool	Determines whether function should return after the movement is finished or just started.
velocity	const double	Movement velocity. Default value of 0 indicates that the maxspeed setting is used instead.
velocityUnit	const Units	Units of velocity.
acceleration	const double	Movement acceleration. Default value of 0 indicates that the accel setting is used instead.
accelerationUnit	const Units	Units of acceleration.

Axis::MoveAbsoluteOptions

Name	Type	Default	Description
waitUntilIdle	const bool	true	Determines whether function should return after the movement is finished or just started.
velocity	const double	0	Movement velocity. Default value of 0 indicates that the maxspeed setting is used instead.
velocityUnit	const Units	Units::NATIVE	Units of velocity.
acceleration	const double	0	Movement acceleration. Default value of 0 indicates that the accel setting is used instead.
accelerationUnit	const Units	Units::NATIVE	Units of acceleration.

moveMax()

M

axis.moveMax(waitUntilIdle = true, velocity = 0, velocityUnit = Units::NATIVE, acceleration = 0, accelerationUnit = Units::NATIVE)
axis.moveMax(Axis::MoveMaxOptions options)

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

Arguments

Name	Type	Description
waitUntilIdle	const bool	Determines whether function should return after the movement is finished or just started.
velocity	const double	Movement velocity. Default value of 0 indicates that the maxspeed setting is used instead.
velocityUnit	const Units	Units of velocity.
acceleration	const double	Movement acceleration. Default value of 0 indicates that the accel setting is used instead.
accelerationUnit	const Units	Units of acceleration.

Axis::MoveMaxOptions

Name	Type	Default	Description
waitUntilIdle	const bool	true	Determines whether function should return after the movement is finished or just started.
velocity	const double	0	Movement velocity. Default value of 0 indicates that the maxspeed setting is used instead.
velocityUnit	const Units	Units::NATIVE	Units of velocity.
acceleration	const double	0	Movement acceleration. Default value of 0 indicates that the accel setting is used instead.
accelerationUnit	const Units	Units::NATIVE	Units of acceleration.

moveMin()

M

axis.moveMin(waitUntilIdle = true, velocity = 0, velocityUnit = Units::NATIVE, acceleration = 0, accelerationUnit = Units::NATIVE)
axis.moveMin(Axis::MoveMinOptions options)

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

Arguments

Name	Type	Description
waitUntilIdle	const bool	Determines whether function should return after the movement is finished or just started.
velocity	const double	Movement velocity. Default value of 0 indicates that the maxspeed setting is used instead.
velocityUnit	const Units	Units of velocity.
acceleration	const double	Movement acceleration. Default value of 0 indicates that the accel setting is used instead.
accelerationUnit	const Units	Units of acceleration.

Axis::MoveMinOptions

Name	Type	Default	Description
waitUntilIdle	const bool	true	Determines whether function should return after the movement is finished or just started.
velocity	const double	0	Movement velocity. Default value of 0 indicates that the maxspeed setting is used instead.
velocityUnit	const Units	Units::NATIVE	Units of velocity.
acceleration	const double	0	Movement acceleration. Default value of 0 indicates that the accel setting is used instead.
accelerationUnit	const Units	Units::NATIVE	Units of acceleration.

moveRelative()

M

axis.moveRelative(position, unit = Units::NATIVE, waitUntilIdle = true, velocity = 0, velocityUnit = Units::NATIVE, acceleration = 0, accelerationUnit = Units::NATIVE)
axis.moveRelative(position, unit, Axis::MoveRelativeOptions options)

Move axis to position relative to current position.

Arguments

Name	Type	Description
position	const double	Relative position.
unit	const Units	Units of position.
waitUntilIdle	const bool	Determines whether function should return after the movement is finished or just started.
velocity	const double	Movement velocity. Default value of 0 indicates that the maxspeed setting is used instead.
velocityUnit	const Units	Units of velocity.
acceleration	const double	Movement acceleration. Default value of 0 indicates that the accel setting is used instead.
accelerationUnit	const Units	Units of acceleration.

Axis::MoveRelativeOptions

Name	Type	Default	Description
waitUntilIdle	const bool	true	Determines whether function should return after the movement is finished or just started.
velocity	const double	0	Movement velocity. Default value of 0 indicates that the maxspeed setting is used instead.
velocityUnit	const Units	Units::NATIVE	Units of velocity.
acceleration	const double	0	Movement acceleration. Default value of 0 indicates that the accel setting is used instead.
accelerationUnit	const Units	Units::NATIVE	Units of acceleration.

moveVelocity()

M

axis.moveVelocity(velocity, unit = Units::NATIVE, acceleration = 0, accelerationUnit = Units::NATIVE)
axis.moveVelocity(velocity, unit, Axis::MoveVelocityOptions options)

Begins to move axis at specified speed.

Arguments

Name	Type	Description
velocity	const double	Movement velocity.
unit	const Units	Units of velocity.
acceleration	const double	Movement acceleration. Default value of 0 indicates that the accel setting is used instead.
accelerationUnit	const Units	Units of acceleration.

Axis::MoveVelocityOptions

Name	Type	Default	Description
acceleration	const double	0	Movement acceleration. Default value of 0 indicates that the accel setting is used instead.
accelerationUnit	const Units	Units::NATIVE	Units of acceleration.

park()

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	const std::string&	Template of a command to prepare. Parameters are denoted by question marks.
&...parameters	Measurement	Variable number of command parameters.

Return Value

std::string Command with converted parameters.

setState()

M

axis.setState(state)

Applies a saved state to an axis.

Arguments

Name	Type	Description
state	const std::string&	The state object to apply to this axis.

stop()

M

axis.stop(waitUntilIdle = true)
axis.stop(Axis::StopOptions options)

Stops ongoing axis movement. Decelerates until zero speed.

Arguments

Name	Type	Description
waitUntilIdle	const bool	Determines whether function should return after the movement is finished or just started.

Axis::StopOptions

Name	Type	Default	Description
waitUntilIdle	const bool	true	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

std::string A string that represents the axis.

unpark()

M

axis.unpark()

Unparks axis. Axis will now be able to move.

Arguments

No arguments

waitUntilIdle()

M

axis.waitUntilIdle(throwErrorOnFault = true)
axis.waitUntilIdle(Axis::WaitUntilIdleOptions options)

Waits until axis stops moving.

Arguments

Name	Type	Description
throwErrorOnFault	const bool	Determines whether to throw error when fault is observed.

Axis::WaitUntilIdleOptions

Name	Type	Default	Description
throwErrorOnFault	const bool	true	Determines whether to throw error when fault is observed.

AxisDefinition

Defines an axis of the translator.

To use this type, add #include <zaber/motion/gcode/axis_definition.h> to the top of your source code.

microstepResolution

P

axisDefinition.getMicrostepResolution()

int Microstep resolution of the axis. Can be obtained by reading the resolution setting. Leave empty if the axis does not have the setting.

peripheralId

P

axisDefinition.getPeripheralId()

int ID of the peripheral.

AxisIdentity

Representation of data gathered during axis identification.

To use this type, add #include <zaber/motion/ascii/axis_identity.h> 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()

bool The peripheral has hardware modifications.

isPeripheral

P

axisIdentity.getIsPeripheral()

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

peripheralId

P

axisIdentity.getPeripheralId()

int Unique ID of the peripheral hardware.

peripheralName

P

axisIdentity.getPeripheralName()

std::string Name of the peripheral.

AxisMapping

Maps a translator axis to a Zaber stream axis.

To use this type, add #include <zaber/motion/gcode/axis_mapping.h> to the top of your source code.

axisIndex

P

axisMapping.getAxisIndex()

int Index of the stream axis.

axisLetter

P

axisMapping.getAxisLetter()

std::string Letter of the translator axis (X,Y,Z,A,B,C,E).

AxisSettings

Class providing access to various axis settings and properties.

To use this type, add #include <zaber/motion/ascii/axis_settings.h> to the top of your source code.

canConvertNativeUnits()

M

axisSettings.canConvertNativeUnits(setting)

Indicates if given setting can be converted from and to native units.

Arguments

Name	Type	Description
setting	const std::string&	Name of the setting.

Return Value

bool True if unit conversion can be performed.

convertFromNativeUnits()

M

axisSettings.convertFromNativeUnits(setting, value, unit)

Convert arbitrary setting value from Zaber native units.

Arguments

Name	Type	Description
setting	const std::string&	Name of the setting.
value	const double	Value of the setting in Zaber native units.
unit	const 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	const std::string&	Name of the setting.
value	const double	Value of the setting in units specified by following argument.
unit	const Units	Units of the value.

Return Value

double Setting value.

get()

M

axisSettings.get(setting, unit = Units::NATIVE)

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

Arguments

Name	Type	Description
setting	const std::string&	Name of the setting.
unit	const Units	Units of setting.

Return Value

double Setting value.

getDefault()

M

axisSettings.getDefault(setting, unit = Units::NATIVE)

Returns the default value of a setting.

Arguments

Name	Type	Description
setting	const std::string&	Name of the setting.
unit	const Units	Units of setting.

Return Value

double Default setting value.

getDefaultString()

M

axisSettings.getDefaultString(setting)

Returns the default value of a setting as a string.

Arguments

Name	Type	Description
setting	const std::string&	Name of the setting.

Return Value

std::string Default setting value.

getString()

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	const std::string&	Name of the setting.

Return Value

std::string Setting value.

set()

M

axisSettings.set(setting, value, unit = Units::NATIVE)

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

Arguments

Name	Type	Description
setting	const std::string&	Name of the setting.
value	const double	Value of the setting.
unit	const Units	Units of setting.

setString()

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	const std::string&	Name of the setting.
value	const std::string&	Value of the setting.

AxisStorage

Class providing access to axis storage. Requires at least Firmware 7.30.

To use this type, add #include <zaber/motion/ascii/axis_storage.h> to the top of your source code.

eraseKey()

M

axisStorage.eraseKey(key)

Erases the axis value stored at the provided key.

Arguments

Name	Type	Description
key	const std::string&	Key to erase.

Return Value

bool A boolean indicating if the key existed.

getBool()

M

axisStorage.getBool(key)

Gets the value at the provided key interpreted as a boolean.

Arguments

Name	Type	Description
key	const std::string&	Key to get the value at.

Return Value

bool Stored value.

getNumber()

M

axisStorage.getNumber(key)

Gets the value at the provided key interpreted as a number.

Arguments

Name	Type	Description
key	const std::string&	Key to get the value at.

Return Value

double Stored value.

getString()

M

axisStorage.getString(key, decode = false)
axisStorage.getString(key, AxisStorage::GetStringOptions options)

Gets the axis value stored with the provided key.

Arguments

Name	Type	Description
key	const std::string&	Key to read the value of.
decode	const bool	Whether the stored value should be decoded. Only use this when reading values set by storage.set with "encode" true.

AxisStorage::GetStringOptions

Name	Type	Default	Description
decode	const bool	false	Whether the stored value should be decoded. Only use this when reading values set by storage.set with "encode" true.

Return Value

std::string Stored value.

keyExists()

M

axisStorage.keyExists(key)

Determines whether a given key exists in axis storage.

Arguments

Name	Type	Description
key	const std::string&	Key which existence to determine.

Return Value

bool True indicating that the key exists, false otherwise.

listKeys()

M

axisStorage.listKeys(prefix = "")
axisStorage.listKeys(AxisStorage::ListKeysOptions options)

Lists the axis storage keys matching a given prefix. Omit the prefix to list all the keys.

Arguments

Name	Type	Description
prefix	const std::string&	Optional key prefix.

AxisStorage::ListKeysOptions

Name	Type	Default	Description
prefix	const std::string&	""	Optional key prefix.

Return Value

std::vector<std::string> Storage keys matching the given prefix.

setBool()

M

axisStorage.setBool(key, value)

Sets the value at the provided key to the provided boolean.

Arguments

Name	Type	Description
key	const std::string&	Key to set the value at.
value	const bool	Value to set.

setNumber()

M

axisStorage.setNumber(key, value)

Sets the value at the provided key to the provided number.

Arguments

Name	Type	Description
key	const std::string&	Key to set the value at.
value	const double	Value to set.

setString()

M

axisStorage.setString(key, value, encode = false)
axisStorage.setString(key, value, AxisStorage::SetStringOptions options)

Sets the axis value stored at the provided key.

