JavaScript

AlertEvent

Alert message received from the device.

To use this type, add const { ascii: { AlertEvent } } = require('@zaber/motion'); to the top of your source code.

axisNumber

P

alertEvent.axisNumber

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

data

P

alertEvent.data

string Response data which varies depending on the request.

deviceAddress

P

alertEvent.deviceAddress

number Number of the device that sent the message.

status

P

alertEvent.status

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

warningFlag

P

alertEvent.warningFlag

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 const { ascii: { AllAxes } } = require('@zaber/motion'); to the top of your source code.

device

P

allAxes.device

Device Device that controls this axis.

home()

Async M

await allAxes.home(options = {})

Homes all axes. Axes return to their homing positions.

Arguments

Name	Type	Description
options	AllAxes.HomeOptions	Options for home

HomeOptions

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

isBusy()

Async M

await allAxes.isBusy()

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

Arguments

No arguments

Return Value

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

isHomed()

Async M

await allAxes.isHomed()

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

Arguments

No arguments

Return Value

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

park()

Async M

await allAxes.park()

Parks the device in anticipation of turning the power off. It can later be powered on, unparked, and moved without first having to home it.

Arguments

No arguments

stop()

Async M

await allAxes.stop(options = {})

Stops ongoing axes movement. Decelerates until zero speed.

Arguments

Name	Type	Description
options	AllAxes.StopOptions	Options for stop

StopOptions

Name	Type	Default	Description
waitUntilIdle	boolean	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

string A string that represents the axes.

unpark()

Async M

await allAxes.unpark()

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

Arguments

No arguments

waitUntilIdle()

Async M

await allAxes.waitUntilIdle(options = {})

Waits until all axes of device stop moving.

Arguments

Name	Type	Description
options	AllAxes.WaitUntilIdleOptions	Options for waitUntilIdle

WaitUntilIdleOptions

Name	Type	Default	Description
throwErrorOnFault	boolean	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 const { ascii: { Axis } } = require('@zaber/motion'); to the top of your source code.

axisNumber

P

axis.axisNumber

number The axis number identifies the axis on the device. The first axis has the number one.

axisType

P

axis.axisType

AxisType Determines the type of an axis and units it accepts.

device

P

axis.device

Device Device that controls this axis.

identity

P

axis.identity

AxisIdentity Identity of the axis.

isPeripheral

P

axis.isPeripheral

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

peripheralId

P

axis.peripheralId

number Unique ID of the peripheral hardware.

peripheralName

P

axis.peripheralName

string Name of the peripheral.

settings

P

axis.settings

AxisSettings Settings and properties of this axis.

storage

P

axis.storage

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

warnings

P

axis.warnings

Warnings Warnings and faults of this axis.

genericCommand()

Async M

await axis.genericCommand(command, options = {})

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

Arguments

Name	Type	Description
command	string	Command and its parameters.
options	Axis.GenericCommandOptions	Options for genericCommand

GenericCommandOptions

Name	Type	Default	Description
checkErrors	boolean	true	Controls whether to throw an exception when the device rejects the command.
timeout	number	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()

Async M

await axis.genericCommandMultiResponse(command, 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	string	Command and its parameters.
options	Axis.GenericCommandMultiResponseOptions	Options for genericCommandMultiResponse

GenericCommandMultiResponseOptions

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

Return Value

Response[] All responses to the command.

genericCommandNoResponse()

Async M

await 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	string	Command and its parameters.

getPosition()

Async M

await axis.getPosition(unit = Units.NATIVE)

Returns current axis position.

Arguments

Name	Type	Description
unit	Length | Angle | Native	Units of position.

Return Value

number Axis position.

getState()

Async M

await axis.getState()

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

Arguments

No arguments

Return Value

string A serialization of the current state of the axis.

home()

Async M

await axis.home(options = {})

Homes axis. Axis returns to its homing position.

Arguments

Name	Type	Description
options	Axis.HomeOptions	Options for home

HomeOptions

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

isBusy()

Async M

await axis.isBusy()

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

Arguments

No arguments

Return Value

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

isHomed()

Async M

await axis.isHomed()

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

Arguments

No arguments

Return Value

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

isParked()

Async M

await axis.isParked()

Returns bool indicating whether the axis is parked or not.

Arguments

No arguments

Return Value

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

moveAbsolute()

Async M

await axis.moveAbsolute(position, unit = Units.NATIVE, options = {})

Move axis to absolute position.