Arguments

Name	Type	Description
key	const std::string&	Key to set the value at.
value	const std::string&	Value to set.
encode	const bool	Whether the stored value should be base64 encoded before being stored. This makes the string unreadable to humans using the ASCII protocol, however, values stored this way can be of any length and use non-ASCII and protocol reserved characters.

AxisStorage::SetStringOptions

Name	Type	Default	Description
encode	const bool	false	Whether the stored value should be base64 encoded before being stored. This makes the string unreadable to humans using the ASCII protocol, however, values stored this way can be of any length and use non-ASCII and protocol reserved characters.

AxisTransformation

Represents a transformation of a translator axis.

To use this type, add #include <zaber/motion/gcode/axis_transformation.h> to the top of your source code.

axisLetter

P

axisTransformation.getAxisLetter()

std::string Letter of the translator axis (X,Y,Z,A,B,C,E).

scaling

P

axisTransformation.getScaling()

double Scaling factor.

translation

P

axisTransformation.getTranslation()

Measurement Translation distance.

AxisType

Denotes type of an axis and units it accepts.

To use this type, add #include <zaber/motion/ascii/axis_type.h> to the top of your source code.

Member	Numeric value
AxisType::UNKNOWN	0
AxisType::LINEAR	1
AxisType::ROTARY	2

BaseConnection

Class representing access to particular connection (serial port, TCP connection). Unlike Connection, BaseConnection instances are copyable. Additionally, BaseConnection instance does not close the connection upon destruction.

To use this type, add #include <zaber/motion/ascii/base_connection.h> to the top of your source code.

DEFAULT_BAUD_RATE

C

DEFAULT_BAUD_RATE

int Default baud rate for serial connections.

TCP_PORT_CHAIN

C

TCP_PORT_CHAIN

int Commands send over this port are forwarded to the device chain. The bandwidth may be limited as the commands are forwarded over a serial connection.

TCP_PORT_DEVICE_ONLY

C

TCP_PORT_DEVICE_ONLY

int Commands send over this port are processed only by the device and not forwarded to the rest of the chain. Using this port typically makes the communication faster.

checksumEnabled

P

baseConnection.getChecksumEnabled()

bool Controls whether outgoing messages contain checksum.

defaultRequestTimeout

P

baseConnection.getDefaultRequestTimeout()

int 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

baseConnection.getInterfaceId()

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

alert

E

baseConnection.alert

Event invoked when an alert is received from a device.

Emitted Data

AlertEvent Alert message received from the device.

disconnected

E

baseConnection.disconnected

Event invoked when connection is interrupted or closed.

Emitted Data

MotionLibException Error that caused disconnection.

unknownResponse

E

baseConnection.unknownResponse

Event invoked when a response from a device cannot be matched to any known request.

Emitted Data

UnknownResponseEvent Reply that could not be matched to a request.

detectDevices()

M

baseConnection.detectDevices(identifyDevices = true)
baseConnection.detectDevices(BaseConnection::DetectDevicesOptions options)

Attempts to detect any devices present on this connection.

Arguments

Name	Type	Description
identifyDevices	const bool	Determines whether device identification should be performed as well.

BaseConnection::DetectDevicesOptions

Name	Type	Default	Description
identifyDevices	const bool	true	Determines whether device identification should be performed as well.

Return Value

std::vector<Device> Array of detected devices.

disableAlerts()

M

baseConnection.disableAlerts()

Disables alerts for all devices on the connection. This will change the "comm.alert" setting to 0 on all supported devices.

Arguments

No arguments

enableAlerts()

M

baseConnection.enableAlerts()

Enables alerts for all devices on the connection. This will change the "comm.alert" setting to 1 on all supported devices.

Arguments

No arguments

genericCommand()

M

baseConnection.genericCommand(command, device = 0, axis = 0, checkErrors = true, timeout = 0)
baseConnection.genericCommand(command, BaseConnection::GenericCommandOptions options)

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

Arguments

Name	Type	Description
command	const std::string&	Command and its parameters.
device	const int	Optional device address to send the command to.
axis	const int	Optional axis number to send the command to.
checkErrors	const bool	Controls whether to throw an exception when the device rejects the command.
timeout	const int	The timeout, in milliseconds, for a device to respond to the command. Overrides the connection default request timeout.

BaseConnection::GenericCommandOptions

Name	Type	Default	Description
device	const int	0	Optional device address to send the command to.
axis	const int	0	Optional axis number to send the command to.
checkErrors	const bool	true	Controls whether to throw an exception when the device rejects the command.
timeout	const int	0	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()

M

baseConnection.genericCommandMultiResponse(command, device = 0, axis = 0, checkErrors = true, timeout = 0)
baseConnection.genericCommandMultiResponse(command, BaseConnection::GenericCommandMultiResponseOptions options)

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	const std::string&	Command and its parameters.
device	const int	Optional device address to send the command to.
axis	const int	Optional axis number to send the command to.
checkErrors	const bool	Controls whether to throw an exception when a device rejects the command.
timeout	const int	The timeout, in milliseconds, for a device to respond to the command. Overrides the connection default request timeout.

BaseConnection::GenericCommandMultiResponseOptions

Name	Type	Default	Description
device	const int	0	Optional device address to send the command to.
axis	const int	0	Optional axis number to send the command to.
checkErrors	const bool	true	Controls whether to throw an exception when a device rejects the command.
timeout	const int	0	The timeout, in milliseconds, for a device to respond to the command. Overrides the connection default request timeout.

Return Value

std::vector<Response> All responses to the command.

genericCommandNoResponse()

M

baseConnection.genericCommandNoResponse(command, device = 0, axis = 0)
baseConnection.genericCommandNoResponse(command, BaseConnection::GenericCommandNoResponseOptions options)

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	const std::string&	Command and its parameters.
device	const int	Optional device address to send the command to. Specifying -1 omits the number completely.
axis	const int	Optional axis number to send the command to. Specifying -1 omits the number completely.

BaseConnection::GenericCommandNoResponseOptions

Name	Type	Default	Description
device	const int	0	Optional device address to send the command to. Specifying -1 omits the number completely.
axis	const int	0	Optional axis number to send the command to. Specifying -1 omits the number completely.

getDevice()

M

baseConnection.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	const int	Address of device intended to control. Address is configured for each device.

Return Value

Device Device instance.

homeAll()

M

baseConnection.homeAll(waitUntilIdle = true)
baseConnection.homeAll(BaseConnection::HomeAllOptions options)

Homes all of the devices on this connection.

Arguments

Name	Type	Description
waitUntilIdle	const bool	Determines whether the function should return immediately or wait until the devices are homed.

BaseConnection::HomeAllOptions

Name	Type	Default	Description
waitUntilIdle	const bool	true	Determines whether the function should return immediately or wait until the devices are homed.

Return Value

std::vector<int> The addresses of the devices that were homed by this command.

renumberDevices()

M

baseConnection.renumberDevices(firstAddress = 1)
baseConnection.renumberDevices(BaseConnection::RenumberDevicesOptions options)

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

Arguments

Name	Type	Description
firstAddress	const int	This is the address that the device closest to the computer is given. Remaining devices are numbered consecutively.

BaseConnection::RenumberDevicesOptions

Name	Type	Default	Description
firstAddress	const int	1	This is the address that the device closest to the computer is given. Remaining devices are numbered consecutively.

Return Value

int Total number of devices that responded to the renumber.

stopAll()

M

baseConnection.stopAll(waitUntilIdle = true)
baseConnection.stopAll(BaseConnection::StopAllOptions options)

Stops all of the devices on this connection.

Arguments

Name	Type	Description
waitUntilIdle	const bool	Determines whether the function should return immediately or wait until the devices are stopped.

BaseConnection::StopAllOptions

Name	Type	Default	Description
waitUntilIdle	const bool	true	Determines whether the function should return immediately or wait until the devices are stopped.

Return Value

std::vector<int> The addresses of the devices that were stopped by this command.

toString()

M

baseConnection.toString()

Returns a string that represents the connection.

Arguments

No arguments

Return Value

std::string A string that represents the connection.

BinaryCommandFailedExceptionData

Contains additional data for BinaryCommandFailedException.

To use this type, add #include <zaber/motion/exceptions/binary_command_failed_exception_data.h> to the top of your source code.

responseData

P

binaryCommandFailedExceptionData.getResponseData()

int The response data.

CanSetStateAxisResponse

An object containing any setup issues that will prevent setting a state to a given axis.

To use this type, add #include <zaber/motion/ascii/can_set_state_axis_response.h> to the top of your source code.

axisNumber

P

canSetStateAxisResponse.getAxisNumber()

int The number of the axis that cannot be set.

error

P

canSetStateAxisResponse.getError()

std::string The error blocking applying this state to the given axis.

CanSetStateDeviceResponse

An object containing any setup issues that will prevent setting a state to a given device.

To use this type, add #include <zaber/motion/ascii/can_set_state_device_response.h> to the top of your source code.

axisErrors

P

canSetStateDeviceResponse.getAxisErrors()

std::vector<CanSetStateAxisResponse> A list of errors that block setting state of device's axes.

error

P

canSetStateDeviceResponse.getError()

std::string The error blocking applying this state to the given device.

CommandFailedExceptionData

Contains additional data for CommandFailedException.

To use this type, add #include <zaber/motion/exceptions/command_failed_exception_data.h> to the top of your source code.

replyFlag

P

commandFailedExceptionData.getReplyFlag()

std::string The flags on the reply sent by the device.

responseData

P

commandFailedExceptionData.getResponseData()

std::string The response data.

status

P

commandFailedExceptionData.getStatus()

std::string The current device status.

warningFlag

P

commandFailedExceptionData.getWarningFlag()

std::string The current warning flag on the device.

CommandTooLongExceptionData

Information describing why the command could not fit.

To use this type, add #include <zaber/motion/exceptions/command_too_long_exception_data.h> to the top of your source code.

fit

P

commandTooLongExceptionData.getFit()

std::string The part of the command that could be successfully fit in the space provided by the protocol.

packetSize

P

commandTooLongExceptionData.getPacketSize()

int The length of the ascii string that can be written to a single line.

packetsMax

P

commandTooLongExceptionData.getPacketsMax()

int The number of lines a command can be split over using continuations.

remainder

P

commandTooLongExceptionData.getRemainder()

std::string The part of the command that could not fit within the space provided.

Connection

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

To use this type, add #include <zaber/motion/ascii/connection.h> to the top of your source code.

alert

E

connection.alert

Event invoked when an alert is received from a device.

Emitted Data

AlertEvent Alert message received from the device.

disconnected

E

connection.disconnected

Event invoked when connection is interrupted or closed.

Emitted Data

MotionLibException Error that caused disconnection.

unknownResponse

E

connection.unknownResponse

Event invoked when a response from a device cannot be matched to any known request.

Emitted Data

UnknownResponseEvent Reply that could not be matched to a request.

close()

M

connection.close()

Close the connection.

Arguments

No arguments

openCustom()

S

Connection.openCustom(transport)

Opens a connection using a custom transport.

Arguments

Name	Type	Description
transport	const Transport&	The custom connection transport.

Return Value

Connection An object representing the connection.

openIot()

S

Connection.openIot(cloudId, token = "unauthenticated", connectionName = "", realm = "", api = "https://api.zaber.io")
Connection.openIot(cloudId, Connection::OpenIotOptions options)

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	const std::string&	The cloud ID to connect to.
token	const std::string&	The token to authenticate with. By default the connection will be unauthenticated.
connectionName	const std::string&	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	const std::string&	The realm to connect to. Can be left empty for the default account realm.
api	const std::string&	The URL of the API to receive connection info from.

Connection::OpenIotOptions

Name	Type	Default	Description
token	const std::string&	"unauthenticated"	The token to authenticate with. By default the connection will be unauthenticated.
connectionName	const std::string&	""	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	const std::string&	""	The realm to connect to. Can be left empty for the default account realm.
api	const std::string&	"https://api.zaber.io"	The URL of the API to receive connection info from.

Return Value

Connection An object representing the connection.

openNetworkShare()

S

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

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

Arguments

Name	Type	Description
hostName	const std::string&	Hostname or IP address.
port	const int	Port number.
connectionName	const std::string&	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()

S

Connection.openSerialPort(portName, baudRate = DEFAULT_BAUD_RATE, direct = false)
Connection.openSerialPort(portName, Connection::OpenSerialPortOptions options)

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, If port sharing is not desirable, use the direct parameter.

Arguments

Name	Type	Description
portName	const std::string&	Name of the port to open.
baudRate	const int	Optional baud rate (defaults to 115200).
direct	const bool	If true will connect to the serial port directly, failing if the connection is already opened by a message router instance.

Connection::OpenSerialPortOptions

Name	Type	Default	Description
baudRate	const int	DEFAULT_BAUD_RATE	Optional baud rate (defaults to 115200).
direct	const bool	false	If true will connect to the serial port directly, failing if the connection is already opened by a message router instance.

Return Value

Connection An object representing the port.

openTcp()

S

Connection.openTcp(hostName, port = TCP_PORT_CHAIN)

Opens a TCP connection.

Arguments

Name	Type	Description
hostName	const std::string&	Hostname or IP address.
port	const int	Optional port number (defaults to 55550).

Return Value

Connection An object representing the connection.

ConversionFactor

Represents unit conversion factor for a single dimension.

To use this type, add #include <zaber/motion/ascii/conversion_factor.h> to the top of your source code.

setting

P

conversionFactor.getSetting()

std::string Setting representing the dimension.

unit

P

conversionFactor.getUnit()

Units Units of the value.

value

P

conversionFactor.getValue()

double Value representing 1 native device unit in specified real-word units.

Device

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

To use this type, add #include <zaber/motion/ascii/device.h> 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()

int Number of axes this device has.

connection

P

device.getConnection()

Connection Connection of this device.

deviceAddress

P

device.getDeviceAddress()

int 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()

int 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()

bool Indicates whether or not the device has been identified.

isIntegrated

P

device.getIsIntegrated()

bool The device is an integrated product.

name

P

device.getName()

std::string Name of the product.

oscilloscope

P

device.getOscilloscope()

Oscilloscope Oscilloscope recording helper for this device. Requires at least Firmware 7.00.

serialNumber

P

device.getSerialNumber()

unsigned int Serial number of the device.

settings

P

device.getSettings()

DeviceSettings Settings and properties of this device.

storage

P

device.getStorage()

DeviceStorage Key-value storage of this device.

warnings

P

device.getWarnings()

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

genericCommand()

M

device.genericCommand(command, axis = 0, checkErrors = true, timeout = 0)
device.genericCommand(command, Device::GenericCommandOptions options)

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

Arguments

Name	Type	Description
command	const std::string&	Command and its parameters.
axis	const int	Optional axis number to send the command to.
checkErrors	const bool	Controls whether to throw an exception when the device rejects the command.
timeout	const int	The timeout, in milliseconds, for a device to respond to the command. Overrides the connection default request timeout.

Device::GenericCommandOptions

Name	Type	Default	Description
axis	const int	0	Optional axis number to send the command to.
checkErrors	const bool	true	Controls whether to throw an exception when the device rejects the command.
timeout	const int	0	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()

M

device.genericCommandMultiResponse(command, axis = 0, checkErrors = true, timeout = 0)
device.genericCommandMultiResponse(command, Device::GenericCommandMultiResponseOptions options)

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	const std::string&	Command and its parameters.
axis	const int	Optional axis number to send the command to.
checkErrors	const bool	Controls whether to throw an exception when a device rejects the command.
timeout	const int	The timeout, in milliseconds, for a device to respond to the command. Overrides the connection default request timeout.

Device::GenericCommandMultiResponseOptions

Name	Type	Default	Description
axis	const int	0	Optional axis number to send the command to.
checkErrors	const bool	true	Controls whether to throw an exception when a device rejects the command.
timeout	const int	0	The timeout, in milliseconds, for a device to respond to the command. Overrides the connection default request timeout.

Return Value

std::vector<Response> All responses to the command.

genericCommandNoResponse()

M

device.genericCommandNoResponse(command, axis = 0)
device.genericCommandNoResponse(command, Device::GenericCommandNoResponseOptions options)

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	const std::string&	Command and its parameters.
axis	const int	Optional axis number to send the command to. Specifying -1 omits the number completely.

Device::GenericCommandNoResponseOptions

Name	Type	Default	Description
axis	const int	0	Optional axis number to send the command to. Specifying -1 omits the number completely.

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	const int	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. Requires at least Firmware 6.15 or 7.11.

Arguments

Name	Type	Description
lockstepGroupId	const int	The ID of the lockstep group to control. Lockstep group IDs start at one.

Return Value

Lockstep Lockstep instance.

getState()

M

device.getState()

Returns a serialization of the current device state that can be saved and reapplied.

Arguments

No arguments

Return Value

std::string A serialization of the current state of the device.

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	const int	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	const int	The ID of the stream buffer to control. Stream buffer IDs start at one.

Return Value

StreamBuffer StreamBuffer instance.

identify()

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	const std::string&	Template of a command to prepare. Parameters are denoted by question marks.
&...parameters	Measurement	Variable number of command parameters.

Return Value

std::string Command with converted parameters.

setState()

M

device.setState(state, deviceOnly = false)
device.setState(state, Device::SetStateOptions options)

Applies a saved state to an axis.

Arguments

Name	Type	Description
state	const std::string&	The state object to apply to this axis.
deviceOnly	const bool	If true, only device scope settings and features will be set.

Device::SetStateOptions

Name	Type	Default	Description
deviceOnly	const bool	false	If true, only device scope settings and features will be set.

toString()

M

device.toString()

Returns a string that represents the device.

Arguments

No arguments

Return Value

std::string A string that represents the device.

DeviceAddressConflictExceptionData

Contains additional data for DeviceAddressConflictException.

To use this type, add #include <zaber/motion/exceptions/device_address_conflict_exception_data.h> to the top of your source code.

deviceAddresses

P

deviceAddressConflictExceptionData.getDeviceAddresses()

std::vector<int> The full list of detected device addresses.

DeviceDbFailedExceptionData

Contains additional data for a DeviceDbFailedException.

To use this type, add #include <zaber/motion/exceptions/device_db_failed_exception_data.h> to the top of your source code.

code

P

deviceDbFailedExceptionData.getCode()

std::string Code describing type of the error.

DeviceDbSourceType

Type of source of Device DB data.

To use this type, add #include <zaber/motion/device_db_source_type.h> to the top of your source code.

Member	Numeric value
DeviceDbSourceType::WEB_SERVICE	0
DeviceDbSourceType::FILE	1

DeviceDefinition

Holds information about device and its axes for purpose of a translator.

To use this type, add #include <zaber/motion/gcode/device_definition.h> to the top of your source code.

axes

P

deviceDefinition.getAxes()

std::vector<AxisDefinition> Applicable axes of the device.

deviceId

P

deviceDefinition.getDeviceId()

int Device ID of the controller. Can be obtained from device settings.

maxSpeed

P

deviceDefinition.getMaxSpeed()

Measurement The smallest of each axis' maxspeed setting value. This value becomes the traverse rate of the translator.

DeviceIdentity

Representation of data gathered during device identification.

To use this type, add #include <zaber/motion/ascii/device_identity.h> to the top of your source code.

axisCount

P

deviceIdentity.getAxisCount()

int Number of axes this device has.

deviceId

P

deviceIdentity.getDeviceId()

int Unique ID of the device hardware.

firmwareVersion

P

deviceIdentity.getFirmwareVersion()

FirmwareVersion Version of the firmware.

isIntegrated

P

deviceIdentity.getIsIntegrated()

bool The device is an integrated product.

isModified

P

deviceIdentity.getIsModified()

bool The device has hardware modifications.

name

P

deviceIdentity.getName()

std::string Name of the product.

serialNumber

P

deviceIdentity.getSerialNumber()

unsigned int Serial number of the device.

DeviceIO

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

To use this type, add #include <zaber/motion/ascii/device_io.h> to the top of your source code.

getAllAnalogInputs()

M

deviceIO.getAllAnalogInputs()

Returns the current values of all analog input channels.

Arguments

No arguments

Return Value

std::vector<double> Measurements of the voltage present on the input channels.

getAllAnalogOutputs()

M

deviceIO.getAllAnalogOutputs()

Returns the current values of all analog output channels.

Arguments

No arguments

Return Value

std::vector<double> Measurements of voltage that the output channels are conducting.

getAllDigitalInputs()

M

deviceIO.getAllDigitalInputs()

Returns the current values of all digital input channels.

Arguments

No arguments

Return Value

std::vector<bool> True if voltage is present on the input channel and false otherwise.

getAllDigitalOutputs()

M

deviceIO.getAllDigitalOutputs()

Returns the current values of all digital output channels.

Arguments

No arguments

Return Value

std::vector<bool> True if the output channel is conducting and false otherwise.

getAnalogInput()

M

deviceIO.getAnalogInput(channelNumber)

Returns the current value of the specified analog input channel.

Arguments

Name	Type	Description
channelNumber	const int	Channel number starting at 1.

Return Value

double A measurementsof the voltage present on the input channel.

getAnalogOutput()

M

deviceIO.getAnalogOutput(channelNumber)

Returns the current values of the specified analog output channel.

Arguments

Name	Type	Description
channelNumber	const int	Channel number starting at 1.

Return Value

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

getChannelsInfo()

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()

M

deviceIO.getDigitalInput(channelNumber)

Returns the current value of the specified digital input channel.

Arguments

Name	Type	Description
channelNumber	const int	Channel number starting at 1.

Return Value

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

getDigitalOutput()

M

deviceIO.getDigitalOutput(channelNumber)

Returns the current value of the specified digital output channel.

Arguments

Name	Type	Description
channelNumber	const int	Channel number starting at 1.

Return Value

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

setAllAnalogOutputs()

M

deviceIO.setAllAnalogOutputs(values)

Sets values for all analog output channels.

Arguments

Name	Type	Description
values	const std::vector<double>&	Voltage values to set the output channels to.

setAllDigitalOutputs()

M

deviceIO.setAllDigitalOutputs(values)

Sets values for all digital output channels.

Arguments

Name	Type	Description
values	const std::vector<bool>&	True to set the output channel to conducting and false to turn it off.

setAnalogOutput()

M

deviceIO.setAnalogOutput(channelNumber, value)

Sets value for the specified analog output channel.

Arguments

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

setDigitalOutput()

M

deviceIO.setDigitalOutput(channelNumber, value)

Sets value for the specified digital output channel.

Arguments

Name	Type	Description
channelNumber	const int	Channel number starting at 1.
value	const bool	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 #include <zaber/motion/ascii/device_io_info.h> to the top of your source code.

numberAnalogInputs

P

deviceIOInfo.getNumberAnalogInputs()

int Number of analog input channels.

numberAnalogOutputs

P

deviceIOInfo.getNumberAnalogOutputs()

int Number of analog output channels.

numberDigitalInputs

P

deviceIOInfo.getNumberDigitalInputs()

int Number of digital input channels.

numberDigitalOutputs

P

deviceIOInfo.getNumberDigitalOutputs()

int Number of digital output channels.

DeviceSettings

Class providing access to various device settings and properties.

To use this type, add #include <zaber/motion/ascii/device_settings.h> to the top of your source code.

canConvertNativeUnits()

M

deviceSettings.canConvertNativeUnits(setting)

Indicates if given setting can be converted from and to native units.

Arguments

Name	Type	Description
setting	const std::string&	Name of the setting.

Return Value

bool True if unit conversion can be performed.

convertFromNativeUnits()

M

deviceSettings.convertFromNativeUnits(setting, value, unit)

Convert arbitrary setting value from Zaber native units.

Arguments

Name	Type	Description
setting	const std::string&	Name of the setting.
value	const double	Value of the setting in Zaber native units.
unit	const 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	const std::string&	Name of the setting.
value	const double	Value of the setting in units specified by following argument.
unit	const Units	Units of the value.

Return Value

double Setting value.

get()

M

deviceSettings.get(setting, unit = Units::NATIVE)

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

Arguments

Name	Type	Description
setting	const std::string&	Name of the setting.
unit	const Units	Units of setting.

Return Value

double Setting value.

getDefault()

M

deviceSettings.getDefault(setting, unit = Units::NATIVE)

Returns the default value of a setting.

Arguments

Name	Type	Description
setting	const std::string&	Name of the setting.
unit	const Units	Units of setting.

Return Value

double Default setting value.

getDefaultString()

M

deviceSettings.getDefaultString(setting)

Returns the default value of a setting as a string.