Arguments

Name	Type	Description
position	number	Absolute position.
unit	Length | Angle | Native	Units of position.
options	Axis.MoveAbsoluteOptions	Options for moveAbsolute

MoveAbsoluteOptions

Name	Type	Default	Description
waitUntilIdle	boolean	true	Determines whether function should return after the movement is finished or just started.
velocity	number	0	Movement velocity. Default value of 0 indicates that the maxspeed setting is used instead.
velocityUnit	Velocity | AngularVelocity | Native	Units.NATIVE	Units of velocity.
acceleration	number	0	Movement acceleration. Default value of 0 indicates that the accel setting is used instead.
accelerationUnit	Acceleration | AngularAcceleration | Native	Units.NATIVE	Units of acceleration.

moveMax()

Async M

await axis.moveMax(options = {})

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

Arguments

Name	Type	Description
options	Axis.MoveMaxOptions	Options for moveMax

MoveMaxOptions

Name	Type	Default	Description
waitUntilIdle	boolean	true	Determines whether function should return after the movement is finished or just started.
velocity	number	0	Movement velocity. Default value of 0 indicates that the maxspeed setting is used instead.
velocityUnit	Velocity | AngularVelocity | Native	Units.NATIVE	Units of velocity.
acceleration	number	0	Movement acceleration. Default value of 0 indicates that the accel setting is used instead.
accelerationUnit	Acceleration | AngularAcceleration | Native	Units.NATIVE	Units of acceleration.

moveMin()

Async M

await axis.moveMin(options = {})

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

Arguments

Name	Type	Description
options	Axis.MoveMinOptions	Options for moveMin

MoveMinOptions

Name	Type	Default	Description
waitUntilIdle	boolean	true	Determines whether function should return after the movement is finished or just started.
velocity	number	0	Movement velocity. Default value of 0 indicates that the maxspeed setting is used instead.
velocityUnit	Velocity | AngularVelocity | Native	Units.NATIVE	Units of velocity.
acceleration	number	0	Movement acceleration. Default value of 0 indicates that the accel setting is used instead.
accelerationUnit	Acceleration | AngularAcceleration | Native	Units.NATIVE	Units of acceleration.

moveRelative()

Async M

await axis.moveRelative(position, unit = Units.NATIVE, options = {})

Move axis to position relative to current position.

Arguments

Name	Type	Description
position	number	Relative position.
unit	Length | Angle | Native	Units of position.
options	Axis.MoveRelativeOptions	Options for moveRelative

MoveRelativeOptions

Name	Type	Default	Description
waitUntilIdle	boolean	true	Determines whether function should return after the movement is finished or just started.
velocity	number	0	Movement velocity. Default value of 0 indicates that the maxspeed setting is used instead.
velocityUnit	Velocity | AngularVelocity | Native	Units.NATIVE	Units of velocity.
acceleration	number	0	Movement acceleration. Default value of 0 indicates that the accel setting is used instead.
accelerationUnit	Acceleration | AngularAcceleration | Native	Units.NATIVE	Units of acceleration.

moveVelocity()

Async M

await axis.moveVelocity(velocity, unit = Units.NATIVE, options = {})

Begins to move axis at specified speed.

Arguments

Name	Type	Description
velocity	number	Movement velocity.
unit	Velocity | AngularVelocity | Native	Units of velocity.
options	Axis.MoveVelocityOptions	Options for moveVelocity

MoveVelocityOptions

Name	Type	Default	Description
acceleration	number	0	Movement acceleration. Default value of 0 indicates that the accel setting is used instead.
accelerationUnit	Acceleration | AngularAcceleration | Native	Units.NATIVE	Units of acceleration.

park()

Async M

await 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	string	Template of a command to prepare. Parameters are denoted by question marks.
...parameters	Measurement[]	Variable number of command parameters.

Return Value

string Command with converted parameters.

setState()

Async M

await axis.setState(state)

Applies a saved state to an axis.

Arguments

Name	Type	Description
state	string	The state object to apply to this axis.

stop()

Async M

await axis.stop(options = {})

Stops ongoing axis movement. Decelerates until zero speed.

Arguments

Name	Type	Description
options	Axis.StopOptions	Options for stop

StopOptions

Name	Type	Default	Description
waitUntilIdle	boolean	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

string A string that represents the axis.

unpark()

Async M

await axis.unpark()

Unparks axis. Axis will now be able to move.

Arguments

No arguments

waitUntilIdle()

Async M

await axis.waitUntilIdle(options = {})

Waits until axis stops moving.

Arguments

Name	Type	Description
options	Axis.WaitUntilIdleOptions	Options for waitUntilIdle

WaitUntilIdleOptions

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

AxisDefinition

Defines an axis of the translator.

To use this type, add const { gcode: { AxisDefinition } } = require('@zaber/motion'); to the top of your source code.

microstepResolution

P

axisDefinition.microstepResolution

number 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.peripheralId

number ID of the peripheral.

AxisIdentity

Representation of data gathered during axis identification.

To use this type, add const { ascii: { AxisIdentity } } = require('@zaber/motion'); to the top of your source code.

axisType

P

axisIdentity.axisType

AxisType Determines the type of an axis and units it accepts.

isModified

P

axisIdentity.isModified

boolean The peripheral has hardware modifications.

isPeripheral

P

axisIdentity.isPeripheral

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

peripheralId

P

axisIdentity.peripheralId

number Unique ID of the peripheral hardware.

peripheralName

P

axisIdentity.peripheralName

string Name of the peripheral.

AxisMapping

Maps a translator axis to a Zaber stream axis.

To use this type, add const { gcode: { AxisMapping } } = require('@zaber/motion'); to the top of your source code.

axisIndex

P

axisMapping.axisIndex

number Index of the stream axis.

axisLetter

P

axisMapping.axisLetter

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 const { ascii: { AxisSettings } } = require('@zaber/motion'); 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	string	Name of the setting.

Return Value

boolean 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	string	Name of the setting.
value	number	Value of the setting in Zaber native units.
unit	Units	Units to convert value to.

Return Value

number Setting value.

convertToNativeUnits()

M

axisSettings.convertToNativeUnits(setting, value, unit)

Convert arbitrary setting value to Zaber native units.

Arguments

Name	Type	Description
setting	string	Name of the setting.
value	number	Value of the setting in units specified by following argument.
unit	Units	Units of the value.

Return Value

number Setting value.

get()

Async M

await 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	string	Name of the setting.
unit	Units	Units of setting.

Return Value

number Setting value.

getDefault()

M

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

Returns the default value of a setting.

Arguments

Name	Type	Description
setting	string	Name of the setting.
unit	Units	Units of setting.

Return Value

number Default setting value.

getDefaultString()

M

axisSettings.getDefaultString(setting)

Returns the default value of a setting as a string.

Arguments

Name	Type	Description
setting	string	Name of the setting.

Return Value

string Default setting value.

getString()

Async M

await 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	string	Name of the setting.

Return Value

string Setting value.

set()

Async M

await 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	string	Name of the setting.
value	number	Value of the setting.
unit	Units	Units of setting.

setString()

Async M

await 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	string	Name of the setting.
value	string	Value of the setting.

AxisStorage

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

To use this type, add const { ascii: { AxisStorage } } = require('@zaber/motion'); to the top of your source code.

eraseKey()

Async M

await axisStorage.eraseKey(key)

Erases the axis value stored at the provided key.

Arguments

Name	Type	Description
key	string	Key to erase.

Return Value

boolean A boolean indicating if the key existed.

getBool()

Async M

await axisStorage.getBool(key)

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

Arguments

Name	Type	Description
key	string	Key to get the value at.

Return Value

boolean Stored value.

getNumber()

Async M

await axisStorage.getNumber(key)

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

Arguments

Name	Type	Description
key	string	Key to get the value at.

Return Value

number Stored value.

getString()

Async M

await axisStorage.getString(key, options = {})

Gets the axis value stored with the provided key.

Arguments

Name	Type	Description
key	string	Key to read the value of.
options	AxisStorage.GetStringOptions	Options for getString

GetStringOptions

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

Return Value

string Stored value.

keyExists()

Async M

await axisStorage.keyExists(key)

Determines whether a given key exists in axis storage.

Arguments

Name	Type	Description
key	string	Key which existence to determine.

Return Value

boolean True indicating that the key exists, false otherwise.

listKeys()

Async M

await axisStorage.listKeys(options = {})

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

Arguments

Name	Type	Description
options	AxisStorage.ListKeysOptions	Options for listKeys

ListKeysOptions

Name	Type	Default	Description
prefix	string	''	Optional key prefix.