Arguments

Name	Type	Description
setting	const std::string&	Name of the setting.

Return Value

std::string Default setting value.

getString()

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	const std::string&	Name of the setting.

Return Value

std::string Setting value.

set()

M

deviceSettings.set(setting, value, unit = Units::NATIVE)

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

Arguments

Name	Type	Description
setting	const std::string&	Name of the setting.
value	const double	Value of the setting.
unit	const Units	Units of setting.

setString()

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	const std::string&	Name of the setting.
value	const std::string&	Value of the setting.

DeviceStorage

Class providing access to device storage. Requires at least Firmware 7.30.

To use this type, add #include <zaber/motion/ascii/device_storage.h> to the top of your source code.

eraseKey()

M

deviceStorage.eraseKey(key)

Erases the device value stored at the provided key.

Arguments

Name	Type	Description
key	const std::string&	Key to erase.

Return Value

bool A boolean indicating if the key existed.

getBool()

M

deviceStorage.getBool(key)

Gets the value at the provided key interpreted as a boolean.

Arguments

Name	Type	Description
key	const std::string&	Key to get the value at.

Return Value

bool Stored value.

getNumber()

M

deviceStorage.getNumber(key)

Gets the value at the provided key interpreted as a number.

Arguments

Name	Type	Description
key	const std::string&	Key to get the value at.

Return Value

double Stored value.

getString()

M

deviceStorage.getString(key, decode = false)
deviceStorage.getString(key, DeviceStorage::GetStringOptions options)

Gets the device value stored with the provided key.

Arguments

Name	Type	Description
key	const std::string&	Key to read the value of.
decode	const bool	Whether the stored value should be decoded. Only use this when reading values set by storage.set with "encode" true.

DeviceStorage::GetStringOptions

Name	Type	Default	Description
decode	const bool	false	Whether the stored value should be decoded. Only use this when reading values set by storage.set with "encode" true.

Return Value

std::string Stored value.

keyExists()

M

deviceStorage.keyExists(key)

Determines whether a given key exists in device storage.

Arguments

Name	Type	Description
key	const std::string&	Key which existence to determine.

Return Value

bool True indicating that the key exists, false otherwise.

listKeys()

M

deviceStorage.listKeys(prefix = "")
deviceStorage.listKeys(DeviceStorage::ListKeysOptions options)

Lists the device storage keys matching a given prefix. Omit the prefix to list all the keys.

Arguments

Name	Type	Description
prefix	const std::string&	Optional key prefix.

DeviceStorage::ListKeysOptions

Name	Type	Default	Description
prefix	const std::string&	""	Optional key prefix.

Return Value

std::vector<std::string> Storage keys matching the given prefix.

setBool()

M

deviceStorage.setBool(key, value)

Sets the value at the provided key to the provided boolean.

Arguments

Name	Type	Description
key	const std::string&	Key to set the value at.
value	const bool	Value to set.

setNumber()

M

deviceStorage.setNumber(key, value)

Sets the value at the provided key to the provided number.

Arguments

Name	Type	Description
key	const std::string&	Key to set the value at.
value	const double	Value to set.

setString()

M

deviceStorage.setString(key, value, encode = false)
deviceStorage.setString(key, value, DeviceStorage::SetStringOptions options)

Sets the device value stored at the provided key.

Arguments

Name	Type	Description
key	const std::string&	Key to set the value at.
value	const std::string&	Value to set.
encode	const bool	Whether the stored value should be base64 encoded before being stored. This makes the string unreadable to humans using the ASCII protocol, however, values stored this way can be of any length and use non-ASCII and protocol reserved characters.

DeviceStorage::SetStringOptions

Name	Type	Default	Description
encode	const bool	false	Whether the stored value should be base64 encoded before being stored. This makes the string unreadable to humans using the ASCII protocol, however, values stored this way can be of any length and use non-ASCII and protocol reserved characters.

FirmwareVersion

Class representing version of firmware in the controller.

To use this type, add #include <zaber/motion/firmware_version.h> to the top of your source code.

build

P

firmwareVersion.getBuild()

int Build version number.

major

P

firmwareVersion.getMajor()

int Major version number.

minor

P

firmwareVersion.getMinor()

int Minor version number.

GCodeExecutionExceptionData

Contains additional data for GCodeExecutionException.

To use this type, add #include <zaber/motion/exceptions/g_code_execution_exception_data.h> to the top of your source code.

fromBlock

P

gCodeExecutionExceptionData.getFromBlock()

int The index in the block string that caused the exception.

toBlock

P

gCodeExecutionExceptionData.getToBlock()

int The end index in the block string that caused the exception. The end index is exclusive.

GCodeSyntaxExceptionData

Contains additional data for GCodeSyntaxException.

To use this type, add #include <zaber/motion/exceptions/g_code_syntax_exception_data.h> to the top of your source code.

fromBlock

P

gCodeSyntaxExceptionData.getFromBlock()

int The index in the block string that caused the exception.

toBlock

P

gCodeSyntaxExceptionData.getToBlock()

int The end index in the block string that caused the exception. The end index is exclusive.

InvalidPacketExceptionData

Contains additional data for the InvalidPacketException.

To use this type, add #include <zaber/motion/exceptions/invalid_packet_exception_data.h> to the top of your source code.

packet

P

invalidPacketExceptionData.getPacket()

std::string The invalid packet that caused the exception.

reason

P

invalidPacketExceptionData.getReason()

std::string The reason for the exception.

InvalidResponseExceptionData

Contains additional data for InvalidResponseException.

To use this type, add #include <zaber/motion/exceptions/invalid_response_exception_data.h> to the top of your source code.

response

P

invalidResponseExceptionData.getResponse()

std::string The response data.

Library

Access class to general library information and configuration.

To use this type, add #include <zaber/motion/library.h> to the top of your source code.

disableDeviceDbStore()

S

Library.disableDeviceDbStore()

Disables Device DB store.

Arguments

No arguments

enableDeviceDbStore()

S

Library.enableDeviceDbStore(storeLocation = "")

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	const std::string&	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 = "")

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

Arguments

Name	Type	Description
sourceType	const DeviceDbSourceType	Source type.
urlOrFilePath	const std::string&	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 = "")

Sets library logging output.

Arguments

Name	Type	Description
mode	const LogOutputMode	Logging output mode.
filePath	const std::string&	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. Requires at least Firmware 6.15 or 7.11.

To use this type, add #include <zaber/motion/ascii/lockstep.h> to the top of your source code.

device

P

lockstep.getDevice()

Device Device that controls this lockstep group.

lockstepGroupId

P

lockstep.getLockstepGroupId()

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

disable()

M

lockstep.disable()

Disable the lockstep group.

Arguments

No arguments

enable()

M

lockstep.enable(&...axes)

Activate the lockstep group on the axes specified.

Arguments

Name	Type	Description
&...axes	int	The numbers of axes in the lockstep group.

getAxes()

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()

M

lockstep.getAxisNumbers()

Gets the axis numbers of the lockstep group.

Arguments

No arguments

Return Value

std::vector<int> Axis numbers in order specified when enabling lockstep.

getOffsets()

M

lockstep.getOffsets(unit = Units::NATIVE)

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

Arguments

Name	Type	Description
unit	const Units	Units of position.

Return Value

std::vector<double> Initial offset for each axis of the lockstep group.

getTwists()

M

lockstep.getTwists(unit = Units::NATIVE)

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

Arguments

Name	Type	Description
unit	const Units	Units of position.

Return Value

std::vector<double> Difference between the initial offset and the actual offset for each axis of the lockstep group.

home()

M

lockstep.home(waitUntilIdle = true)
lockstep.home(Lockstep::HomeOptions options)

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

Arguments

Name	Type	Description
waitUntilIdle	const bool	Determines whether function should return after the movement is finished or just started.

Lockstep::HomeOptions

Name	Type	Default	Description
waitUntilIdle	const bool	true	Determines whether function should return after the movement is finished or just started.

isBusy()

M

lockstep.isBusy()

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

Arguments

No arguments

Return Value

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

isEnabled()

M

lockstep.isEnabled()

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

Arguments

No arguments

Return Value

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

moveAbsolute()

M

lockstep.moveAbsolute(position, unit = Units::NATIVE, waitUntilIdle = true, velocity = 0, velocityUnit = Units::NATIVE, acceleration = 0, accelerationUnit = Units::NATIVE)
lockstep.moveAbsolute(position, unit, Lockstep::MoveAbsoluteOptions options)

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	const double	Absolute position.
unit	const Units	Units of position.
waitUntilIdle	const bool	Determines whether function should return after the movement is finished or just started.
velocity	const double	Movement velocity. Default value of 0 indicates that the maxspeed setting is used instead.
velocityUnit	const Units	Units of velocity.
acceleration	const double	Movement acceleration. Default value of 0 indicates that the accel setting is used instead.
accelerationUnit	const Units	Units of acceleration.

Lockstep::MoveAbsoluteOptions

Name	Type	Default	Description
waitUntilIdle	const bool	true	Determines whether function should return after the movement is finished or just started.
velocity	const double	0	Movement velocity. Default value of 0 indicates that the maxspeed setting is used instead.
velocityUnit	const Units	Units::NATIVE	Units of velocity.
acceleration	const double	0	Movement acceleration. Default value of 0 indicates that the accel setting is used instead.
accelerationUnit	const Units	Units::NATIVE	Units of acceleration.

moveMax()

M

lockstep.moveMax(waitUntilIdle = true, velocity = 0, velocityUnit = Units::NATIVE, acceleration = 0, accelerationUnit = Units::NATIVE)
lockstep.moveMax(Lockstep::MoveMaxOptions options)

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	const bool	Determines whether function should return after the movement is finished or just started.
velocity	const double	Movement velocity. Default value of 0 indicates that the maxspeed setting is used instead.
velocityUnit	const Units	Units of velocity.
acceleration	const double	Movement acceleration. Default value of 0 indicates that the accel setting is used instead.
accelerationUnit	const Units	Units of acceleration.

Lockstep::MoveMaxOptions

Name	Type	Default	Description
waitUntilIdle	const bool	true	Determines whether function should return after the movement is finished or just started.
velocity	const double	0	Movement velocity. Default value of 0 indicates that the maxspeed setting is used instead.
velocityUnit	const Units	Units::NATIVE	Units of velocity.
acceleration	const double	0	Movement acceleration. Default value of 0 indicates that the accel setting is used instead.
accelerationUnit	const Units	Units::NATIVE	Units of acceleration.

moveMin()

M

lockstep.moveMin(waitUntilIdle = true, velocity = 0, velocityUnit = Units::NATIVE, acceleration = 0, accelerationUnit = Units::NATIVE)
lockstep.moveMin(Lockstep::MoveMinOptions options)

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	const bool	Determines whether function should return after the movement is finished or just started.
velocity	const double	Movement velocity. Default value of 0 indicates that the maxspeed setting is used instead.
velocityUnit	const Units	Units of velocity.
acceleration	const double	Movement acceleration. Default value of 0 indicates that the accel setting is used instead.
accelerationUnit	const Units	Units of acceleration.

Lockstep::MoveMinOptions

Name	Type	Default	Description
waitUntilIdle	const bool	true	Determines whether function should return after the movement is finished or just started.
velocity	const double	0	Movement velocity. Default value of 0 indicates that the maxspeed setting is used instead.
velocityUnit	const Units	Units::NATIVE	Units of velocity.
acceleration	const double	0	Movement acceleration. Default value of 0 indicates that the accel setting is used instead.
accelerationUnit	const Units	Units::NATIVE	Units of acceleration.

moveRelative()

M

lockstep.moveRelative(position, unit = Units::NATIVE, waitUntilIdle = true, velocity = 0, velocityUnit = Units::NATIVE, acceleration = 0, accelerationUnit = Units::NATIVE)
lockstep.moveRelative(position, unit, Lockstep::MoveRelativeOptions options)

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	const double	Relative position.
unit	const Units	Units of position.
waitUntilIdle	const bool	Determines whether function should return after the movement is finished or just started.
velocity	const double	Movement velocity. Default value of 0 indicates that the maxspeed setting is used instead.
velocityUnit	const Units	Units of velocity.
acceleration	const double	Movement acceleration. Default value of 0 indicates that the accel setting is used instead.
accelerationUnit	const Units	Units of acceleration.