Return Value

string[] Storage keys matching the given prefix.

setBool()

Async M

await axisStorage.setBool(key, value)

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

Arguments

Name	Type	Description
key	string	Key to set the value at.
value	boolean	Value to set.

setNumber()

Async M

await axisStorage.setNumber(key, value)

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

Arguments

Name	Type	Description
key	string	Key to set the value at.
value	number	Value to set.

setString()

Async M

await axisStorage.setString(key, value, options = {})

Sets the axis value stored at the provided key.

Arguments

Name	Type	Description
key	string	Key to set the value at.
value	string	Value to set.
options	AxisStorage.SetStringOptions	Options for setString

SetStringOptions

Name	Type	Default	Description
encode	boolean	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 const { gcode: { AxisTransformation } } = require('@zaber/motion'); to the top of your source code.

axisLetter

P

axisTransformation.axisLetter

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

scaling

P

axisTransformation.scaling

number Scaling factor.

translation

P

axisTransformation.translation

Measurement Translation distance.

AxisType

Denotes type of an axis and units it accepts.

To use this type, add const { ascii: { AxisType } } = require('@zaber/motion'); to the top of your source code.

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

BinaryCommandFailedExceptionData

Contains additional data for BinaryCommandFailedException.

To use this type, add const { BinaryCommandFailedExceptionData } = require('@zaber/motion'); to the top of your source code.

responseData

P

binaryCommandFailedExceptionData.responseData

number 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 const { ascii: { CanSetStateAxisResponse } } = require('@zaber/motion'); to the top of your source code.

axisNumber

P

canSetStateAxisResponse.axisNumber

number The number of the axis that cannot be set.

error

P

canSetStateAxisResponse.error

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 const { ascii: { CanSetStateDeviceResponse } } = require('@zaber/motion'); to the top of your source code.

axisErrors

P

canSetStateDeviceResponse.axisErrors

CanSetStateAxisResponse[] A list of errors that block setting state of device's axes.

error

P

canSetStateDeviceResponse.error

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

CommandFailedExceptionData

Contains additional data for CommandFailedException.

To use this type, add const { CommandFailedExceptionData } = require('@zaber/motion'); to the top of your source code.

replyFlag

P

commandFailedExceptionData.replyFlag

string The flags on the reply sent by the device.

responseData

P

commandFailedExceptionData.responseData

string The response data.

status

P

commandFailedExceptionData.status

string The current device status.

warningFlag

P

commandFailedExceptionData.warningFlag

string The current warning flag on the device.

CommandTooLongExceptionData

Information describing why the command could not fit.

To use this type, add const { CommandTooLongExceptionData } = require('@zaber/motion'); to the top of your source code.

fit

P

commandTooLongExceptionData.fit

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

packetSize

P

commandTooLongExceptionData.packetSize

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

packetsMax

P

commandTooLongExceptionData.packetsMax

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

remainder

P

commandTooLongExceptionData.remainder

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 const { ascii: { Connection } } = require('@zaber/motion'); to the top of your source code.

DEFAULT_BAUD_RATE

C

Connection.DEFAULT_BAUD_RATE

number Default baud rate for serial connections.

TCP_PORT_CHAIN

C

Connection.TCP_PORT_CHAIN

number 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

Connection.TCP_PORT_DEVICE_ONLY

number 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

connection.checksumEnabled

boolean Controls whether outgoing messages contain checksum.

defaultRequestTimeout

P

connection.defaultRequestTimeout

number The default timeout, in milliseconds, for a device to respond to a request. Setting the timeout to a too low value may cause request timeout exceptions.

interfaceId

P

connection.interfaceId

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

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()

Async M

await connection.close()

Close the connection.

Arguments

No arguments

detectDevices()

Async M

await connection.detectDevices(options = {})

Attempts to detect any devices present on this connection.

Arguments

Name	Type	Description
options	Connection.DetectDevicesOptions	Options for detectDevices

DetectDevicesOptions

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

Return Value

Device[] Array of detected devices.

disableAlerts()

Async M

await connection.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()

Async M

await connection.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()

Async M

await connection.genericCommand(command, options = {})

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

Arguments

Name	Type	Description
command	string	Command and its parameters.
options	Connection.GenericCommandOptions	Options for genericCommand

GenericCommandOptions

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

Async M

await connection.genericCommandMultiResponse(command, 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	string	Command and its parameters.
options	Connection.GenericCommandMultiResponseOptions	Options for genericCommandMultiResponse

GenericCommandMultiResponseOptions

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

Return Value

Response[] All responses to the command.

genericCommandNoResponse()

Async M

await connection.genericCommandNoResponse(command, 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	string	Command and its parameters.
options	Connection.GenericCommandNoResponseOptions	Options for genericCommandNoResponse

GenericCommandNoResponseOptions

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

getDevice()

M

connection.getDevice(deviceAddress)

Gets a Device class instance which allows you to control a particular device on this connection. Devices are numbered from 1.

Arguments

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

Return Value

Device Device instance.

homeAll()

Async M

await connection.homeAll(options = {})

Homes all of the devices on this connection.

Arguments

Name	Type	Description
options	Connection.HomeAllOptions	Options for homeAll

HomeAllOptions

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

Return Value

number[] The addresses of the devices that were homed by this command.

openCustom()

Async S

await Connection.openCustom(transport)

Opens a connection using a custom transport.

Arguments

Name	Type	Description
transport	Transport	The custom connection transport.

Return Value

Connection An object representing the connection.

openIot()

Async S

await Connection.openIot(cloudId, 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	string	The cloud ID to connect to.
options	Connection.OpenIotOptions	Options for openIot

OpenIotOptions

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

Return Value

Connection An object representing the connection.

openNetworkShare()

Async S

await 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	string	Hostname or IP address.
port	number	Port number.
connectionName	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()

Async S

await Connection.openSerialPort(portName, 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	string	Name of the port to open.
options	Connection.OpenSerialPortOptions	Options for openSerialPort

OpenSerialPortOptions

Name	Type	Default	Description
baudRate	number	Connection.DEFAULT_BAUD_RATE	Optional baud rate (defaults to 115200).
direct	boolean	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()

Async S

await Connection.openTcp(hostName, port = Connection.TCP_PORT_CHAIN)

Opens a TCP connection.

Arguments

Name	Type	Description
hostName	string	Hostname or IP address.
port	number	Optional port number (defaults to 55550).

Return Value

Connection An object representing the connection.

renumberDevices()

Async M

await connection.renumberDevices(options = {})

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

Arguments

Name	Type	Description
options	Connection.RenumberDevicesOptions	Options for renumberDevices

RenumberDevicesOptions

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

Return Value

number Total number of devices that responded to the renumber.

stopAll()

Async M

await connection.stopAll(options = {})

Stops all of the devices on this connection.

Arguments

Name	Type	Description
options	Connection.StopAllOptions	Options for stopAll

StopAllOptions

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

Return Value

number[] The addresses of the devices that were stopped by this command.

toString()

M

connection.toString()

Returns a string that represents the connection.

Arguments

No arguments

Return Value

string A string that represents the connection.

ConversionFactor

Represents unit conversion factor for a single dimension.

To use this type, add const { ascii: { ConversionFactor } } = require('@zaber/motion'); to the top of your source code.

setting

P

conversionFactor.setting

string Setting representing the dimension.

unit

P

conversionFactor.unit

Units Units of the value.

value

P

conversionFactor.value

number 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 const { ascii: { Device } } = require('@zaber/motion'); to the top of your source code.

allAxes

P

device.allAxes

AllAxes Virtual axis which allows you to target all axes of this device.

axisCount

P

device.axisCount

number Number of axes this device has.

connection

P

device.connection

Connection Connection of this device.

deviceAddress

P

device.deviceAddress

number The device address uniquely identifies the device on the connection. It can be configured or automatically assigned by the renumber command.

deviceId

P

device.deviceId

number Unique ID of the device hardware.

firmwareVersion

P

device.firmwareVersion

FirmwareVersion Version of the firmware.

identity

P

device.identity

DeviceIdentity Identity of the device.

io

P

device.io

DeviceIO I/O channels of this device.

isIdentified

P

device.isIdentified

boolean Indicates whether or not the device has been identified.

isIntegrated

P

device.isIntegrated

boolean The device is an integrated product.

name

P

device.name

string Name of the product.

oscilloscope

P

device.oscilloscope

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

serialNumber

P

device.serialNumber

number Serial number of the device.