Lockstep::MoveRelativeOptions

Name	Type	Default	Description
waitUntilIdle	const bool	true	Determines whether function should return after the movement is finished or just started.
velocity	const double	0	Movement velocity. Default value of 0 indicates that the maxspeed setting is used instead.
velocityUnit	const Units	Units::NATIVE	Units of velocity.
acceleration	const double	0	Movement acceleration. Default value of 0 indicates that the accel setting is used instead.
accelerationUnit	const Units	Units::NATIVE	Units of acceleration.

moveVelocity()

M

lockstep.moveVelocity(velocity, unit = Units::NATIVE, acceleration = 0, accelerationUnit = Units::NATIVE)
lockstep.moveVelocity(velocity, unit, Lockstep::MoveVelocityOptions options)

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	const double	Movement velocity.
unit	const Units	Units of velocity.
acceleration	const double	Movement acceleration. Default value of 0 indicates that the accel setting is used instead.
accelerationUnit	const Units	Units of acceleration.

Lockstep::MoveVelocityOptions

Name	Type	Default	Description
acceleration	const double	0	Movement acceleration. Default value of 0 indicates that the accel setting is used instead.
accelerationUnit	const Units	Units::NATIVE	Units of acceleration.

stop()

M

lockstep.stop(waitUntilIdle = true)
lockstep.stop(Lockstep::StopOptions options)

Stops ongoing lockstep group movement. Decelerates until zero speed.

Arguments

Name	Type	Description
waitUntilIdle	const bool	Determines whether function should return after the movement is finished or just started.

Lockstep::StopOptions

Name	Type	Default	Description
waitUntilIdle	const bool	true	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

std::string String which represents the enabled lockstep group.

waitUntilIdle()

M

lockstep.waitUntilIdle(throwErrorOnFault = true)
lockstep.waitUntilIdle(Lockstep::WaitUntilIdleOptions options)

Waits until the lockstep group stops moving.

Arguments

Name	Type	Description
throwErrorOnFault	const bool	Determines whether to throw error when fault is observed.

Lockstep::WaitUntilIdleOptions

Name	Type	Default	Description
throwErrorOnFault	const bool	true	Determines whether to throw error when fault is observed.

LockstepAxes

The axis numbers of a lockstep group.

To use this type, add #include <zaber/motion/ascii/lockstep_axes.h> to the top of your source code.

axis1

P

lockstepAxes.getAxis1()

int The axis number used to set the first axis.

axis2

P

lockstepAxes.getAxis2()

int The axis number used to set the second axis.

axis3

P

lockstepAxes.getAxis3()

int The axis number used to set the third axis.

axis4

P

lockstepAxes.getAxis4()

int The axis number used to set the fourth axis.

LogOutputMode

Mode of logging output of the library.

To use this type, add #include <zaber/motion/log_output_mode.h> 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 #include <zaber/motion/measurement.h> 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 #include <zaber/motion/ascii/message_type.h> 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 #include <zaber/motion/motion_lib_exception.h> to the top of your source code.

details

P

motionLibException.getDetails()

ExceptionData 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()

std::string Error message of the exception.

toString()

M

motionLibException.toString()

Returns a string that represents the exception.

Arguments

No arguments

Return Value

std::string 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.
CommandTooLongException	Thrown when a command is too long to be written by the ASCII protocol, even when continued across multiple lines. Details: CommandTooLongExceptionData
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. Details: DeviceDbFailedExceptionData
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.
GCodeExecutionException	Thrown when a block of G-Code cannot be executed. Details: GCodeExecutionExceptionData
GCodeSyntaxException	Thrown when a block of G-Code cannot be parsed. Details: GCodeSyntaxExceptionData
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.
InvalidOperationException	Thrown when operation cannot be performed at given time or context.
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.
NoValueForKeyException	Thrown when trying to access a key that has not been set.
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.
SetDeviceStateFailedException	Thrown when a device cannot be set to the supplied state. Details: SetDeviceStateExceptionData
SetPeripheralStateFailedException	Thrown when an axis cannot be set to the supplied state. Details: SetPeripheralStateExceptionData
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 #include <zaber/motion/exceptions/movement_failed_exception_data.h> to the top of your source code.

reason

P

movementFailedExceptionData.getReason()

std::string The reason for the Exception.

warnings

P

movementFailedExceptionData.getWarnings()

std::vector<std::string> The full list of warnings.

MovementInterruptedExceptionData

Contains additional data for MovementInterruptedException.

To use this type, add #include <zaber/motion/exceptions/movement_interrupted_exception_data.h> to the top of your source code.

reason

P

movementInterruptedExceptionData.getReason()

std::string The reason for the Exception.

warnings

P

movementInterruptedExceptionData.getWarnings()

std::vector<std::string> The full list of warnings.

OfflineTranslator

Represents an offline G-Code translator. It allows to translate G-Code blocks to Zaber ASCII protocol stream commands. This translator does not need a connected device to perform translation. Requires at least Firmware 7.11.

To use this type, add #include <zaber/motion/gcode/offline_translator.h> to the top of your source code.

coordinateSystem

P

offlineTranslator.getCoordinateSystem()

std::string Current coordinate system.

translatorId

P

offlineTranslator.getTranslatorId()

int The ID of the translator that serves to identify native resources.

flush()

M

offlineTranslator.flush()

Flushes the remaining stream commands waiting in optimization buffer. The flush is also performed by M2 and M30 codes.

Arguments

No arguments

Return Value

std::vector<std::string> The remaining stream commands.

getAxisCoordinateSystemOffset()

M

offlineTranslator.getAxisCoordinateSystemOffset(coordinateSystem, axis, unit)

Gets offset of an axis in a given coordinate system.

Arguments

Name	Type	Description
coordinateSystem	const std::string&	Coordinate system (e.g. G54).
axis	const std::string&	Letter of the axis.
unit	const Units	Units of position.

Return Value

double Offset in translator units of the axis.

getAxisPosition()

M

offlineTranslator.getAxisPosition(axis, unit)

Gets position of translator's axis. This method does not query device but returns value from translator's state.

Arguments

Name	Type	Description
axis	const std::string&	Letter of the axis.
unit	const Units	Units of position.

Return Value

double Position of translator's axis.

resetAfterStreamError()

M

offlineTranslator.resetAfterStreamError()

Resets internal state after device rejected generated command. Axis positions become uninitialized.

Arguments

No arguments

setAxisHomePosition()

M

offlineTranslator.setAxisHomePosition(axis, position, unit)

Sets the home position of translator's axis. This position is used by G28.

Arguments

Name	Type	Description
axis	const std::string&	Letter of the axis.
position	const double	The home position.
unit	const Units	Units of position.

setAxisPosition()

M

offlineTranslator.setAxisPosition(axis, position, unit)

Sets position of translator's axis. Use this method to set position after performing movement outside of the translator. This method does not cause any movement.

Arguments

Name	Type	Description
axis	const std::string&	Letter of the axis.
position	const double	The position.
unit	const Units	Units of position.

setAxisSecondaryHomePosition()

M

offlineTranslator.setAxisSecondaryHomePosition(axis, position, unit)

Sets the secondary home position of translator's axis. This position is used by G30.

Arguments

Name	Type	Description
axis	const std::string&	Letter of the axis.
position	const double	The home position.
unit	const Units	Units of position.

setFeedRateOverride()

M

offlineTranslator.setFeedRateOverride(coefficient)

Allows to scale feed rate of the translated code by a coefficient.

Arguments

Name	Type	Description
coefficient	const double	Coefficient of the original feed rate.

setTraverseRate()

M

offlineTranslator.setTraverseRate(traverseRate, unit)

Sets the speed at which the device moves when traversing (G0).

Arguments

Name	Type	Description
traverseRate	const double	The traverse rate.
unit	const Units	Units of the traverse rate.

setup()

S

OfflineTranslator.setup(definition, config = TranslatorConfig::getEmpty())

Sets up translator from provided device definition and configuration.

Arguments

Name	Type	Description
definition	const DeviceDefinition&	Definition of device and its peripherals. The definition must match a device that later performs the commands.
config	const TranslatorConfig&	Configuration of the translator.

Return Value

OfflineTranslator New instance of translator.

setupFromDevice()

S

OfflineTranslator.setupFromDevice(device, axes, config = TranslatorConfig::getEmpty())

Sets up an offline translator from provided device, axes, and configuration.

Arguments

Name	Type	Description
device	const Device&	Device that later performs the command streaming.
axes	const std::vector<int>&	Axis numbers that are later used to setup the stream. For a lockstep group specify only the first axis of the group.
config	const TranslatorConfig&	Configuration of the translator.

Return Value

OfflineTranslator New instance of translator.

translate()

M

offlineTranslator.translate(block)

Translates a single block (line) of G-code.

Arguments

Name	Type	Description
block	const std::string&	Block (line) of G-code.

Return Value

TranslateResult Result of translation containing the stream commands.

Oscilloscope

Provides a convenient way to control the oscilloscope data recording feature of some devices. The oscilloscope can record the values of some settings over time at high resolution. Requires at least Firmware 7.00.

To use this type, add #include <zaber/motion/ascii/oscilloscope.h> to the top of your source code.

device

P

oscilloscope.getDevice()

Device Device that this Oscilloscope measures.

addChannel()

M

oscilloscope.addChannel(axis, setting)

Select a setting to be recorded.

Arguments

Name	Type	Description
axis	const int	The 1-based index of the axis to record the value from.
setting	const std::string&	The name of a setting to record.

clear()

M

oscilloscope.clear()

Clear the list of channels to record.

Arguments

No arguments

getBufferSize()

M

oscilloscope.getBufferSize()

Get the number of samples that can be recorded per channel given the current number of channels added.

Arguments

No arguments

Return Value

int Number of samples that will be recorded per channel with the current channels. Zero if none have been added.

getDelay()

M

oscilloscope.getDelay(unit = Units::NATIVE)

Get the delay before oscilloscope recording starts.

Arguments

Name	Type	Description
unit	const Units	Unit of measure to represent the delay in.

Return Value

double The current start delay in the selected time units.

getMaxBufferSize()

M

oscilloscope.getMaxBufferSize()

Get the maximum number of samples that can be recorded per Oscilloscope channel.

Arguments

No arguments

Return Value

int The maximum number of samples that can be recorded per Oscilloscope channel.

getMaxChannels()

M

oscilloscope.getMaxChannels()

Get the maximum number of channels that can be recorded.

Arguments

No arguments

Return Value

int The maximum number of channels that can be added to an Oscilloscope recording.

getTimebase()

M

oscilloscope.getTimebase(unit = Units::NATIVE)

Get the current sampling interval.

Arguments

Name	Type	Description
unit	const Units	Unit of measure to represent the timebase in.

Return Value

double The current sampling interval in the selected time units.

read()

M

oscilloscope.read()

Reads the last-recorded data from the oscilloscope. Will block until any in-progress recording completes.

Arguments

No arguments

Return Value

std::vector<OscilloscopeData> Array of recorded channel data arrays, in the order added.

setDelay()

M

oscilloscope.setDelay(interval, unit = Units::NATIVE)

Set the sampling start delay.

Arguments

Name	Type	Description
interval	const double	Delay time between triggering a recording and the first data point being recorded.
unit	const Units	Unit of measure the delay is represented in.

setTimebase()

M

oscilloscope.setTimebase(interval, unit = Units::NATIVE)

Set the sampling interval.

Arguments

Name	Type	Description
interval	const double	Sample interval for the next oscilloscope recording. Minimum value is 100µs.
unit	const Units	Unit of measure the timebase is represented in.

start()

M

oscilloscope.start(captureLength = 0)

Trigger data recording.

Arguments

Name	Type	Description
captureLength	const int	Optional number of samples to record per channel. If left empty, the device records samples until the buffer fills.

stop()

M

oscilloscope.stop()

End data recording if currently in progress.

Arguments

No arguments

OscilloscopeCaptureProperties

The public properties of one channel of recorded oscilloscope data.

To use this type, add #include <zaber/motion/ascii/oscilloscope_capture_properties.h> to the top of your source code.

axisNumber

P

oscilloscopeCaptureProperties.getAxisNumber()

int The number of the axis the data was recorded from, or 0 for the controller.

setting

P

oscilloscopeCaptureProperties.getSetting()

std::string The name of the recorded setting.

OscilloscopeData

Contains a block of contiguous recorded data for one channel of the device's oscilloscope.

To use this type, add #include <zaber/motion/ascii/oscilloscope_data.h> to the top of your source code.

axisNumber

P

oscilloscopeData.getAxisNumber()

int The number of the axis the data was recorded from, or 0 for the controller.

dataId

P

oscilloscopeData.getDataId()

int Unique ID for this block of recorded data.

setting

P

oscilloscopeData.getSetting()

std::string The name of the recorded setting.

getData()

M

oscilloscopeData.getData(unit = Units::NATIVE)

Get the recorded data as an array of doubles.

Arguments

Name	Type	Description
unit	const Units	Unit of measure to convert the data to.

Return Value

std::vector<double> The recorded data for one oscilloscope channel, converted to the units specified.

getDelay()

M

oscilloscopeData.getDelay(unit = Units::NATIVE)

Get the user-specified time period between receipt of the start command and the first data point. Under some circumstances, the actual delay may be different - call GetSampleTime(0) to get the effective delay.

Arguments

Name	Type	Description
unit	const Units	Unit of measure to represent the delay in.

Return Value

double The delay setting at the time the data was recorded.

getSampleTime()

M

oscilloscopeData.getSampleTime(index, unit = Units::NATIVE)

Calculate the time a sample was recorded, relative to when the recording was triggered.

Arguments

Name	Type	Description
index	const int	0-based index of the sample to calculate the time of.
unit	const Units	Unit of measure to represent the calculated time in.

Return Value

double The calculated time offset of the data sample at the given index.

getTimebase()

M

oscilloscopeData.getTimebase(unit = Units::NATIVE)

Get the sample interval that this data was recorded with.

Arguments

Name	Type	Description
unit	const Units	Unit of measure to represent the timebase in.

Return Value

double The timebase setting at the time the data was recorded.

ParamsetInfo

The raw parameters currently saved to a given paramset.

To use this type, add #include <zaber/motion/ascii/paramset_info.h> to the top of your source code.

params

P

paramsetInfo.getParams()

std::vector<ServoTuningParam> The raw tuning parameters of this device.

type

P

paramsetInfo.getType()

std::string The tuning algorithm used for this axis.

version

P

paramsetInfo.getVersion()

int The version of the tuning algorithm used for this axis.

PidTuning

The tuning of this axis represented by PID parameters.

To use this type, add #include <zaber/motion/ascii/pid_tuning.h> to the top of your source code.

d

P

pidTuning.getD()

double The derivative tuning argument.

fc

P

pidTuning.getFc()

double The frequency cutoff for the tuning.

i

P

pidTuning.getI()

double The integral tuning argument.

p

P

pidTuning.getP()

double The positional tuning argument.

type

P

pidTuning.getType()

std::string The tuning algorithm used to tune this axis.

version

P

pidTuning.getVersion()

int The version of the tuning algorithm used to tune this axis.

Response

Response message from the device.

To use this type, add #include <zaber/motion/ascii/response.h> to the top of your source code.

axisNumber

P

response.getAxisNumber()

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

data

P

response.getData()

std::string Response data which varies depending on the request.

deviceAddress

P

response.getDeviceAddress()

int Number of the device that sent the message.

messageType

P

response.getMessageType()

MessageType Type of the reply received.

replyFlag

P

response.getReplyFlag()

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

status

P

response.getStatus()

std::string The device status contains BUSY when the axis is moving and IDLE otherwise.

warningFlag

P

response.getWarningFlag()

std::string The warning flag contains the highest priority warning currently active for the device or axis.

RotationDirection

Direction of rotation.

To use this type, add #include <zaber/motion/rotation_direction.h> to the top of your source code.

Member	Numeric value
RotationDirection::CLOCKWISE	0
RotationDirection::COUNTERCLOCKWISE	1
RotationDirection::CW	0
RotationDirection::CCW	1

ServoTuner

Exposes the capabilities to inspect and edit an axis' servo tuning. Requires at least Firmware 6.25 or 7.00.

To use this type, add #include <zaber/motion/ascii/servo_tuner.h> to the top of your source code.

ServoTuner()

Constructor

new ServoTuner(axis)

Creates instance of ServoTuner for the given axis.

Arguments

Name	Type	Description
axis	Axis	The axis that will be tuned.

axis

P

servoTuner.getAxis()

Axis The axis that will be tuned.

getPidTuning()

M

servoTuner.getPidTuning(paramset)

Gets the PID representation of this paramset's servo tuning.

Arguments

Name	Type	Description
paramset	const ServoTuningParamset	The paramset to get tuning for.

Return Value

PidTuning The PID representation of the current tuning.

getSimpleTuningParamDefinitions()

M

servoTuner.getSimpleTuningParamDefinitions()

Gets the parameters that are required to tune this device.

Arguments

No arguments

Return Value

std::vector<SimpleTuningParamDefinition> The tuning parameters.

getStartupParamset()

M

servoTuner.getStartupParamset()

Get the paramset that this device uses by default when it starts up.

Arguments

No arguments

Return Value

ServoTuningParamset The paramset used at when the device restarts.

getTuning()

M

servoTuner.getTuning(paramset)

Get the full set of tuning parameters used by the firmware driving this axis.

Arguments

Name	Type	Description
paramset	const ServoTuningParamset	The paramset to get tuning for.

Return Value

ParamsetInfo The raw representation of the current tuning.

loadParamset()

M

servoTuner.loadParamset(toParamset, fromParamset)

Load the values from one paramset into another.

Arguments

Name	Type	Description
toParamset	const ServoTuningParamset	The paramset to load into.
fromParamset	const ServoTuningParamset	The paramset to load from.

setPidTuning()

M

servoTuner.setPidTuning(paramset, p, i, d, fc)

Sets the tuning of a paramset using the PID method.

Arguments

Name	Type	Description
paramset	const ServoTuningParamset	The paramset to get tuning for.
p	const double	The proportional gain. Must be in units of N/m.
i	const double	The integral gain. Must be in units of N/m⋅s.
d	const double	The derivative gain. Must be in units of N⋅s/m.
fc	const double	The cutoff frequency. Must be in units of Hz.

Return Value

PidTuning The PID representation of the current tuning after your changes have been applied.

setSimpleTuning()

M

servoTuner.setSimpleTuning(paramset, tuningParams, loadMass, carriageMass = -1.0)
servoTuner.setSimpleTuning(paramset, tuningParams, loadMass, ServoTuner::SetSimpleTuningOptions options)

Set the tuning of this device using the simple input method.

Arguments

Name	Type	Description
paramset	const ServoTuningParamset	The paramset to set tuning for.
tuningParams	const std::vector<ServoTuningParam>&	The params used to tune this device. To get what parameters are expected, call GetSimpleTuningParamList. All values must be between 0 and 1.
loadMass	const double	The mass loaded on the stage (excluding the mass of the carriage itself) in kg.
carriageMass	const double	The mass of the carriage in kg. If this value is not set the default carriage mass is used.

ServoTuner::SetSimpleTuningOptions

Name	Type	Default	Description
carriageMass	const double	-1.0	The mass of the carriage in kg. If this value is not set the default carriage mass is used.

setStartupParamset()

M

servoTuner.setStartupParamset(paramset)

Set the paramset that this device uses by default when it starts up.

Arguments

Name	Type	Description
paramset	const ServoTuningParamset	The paramset to use at startup.

setTuning()

M

servoTuner.setTuning(paramset, tuningParams)

Set individual tuning parameters. Only use this method if you have a strong understanding of Zaber specific tuning parameters.

Arguments

Name	Type	Description
paramset	const ServoTuningParamset	The paramset to set tuning of.
tuningParams	const std::vector<ServoTuningParam>&	The params to set.

ServoTuningParam

A parameter used to establish the servo tuning of an axis.

To use this type, add #include <zaber/motion/ascii/servo_tuning_param.h> to the top of your source code.

name

P

servoTuningParam.getName()

std::string The name of the parameter to set.

value

P

servoTuningParam.getValue()

double The value to use for this parameter.

ServoTuningParamset

Servo Tuning Parameter Set to target.

To use this type, add #include <zaber/motion/ascii/servo_tuning_paramset.h> to the top of your source code.

Member	Numeric value
ServoTuningParamset::LIVE	0
ServoTuningParamset::P_1	1
ServoTuningParamset::P_2	2
ServoTuningParamset::P_3	3
ServoTuningParamset::P_4	4
ServoTuningParamset::P_5	5
ServoTuningParamset::P_6	6
ServoTuningParamset::P_7	7
ServoTuningParamset::P_8	8
ServoTuningParamset::P_9	9
ServoTuningParamset::STAGING	10
ServoTuningParamset::DEFAULT	11

SetDeviceStateExceptionData

Contains additional data for a SetDeviceStateFailedException.

To use this type, add #include <zaber/motion/exceptions/set_device_state_exception_data.h> to the top of your source code.

peripherals

P

setDeviceStateExceptionData.getPeripherals()

std::vector<SetPeripheralStateExceptionData> Errors for any peripherals that could not be set.

servoTuning

P

setDeviceStateExceptionData.getServoTuning()

std::string The reason servo tuning could not be set.

settings

P

setDeviceStateExceptionData.getSettings()

std::vector<std::string> A list of settings which could not be set.

storage

P

setDeviceStateExceptionData.getStorage()

std::vector<std::string> The reasons storage could not be set.

storedPositions

P

setDeviceStateExceptionData.getStoredPositions()

std::vector<std::string> The reasons stored positions could not be set.

streamBuffers

P

setDeviceStateExceptionData.getStreamBuffers()

std::vector<std::string> The reason the stream buffers could not be set.

triggers

P

setDeviceStateExceptionData.getTriggers()

std::vector<std::string> The reason the triggers could not be set.

SetPeripheralStateExceptionData

Contains additional data for a SetPeripheralStateFailedException.

To use this type, add #include <zaber/motion/exceptions/set_peripheral_state_exception_data.h> to the top of your source code.

axisNumber

P

setPeripheralStateExceptionData.getAxisNumber()

int The number of axis where the exception originated.

servoTuning

P

setPeripheralStateExceptionData.getServoTuning()

std::string The reason servo tuning could not be set.

settings

P

setPeripheralStateExceptionData.getSettings()

std::vector<std::string> A list of settings which could not be set.

storage

P

setPeripheralStateExceptionData.getStorage()

std::vector<std::string> The reasons storage could not be set.

storedPositions

P

setPeripheralStateExceptionData.getStoredPositions()

std::vector<std::string> The reasons stored positions could not be set.