settings

P

device.settings

DeviceSettings Settings and properties of this device.

storage

P

device.storage

DeviceStorage Key-value storage of this device.

warnings

P

device.warnings

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

genericCommand()

Async M

await device.genericCommand(command, options = {})

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

Arguments

Name	Type	Description
command	string	Command and its parameters.
options	Device.GenericCommandOptions	Options for genericCommand

GenericCommandOptions

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

Async M

await device.genericCommandMultiResponse(command, 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	string	Command and its parameters.
options	Device.GenericCommandMultiResponseOptions	Options for genericCommandMultiResponse

GenericCommandMultiResponseOptions

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

Return Value

Response[] All responses to the command.

genericCommandNoResponse()

Async M

await device.genericCommandNoResponse(command, 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	string	Command and its parameters.
options	Device.GenericCommandNoResponseOptions	Options for genericCommandNoResponse

GenericCommandNoResponseOptions

Name	Type	Default	Description
axis	number	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	number	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	number	The ID of the lockstep group to control. Lockstep group IDs start at one.

Return Value

Lockstep Lockstep instance.

getState()

Async M

await device.getState()

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

Arguments

No arguments

Return Value

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

Return Value

StreamBuffer StreamBuffer instance.

identify()

Async M

await 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	string	Template of a command to prepare. Parameters are denoted by question marks.
...parameters	Measurement[]	Variable number of command parameters.

Return Value

string Command with converted parameters.

setState()

Async M

await device.setState(state, options = {})

Applies a saved state to an axis.

Arguments

Name	Type	Description
state	string	The state object to apply to this axis.
options	Device.SetStateOptions	Options for setState

SetStateOptions

Name	Type	Default	Description
deviceOnly	boolean	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

string A string that represents the device.

DeviceAddressConflictExceptionData

Contains additional data for DeviceAddressConflictException.

To use this type, add const { DeviceAddressConflictExceptionData } = require('@zaber/motion'); to the top of your source code.

deviceAddresses

P

deviceAddressConflictExceptionData.deviceAddresses

number[] The full list of detected device addresses.

DeviceDbFailedExceptionData

Contains additional data for a DeviceDbFailedException.

To use this type, add const { DeviceDbFailedExceptionData } = require('@zaber/motion'); to the top of your source code.

code

P

deviceDbFailedExceptionData.code

string Code describing type of the error.

DeviceDbSourceType

Type of source of Device DB data.

To use this type, add const { DeviceDbSourceType } = require('@zaber/motion'); 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 const { gcode: { DeviceDefinition } } = require('@zaber/motion'); to the top of your source code.

axes

P

deviceDefinition.axes

AxisDefinition[] Applicable axes of the device.

deviceId

P

deviceDefinition.deviceId

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

maxSpeed

P

deviceDefinition.maxSpeed

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 const { ascii: { DeviceIdentity } } = require('@zaber/motion'); to the top of your source code.

axisCount

P

deviceIdentity.axisCount

number Number of axes this device has.

deviceId

P

deviceIdentity.deviceId

number Unique ID of the device hardware.

firmwareVersion

P

deviceIdentity.firmwareVersion

FirmwareVersion Version of the firmware.

isIntegrated

P

deviceIdentity.isIntegrated

boolean The device is an integrated product.

isModified

P

deviceIdentity.isModified

boolean The device has hardware modifications.

name

P

deviceIdentity.name

string Name of the product.

serialNumber

P

deviceIdentity.serialNumber

number Serial number of the device.

DeviceIO

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

To use this type, add const { ascii: { DeviceIO } } = require('@zaber/motion'); to the top of your source code.

getAllAnalogInputs()

Async M

await deviceIO.getAllAnalogInputs()

Returns the current values of all analog input channels.

Arguments

No arguments

Return Value

number[] Measurements of the voltage present on the input channels.

getAllAnalogOutputs()

Async M

await deviceIO.getAllAnalogOutputs()

Returns the current values of all analog output channels.

Arguments

No arguments

Return Value

number[] Measurements of voltage that the output channels are conducting.

getAllDigitalInputs()

Async M

await deviceIO.getAllDigitalInputs()

Returns the current values of all digital input channels.

Arguments

No arguments

Return Value

boolean[] True if voltage is present on the input channel and false otherwise.

getAllDigitalOutputs()

Async M

await deviceIO.getAllDigitalOutputs()

Returns the current values of all digital output channels.