SettingConstants

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

To use this type, add #include <zaber/motion/ascii/setting_constants.h> 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_STALL_ACTION	cloop.stall.action
SettingConstants::CLOOP_STALL_DETECT_MODE	cloop.stall.detect.mode
SettingConstants::CLOOP_STALL_TOLERANCE	cloop.stall.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_COMMAND_PACKETS_MAX	comm.command.packets.max
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_MAC	comm.en.mac
SettingConstants::COMM_EN_MDNS_ENABLE	comm.en.mdns.enable
SettingConstants::COMM_NEXT_OWNER	comm.next.owner
SettingConstants::COMM_PACKET_SIZE_MAX	comm.packet.size.max
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::COMM_WORD_SIZE_MAX	comm.word.size.max
SettingConstants::DEVICE_HW_MODIFIED	device.hw.modified
SettingConstants::DEVICE_ID	device.id
SettingConstants::DEVICE_ID_LEGACY	deviceid
SettingConstants::DRIVER_CURRENT_CONTINUOUS	driver.current.continuous
SettingConstants::DRIVER_CURRENT_CONTINUOUS_MAX	driver.current.continuous.max
SettingConstants::DRIVER_CURRENT_HOLD	driver.current.hold
SettingConstants::DRIVER_CURRENT_MAX	driver.current.max
SettingConstants::DRIVER_CURRENT_OVERDRIVE	driver.current.overdrive
SettingConstants::DRIVER_CURRENT_OVERDRIVE_DURATION	driver.current.overdrive.duration
SettingConstants::DRIVER_CURRENT_OVERDRIVE_MAX	driver.current.overdrive.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_I_2_T_MEASURED	driver.i2t.measured
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_OUT_ENABLE	encoder.2.out.enable
SettingConstants::ENCODER_2_OUT_INTERPOLATION	encoder.2.out.interpolation
SettingConstants::ENCODER_2_OUT_WIDTH	encoder.2.out.width
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::ENCODER_VEL	encoder.vel
SettingConstants::FILTER_HOLDERID	filter.holderid
SettingConstants::FORCE_AVERAGE	force.average
SettingConstants::FORCE_MAX	force.max
SettingConstants::ICTRL_ADVANCE_A	ictrl.advance.a
SettingConstants::ICTRL_ADVANCE_OFFSET	ictrl.advance.offset
SettingConstants::ICTRL_AFCFF_INDUCTANCE	ictrl.afcff.inductance
SettingConstants::ICTRL_AFCFF_KE	ictrl.afcff.ke
SettingConstants::ICTRL_AFCFF_KI	ictrl.afcff.ki
SettingConstants::ICTRL_AFCFF_MAX	ictrl.afcff.max
SettingConstants::ICTRL_AFCFF_SS	ictrl.afcff.ss
SettingConstants::ICTRL_AFCFF_SS_MAX	ictrl.afcff.ss.max
SettingConstants::ICTRL_DELAY	ictrl.delay
SettingConstants::ICTRL_FF_KD	ictrl.ff.kd
SettingConstants::ICTRL_FF_KP	ictrl.ff.kp
SettingConstants::ICTRL_GAIN_COLDMULT	ictrl.gain.coldmult
SettingConstants::ICTRL_PERIOD	ictrl.period
SettingConstants::ICTRL_PI_KI	ictrl.pi.ki
SettingConstants::ICTRL_PI_KP	ictrl.pi.kp
SettingConstants::ICTRL_TYPE	ictrl.type
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_OFFSET	limit.away.offset
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_OFFSET	limit.c.offset
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_OFFSET	limit.home.offset
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_CONTINUOUS_MAX	motor.current.continuous.max
SettingConstants::MOTOR_CURRENT_MAX	motor.current.max
SettingConstants::MOTOR_CURRENT_OVERDRIVE_DURATION	motor.current.overdrive.duration
SettingConstants::MOTOR_CURRENT_OVERDRIVE_MAX	motor.current.overdrive.max
SettingConstants::MOTOR_I_2_T_MEASURED	motor.i2t.measured
SettingConstants::MOTOR_INDUCTANCE	motor.inductance
SettingConstants::MOTOR_KE	motor.ke
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_LEGACY	peripheralid
SettingConstants::PERIPHERAL_ID_PENDING	peripheral.id.pending
SettingConstants::PERIPHERAL_SERIAL	peripheral.serial
SettingConstants::PERIPHERAL_SERIAL_PENDING	peripheral.serial.pending
SettingConstants::POS	pos
SettingConstants::RESOLUTION	resolution
SettingConstants::SCOPE_CHANNEL_SIZE	scope.channel.size
SettingConstants::SCOPE_CHANNEL_SIZE_MAX	scope.channel.size.max
SettingConstants::SCOPE_DELAY	scope.delay
SettingConstants::SCOPE_NUMCHANNELS	scope.numchannels
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_CURRENT_MAX	system.current.max
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

SimpleTuningParamDefinition

Information about a parameter used for the simple tuning method.

To use this type, add #include <zaber/motion/ascii/simple_tuning_param_definition.h> to the top of your source code.

dataType

P

simpleTuningParamDefinition.getDataType()

std::string How this parameter will be parsed by the tuner.

maxLabel

P

simpleTuningParamDefinition.getMaxLabel()

std::string The human readable description of the effect of a higher value on this setting.

minLabel

P

simpleTuningParamDefinition.getMinLabel()

std::string The human readable description of the effect of a lower value on this setting.

name

P

simpleTuningParamDefinition.getName()

std::string The name of the parameter.

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 #include <zaber/motion/ascii/stream.h> to the top of your source code.

axes

P

stream.getAxes()

std::vector<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()

int The number that identifies the stream on the device.

arcAbsolute()

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	const RotationDirection	The direction of the rotation.
centerX	const Measurement&	The first dimensions of the position of the center of the circle on which the arc exists.
centerY	const Measurement&	The second dimensions of the position of the center of the circle on which the arc exists.
endX	const Measurement&	The first dimensions of the end position of the arc.
endY	const Measurement&	The second dimensions of the end position of the arc.

arcAbsoluteOn()

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. Requires at least Firmware 7.11.

Arguments

Name	Type	Description
targetAxesIndices	const std::vector<int>&	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	const RotationDirection	The direction of the rotation.
centerX	const Measurement&	The first dimensions of the position of the center of the circle on which the arc exists.
centerY	const Measurement&	The second dimensions of the position of the center of the circle on which the arc exists.
endX	const Measurement&	The first dimensions of the end position of the arc.
endY	const Measurement&	The second dimensions of the end position of the arc.

arcRelative()

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	const RotationDirection	The direction of the rotation.
centerX	const Measurement&	The first dimensions of the position of the center of the circle on which the arc exists.
centerY	const Measurement&	The second dimensions of the position of the center of the circle on which the arc exists.
endX	const Measurement&	The first dimensions of the end position of the arc.
endY	const Measurement&	The second dimensions of the end position of the arc.

arcRelativeOn()

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. Requires at least Firmware 7.11.

Arguments

Name	Type	Description
targetAxesIndices	const std::vector<int>&	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	const RotationDirection	The direction of the rotation.
centerX	const Measurement&	The first dimensions of the position of the center of the circle on which the arc exists.
centerY	const Measurement&	The second dimensions of the position of the center of the circle on which the arc exists.
endX	const Measurement&	The first dimensions of the end position of the arc.
endY	const Measurement&	The second dimensions of the end position of the arc.

call()

M

stream.call(streamBuffer)

Append the actions in a stream buffer to the queue.

Arguments

Name	Type	Description
streamBuffer	const StreamBuffer&	The stream buffer to call.

checkDisabled()

M

stream.checkDisabled()

Queries the stream status from the device and returns boolean indicating whether the stream is disabled. Useful to determine if streaming was interrupted by other movements.

Arguments

No arguments

Return Value

bool True if the stream is disabled.

circleAbsolute()

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	const RotationDirection	The direction of the rotation.
centerX	const Measurement&	The first dimension of the position of the center of the circle.
centerY	const Measurement&	The second dimension of the position of the center of the circle.

circleAbsoluteOn()

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. Requires at least Firmware 7.11.

Arguments

Name	Type	Description
targetAxesIndices	const std::vector<int>&	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	const RotationDirection	The direction of the rotation.
centerX	const Measurement&	The first dimension of the position of the center of the circle.
centerY	const Measurement&	The second dimension of the position of the center of the circle.

circleRelative()

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	const RotationDirection	The direction of the rotation.
centerX	const Measurement&	The first dimension of the position of the center of the circle.
centerY	const Measurement&	The second dimension of the position of the center of the circle.

circleRelativeOn()

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. Requires at least Firmware 7.11.

Arguments

Name	Type	Description
targetAxesIndices	const std::vector<int>&	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	const RotationDirection	The direction of the rotation.
centerX	const Measurement&	The first dimension of the position of the center of the circle.
centerY	const Measurement&	The second dimension of the position of the center of the circle.

cork()

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()

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

genericCommand()

M

stream.genericCommand(command)

Sends a generic ASCII command to the stream. Keeps resending the command while the device rejects with AGAIN reason.

Arguments

Name	Type	Description
command	const std::string&	Command and its parameters.

genericCommandBatch()

M

stream.genericCommandBatch(batch)

Sends a batch of generic ASCII commands to the stream. Keeps resending command while the device rejects with AGAIN reason. The batch is atomic in terms of thread safety.

Arguments

Name	Type	Description
batch	const std::vector<std::string>&	Array of commands.

getMaxCentripetalAcceleration()

M

stream.getMaxCentripetalAcceleration(unit = Units::NATIVE)

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

Arguments

Name	Type	Description
unit	const Units	Units of acceleration.

Return Value

double The maximum centripetal acceleration of the live stream.

getMaxSpeed()

M

stream.getMaxSpeed(unit = Units::NATIVE)

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

Arguments

Name	Type	Description
unit	const Units	Units of velocity.

Return Value

double The maximum speed of the stream.

getMaxTangentialAcceleration()

M

stream.getMaxTangentialAcceleration(unit = Units::NATIVE)

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

Arguments

Name	Type	Description
unit	const Units	Units of acceleration.

Return Value

double The maximum tangential acceleration of the live stream.

isBusy()

M

stream.isBusy()

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

Arguments

No arguments

Return Value

bool True if the stream is executing a queued action.

lineAbsolute()

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()

M

stream.lineAbsoluteOn(targetAxesIndices, endpoint)

Queue an absolute line movement in the stream, targeting a subset of the stream axes. Requires at least Firmware 7.11.

Arguments

Name	Type	Description
targetAxesIndices	const std::vector<int>&	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	const std::vector<Measurement>&	Positions for the axes to move to, relative to their home positions.

lineRelative()

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()

M

stream.lineRelativeOn(targetAxesIndices, endpoint)

Queue a relative line movement in the stream, targeting a subset of the stream axes. Requires at least Firmware 7.11.

Arguments

Name	Type	Description
targetAxesIndices	const std::vector<int>&	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	const std::vector<Measurement>&	Positions for the axes to move to, relative to their positions before movement.

setAllAnalogOutputs()

M

stream.setAllAnalogOutputs(values)

Sets values for all analog output channels.

Arguments

Name	Type	Description
values	const std::vector<double>&	Voltage values to set the output channels to.

setAllDigitalOutputs()

M

stream.setAllDigitalOutputs(values)

Sets values for all digital output channels.

Arguments

Name	Type	Description
values	const std::vector<bool>&	True to set the output channel to conducting and false to turn it off.

setAnalogOutput()

M

stream.setAnalogOutput(channelNumber, value)

Set the value of an analog output channel.

Arguments

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

setDigitalOutput()

M

stream.setDigitalOutput(channelNumber, value)

Set the value of a digital output channel.

Arguments

Name	Type	Description
channelNumber	const int	The number of the digital output channel. Channel numbers are numbered from one.
value	const bool	The value to set the channel to.

setMaxCentripetalAcceleration()

M

stream.setMaxCentripetalAcceleration(maxCentripetalAcceleration, unit = Units::NATIVE)

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

Arguments

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

setMaxSpeed()

M

stream.setMaxSpeed(maxSpeed, unit = Units::NATIVE)

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

Arguments

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

setMaxTangentialAcceleration()

M

stream.setMaxTangentialAcceleration(maxTangentialAcceleration, unit = Units::NATIVE)

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

Arguments

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

setupLive()

M

stream.setupLive(&...axes)

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

Arguments

Name	Type	Description
&...axes	int	Numbers of physical axes to setup the stream on.

setupLiveComposite()

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()

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	const StreamBuffer&	The stream buffer to queue actions in.
&...axes	int	Numbers of physical axes to setup the stream on.

setupStoreArbitraryAxes()

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	const StreamBuffer&	The stream buffer to queue actions in.
axesCount	const int	The number of axes in the stream.

setupStoreComposite()

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	const StreamBuffer&	The stream buffer to queue actions in.
&...axes	StreamAxisDefinition	Definition of the stream axes.

toggleDigitalOutput()

M

stream.toggleDigitalOutput(channelNumber)

Toggle the value of a digital output channel.

Arguments

Name	Type	Description
channelNumber	const int	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

std::string String which represents the stream.

uncork()

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()

M

stream.wait(time, unit = Units::NATIVE)

Wait a specified time.

Arguments

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

waitAnalogInput()

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	const int	The number of the analog input channel. Channel numbers are numbered from one.
condition	const std::string&	A condition (e.g. <, <=, ==, !=).
value	const double	The value that the condition concerns, in volts.

waitDigitalInput()

M

stream.waitDigitalInput(channelNumber, value)

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

Arguments

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

waitUntilIdle()

M

stream.waitUntilIdle(throwErrorOnFault = true)
stream.waitUntilIdle(Stream::WaitUntilIdleOptions options)

Waits until the live stream executes all queued actions.

Arguments

Name	Type	Description
throwErrorOnFault	const bool	Determines whether to throw error when fault is observed.

Stream::WaitUntilIdleOptions

Name	Type	Default	Description
throwErrorOnFault	const bool	true	Determines whether to throw error when fault is observed.

StreamAxisDefinition

Defines an axis of the stream.

To use this type, add #include <zaber/motion/ascii/stream_axis_definition.h> to the top of your source code.

axisNumber

P

streamAxisDefinition.getAxisNumber()

int 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 #include <zaber/motion/ascii/stream_axis_type.h> 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 #include <zaber/motion/ascii/stream_buffer.h> to the top of your source code.

bufferId

P

streamBuffer.getBufferId()

int The number identifying the buffer on the device.

device

P

streamBuffer.getDevice()

Device The Device this buffer exists on.

erase()

M

streamBuffer.erase()

Erase the contents of the buffer. This method fails if there is a stream writing to the buffer.

Arguments

No arguments

getContent()

M

streamBuffer.getContent()

Get the buffer contents as an array of strings.

Arguments

No arguments

Return Value

std::vector<std::string> A string array containing all the stream commands stored in the buffer.

StreamExecutionExceptionData

Contains additional data for StreamExecutionException.

To use this type, add #include <zaber/motion/exceptions/stream_execution_exception_data.h> to the top of your source code.

errorFlag

P

streamExecutionExceptionData.getErrorFlag()

std::string The error flag that caused the exception.

reason

P

streamExecutionExceptionData.getReason()

std::string The reason for the exception.

StreamMode

Mode of a stream.

To use this type, add #include <zaber/motion/ascii/stream_mode.h> 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 #include <zaber/motion/exceptions/stream_movement_failed_exception_data.h> to the top of your source code.

reason

P

streamMovementFailedExceptionData.getReason()

std::string The reason for the Exception.

warnings

P

streamMovementFailedExceptionData.getWarnings()

std::vector<std::string> The full list of warnings.

StreamMovementInterruptedExceptionData

Contains additional data for StreamMovementInterruptedException.

To use this type, add #include <zaber/motion/exceptions/stream_movement_interrupted_exception_data.h> to the top of your source code.

reason

P

streamMovementInterruptedExceptionData.getReason()

std::string The reason for the Exception.

warnings

P

streamMovementInterruptedExceptionData.getWarnings()

std::vector<std::string> The full list of warnings.

Tools

Class providing various utility functions.

To use this type, add #include <zaber/motion/tools.h> to the top of your source code.

getMessageRouterPipePath()

S

Tools.getMessageRouterPipePath()

Returns path of message router named pipe on Windows or file path of unix domain socket on UNIX.

Arguments

No arguments

Return Value

std::string Path of message router's named pipe or unix domain socket.

listSerialPorts()

S

Tools.listSerialPorts()

Lists all serial ports on the computer.

Arguments

No arguments

Return Value

std::vector<std::string> Array of serial port names.

TranslateMessage

Represents a message from translator regarding a block translation.

To use this type, add #include <zaber/motion/gcode/translate_message.h> to the top of your source code.

fromBlock

P

translateMessage.getFromBlock()

int The index in the block string that the message regards to.

message

P

translateMessage.getMessage()

std::string The message describing an occurrence.

toBlock

P

translateMessage.getToBlock()

int The end index in the block string that the message regards to. The end index is exclusive.

TranslateResult

Represents a result of a G-code block translation.

To use this type, add #include <zaber/motion/gcode/translate_result.h> to the top of your source code.

commands

P

translateResult.getCommands()

std::vector<std::string> Stream commands resulting from the block.

warnings

P

translateResult.getWarnings()

std::vector<TranslateMessage> Messages informing about unsupported codes and features.

Translator

Represents a live G-Code translator. It allows to stream G-Code blocks to a connected device. It requires a stream to be setup on the device. Requires at least Firmware 7.11.

To use this type, add #include <zaber/motion/gcode/translator.h> to the top of your source code.

coordinateSystem

P

translator.getCoordinateSystem()

std::string Current coordinate system.

translatorId

P

translator.getTranslatorId()

int The ID of the translator that serves to identify native resources.

flush()

M

translator.flush(waitUntilIdle = true)
translator.flush(Translator::FlushOptions options)

Flushes the remaining stream commands waiting in optimization buffer into the underlying stream. The flush is also performed by M2 and M30 codes.

Arguments

Name	Type	Description
waitUntilIdle	const bool	Determines whether to wait for the stream to finish all the movements.

Translator::FlushOptions

Name	Type	Default	Description
waitUntilIdle	const bool	true	Determines whether to wait for the stream to finish all the movements.

Return Value

std::vector<std::string> The remaining stream commands.

getAxisCoordinateSystemOffset()

M

translator.getAxisCoordinateSystemOffset(coordinateSystem, axis, unit)

Gets offset of an axis in a given coordinate system.

Arguments

Name	Type	Description
coordinateSystem	const std::string&	Coordinate system (e.g. G54).
axis	const std::string&	Letter of the axis.
unit	const Units	Units of position.

Return Value

double Offset in translator units of the axis.

getAxisPosition()

M

translator.getAxisPosition(axis, unit)

Gets position of translator's axis. This method does not query device but returns value from translator's state.

Arguments

Name	Type	Description
axis	const std::string&	Letter of the axis.
unit	const Units	Units of position.

Return Value

double Position of translator's axis.

resetAfterStreamError()

M

translator.resetAfterStreamError()

Resets internal state after device rejected generated command. Axis positions become uninitialized.

Arguments

No arguments

resetPosition()

M

translator.resetPosition()

Resets position of the translator from the underlying stream. Call this method after performing a movement outside of translator.

Arguments

No arguments

setAxisHomePosition()

M

translator.setAxisHomePosition(axis, position, unit)

Sets the home position of translator's axis. This position is used by G28.

Arguments

Name	Type	Description
axis	const std::string&	Letter of the axis.
position	const double	The home position.
unit	const Units	Units of position.

setAxisPosition()

M

translator.setAxisPosition(axis, position, unit)

Sets position of translator's axis. Use this method to set position after performing movement outside of the translator. This method does not cause any movement.

Arguments

Name	Type	Description
axis	const std::string&	Letter of the axis.
position	const double	The position.
unit	const Units	Units of position.

setAxisSecondaryHomePosition()

M

translator.setAxisSecondaryHomePosition(axis, position, unit)

Sets the secondary home position of translator's axis. This position is used by G30.

Arguments

Name	Type	Description
axis	const std::string&	Letter of the axis.
position	const double	The home position.
unit	const Units	Units of position.

setFeedRateOverride()

M

translator.setFeedRateOverride(coefficient)

Allows to scale feed rate of the translated code by a coefficient.

Arguments

Name	Type	Description
coefficient	const double	Coefficient of the original feed rate.

setTraverseRate()

M

translator.setTraverseRate(traverseRate, unit)

Sets the speed at which the device moves when traversing (G0).

Arguments

Name	Type	Description
traverseRate	const double	The traverse rate.
unit	const Units	Units of the traverse rate.

setup()

S

Translator.setup(stream, config = TranslatorConfig::getEmpty())

Sets up the translator on top of a provided stream.

Arguments

Name	Type	Description
stream	const Stream&	The stream to setup the translator on. The stream must be already setup in a live or a store mode.
config	const TranslatorConfig&	Configuration of the translator.

Return Value

Translator New instance of translator.

translate()

M

translator.translate(block)

Translates a single block (line) of G-code. The commands are queued in the underlying stream to ensure smooth continues movement. Returning of this method indicates that the commands are queued (not necessarily executed).

Arguments

Name	Type	Description
block	const std::string&	Block (line) of G-code.

Return Value

TranslateResult Result of translation containing the commands sent to the device.

TranslatorConfig

Configuration of a translator.

To use this type, add #include <zaber/motion/gcode/translator_config.h> to the top of your source code.

axisMappings

P

translatorConfig.getAxisMappings()

std::vector<AxisMapping> Optional custom mapping of translator axes to stream axes.

axisTransformations

P

translatorConfig.getAxisTransformations()

std::vector<AxisTransformation> Optional transformation of axes.

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 #include <zaber/motion/ascii/transport.h> to the top of your source code.

transportId

P

transport.getTransportId()

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

close()

M

transport.close()

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

Arguments

No arguments

closeWithError()

M

transport.closeWithError(errorMessage)

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

Arguments

Name	Type	Description
errorMessage	const std::string&	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()

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

std::string Message generated by the connection.

write()

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	const std::string&	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

---

Voltage

Constant	Unit
Units::VOLTAGE_VOLTS	Volts
Units::VOLTAGE_MILLIVOLTS	Millivolts
Units::VOLTAGE_MICROVOLTS	Microvolts

---

Current Controller Proportional Gain

Constant	Unit
Units::CURRENT_CONTROLLER_PROPORTIONAL_GAIN_VOLTS_PER_AMP	Volts per amp
Units::CURRENT_CONTROLLER_PROPORTIONAL_GAIN_MILLIVOLTS_PER_AMP	Millivolts per amp
Units::CURRENT_CONTROLLER_PROPORTIONAL_GAIN_MICROVOLTS_PER_AMP	Microvolts per amp

---

Current Controller Integral Gain

Constant	Unit
Units::CURRENT_CONTROLLER_INTEGRAL_GAIN_VOLTS_PER_AMP_PER_SECOND	Volts per amp per second
Units::CURRENT_CONTROLLER_INTEGRAL_GAIN_MILLIVOLTS_PER_AMP_PER_SECOND	Millivolts per amp per second
Units::CURRENT_CONTROLLER_INTEGRAL_GAIN_MICROVOLTS_PER_AMP_PER_SECOND	Microvolts per amp per second

---

Current Controller Derivative Gain

Constant	Unit
Units::CURRENT_CONTROLLER_DERIVATIVE_GAIN_VOLTS_SECOND_PER_AMP	Volts second per amp
Units::CURRENT_CONTROLLER_DERIVATIVE_GAIN_MILLIVOLTS_SECOND_PER_AMP	Millivolts second per amp
Units::CURRENT_CONTROLLER_DERIVATIVE_GAIN_MICROVOLTS_SECOND_PER_AMP	Microvolts second per amp

---

Resistance

Constant	Unit
Units::RESISTANCE_KILOOHMS	Kiloohms
Units::RESISTANCE_OHMS	Ohms
Units::RESISTANCE_MILLIOHMS	Milliohms
Units::RESISTANCE_MICROOHMS	Microohms
Units::RESISTANCE_NANOOHMS	Nanoohms

---

Inductance

Constant	Unit
Units::INDUCTANCE_HENRIES	Henries
Units::INDUCTANCE_MILLIHENRIES	Millihenries
Units::INDUCTANCE_MICROHENRIES	Microhenries
Units::INDUCTANCE_NANOHENRIES	Nanohenries

---

Voltage Constant

Constant	Unit
Units::VOLTAGE_CONSTANT_VOLT_SECONDS_PER_RADIAN	Volt seconds per radian
Units::VOLTAGE_CONSTANT_MILLIVOLT_SECONDS_PER_RADIAN	Millivolt seconds per radian
Units::VOLTAGE_CONSTANT_MICROVOLT_SECONDS_PER_RADIAN	Microvolt seconds per radian

UnknownResponseEvent

Reply that could not be matched to a request.

To use this type, add #include <zaber/motion/ascii/unknown_response_event.h> to the top of your source code.

axisNumber

P

unknownResponseEvent.getAxisNumber()

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

data

P

unknownResponseEvent.getData()

std::string Response data which varies depending on the request.

deviceAddress

P

unknownResponseEvent.getDeviceAddress()

int Number of the device that sent the message.

messageType

P

unknownResponseEvent.getMessageType()

MessageType Type of the reply received.

replyFlag

P

unknownResponseEvent.getReplyFlag()

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

status

P

unknownResponseEvent.getStatus()

std::string The device status contains BUSY when the axis is moving and IDLE otherwise.

warningFlag

P

unknownResponseEvent.getWarningFlag()

std::string The warning flag contains the highest priority warning currently active for the device or axis.

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 #include <zaber/motion/ascii/warning_flags.h> 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::FIRMWARE_UPDATE_MODE	NB
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::OVERDRIVE_LIMIT_EXCEEDED	FR
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 #include <zaber/motion/ascii/warnings.h> to the top of your source code.

clearFlags()

M

warnings.clearFlags()

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

Arguments

No arguments

Return Value

std::unordered_set<std::string> Warnings and faults before clearing. Refer to WarningFlags to check a particular flag.

getFlags()

M

warnings.getFlags()

Returns current warnings and faults on axis or device.

Arguments

No arguments

Return Value

std::unordered_set<std::string> Retrieved warnings and faults. Refer to WarningFlags to check a particular flag.