Arguments

No arguments

Return Value

boolean[] True if the output channel is conducting and false otherwise.

getAnalogInput()

Async M

await deviceIO.getAnalogInput(channelNumber)

Returns the current value of the specified analog input channel.

Arguments

Name	Type	Description
channelNumber	number	Channel number starting at 1.

Return Value

number A measurementsof the voltage present on the input channel.

getAnalogOutput()

Async M

await deviceIO.getAnalogOutput(channelNumber)

Returns the current values of the specified analog output channel.

Arguments

Name	Type	Description
channelNumber	number	Channel number starting at 1.

Return Value

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

getChannelsInfo()

Async M

await deviceIO.getChannelsInfo()

Returns the number of I/O channels the device has.

Arguments

No arguments

Return Value

DeviceIOInfo An object containing the number of I/O channels the device has.

getDigitalInput()

Async M

await deviceIO.getDigitalInput(channelNumber)

Returns the current value of the specified digital input channel.

Arguments

Name	Type	Description
channelNumber	number	Channel number starting at 1.

Return Value

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

getDigitalOutput()

Async M

await deviceIO.getDigitalOutput(channelNumber)

Returns the current value of the specified digital output channel.

Arguments

Name	Type	Description
channelNumber	number	Channel number starting at 1.

Return Value

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

setAllAnalogOutputs()

Async M

await deviceIO.setAllAnalogOutputs(values)

Sets values for all analog output channels.

Arguments

Name	Type	Description
values	number[]	Voltage values to set the output channels to.

setAllDigitalOutputs()

Async M

await deviceIO.setAllDigitalOutputs(values)

Sets values for all digital output channels.

Arguments

Name	Type	Description
values	boolean[]	True to set the output channel to conducting and false to turn it off.

setAnalogOutput()

Async M

await deviceIO.setAnalogOutput(channelNumber, value)

Sets value for the specified analog output channel.

Arguments

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

setDigitalOutput()

Async M

await deviceIO.setDigitalOutput(channelNumber, value)

Sets value for the specified digital output channel.

Arguments

Name	Type	Description
channelNumber	number	Channel number starting at 1.
value	boolean	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 const { ascii: { DeviceIOInfo } } = require('@zaber/motion'); to the top of your source code.

numberAnalogInputs

P

deviceIOInfo.numberAnalogInputs

number Number of analog input channels.

numberAnalogOutputs

P

deviceIOInfo.numberAnalogOutputs

number Number of analog output channels.

numberDigitalInputs

P

deviceIOInfo.numberDigitalInputs

number Number of digital input channels.

numberDigitalOutputs

P

deviceIOInfo.numberDigitalOutputs

number Number of digital output channels.

DeviceSettings

Class providing access to various device settings and properties.

To use this type, add const { ascii: { DeviceSettings } } = require('@zaber/motion'); 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	string	Name of the setting.

Return Value

boolean 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	string	Name of the setting.
value	number	Value of the setting in Zaber native units.
unit	Units	Units to convert value to.

Return Value

number Setting value.

convertToNativeUnits()

M

deviceSettings.convertToNativeUnits(setting, value, unit)

Convert arbitrary setting value to Zaber native units.

Arguments

Name	Type	Description
setting	string	Name of the setting.
value	number	Value of the setting in units specified by following argument.
unit	Units	Units of the value.

Return Value

number Setting value.

get()

Async M

await 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	string	Name of the setting.
unit	Units	Units of setting.

Return Value

number Setting value.

getDefault()

M

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

Returns the default value of a setting.

Arguments

Name	Type	Description
setting	string	Name of the setting.
unit	Units	Units of setting.

Return Value

number Default setting value.

getDefaultString()

M

deviceSettings.getDefaultString(setting)

Returns the default value of a setting as a string.

Arguments

Name	Type	Description
setting	string	Name of the setting.

Return Value

string Default setting value.

getString()

Async M

await 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	string	Name of the setting.

Return Value

string Setting value.

set()

Async M

await 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	string	Name of the setting.
value	number	Value of the setting.
unit	Units	Units of setting.

setString()

Async M

await 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	string	Name of the setting.
value	string	Value of the setting.

DeviceStorage

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

To use this type, add const { ascii: { DeviceStorage } } = require('@zaber/motion'); to the top of your source code.

eraseKey()

Async M

await deviceStorage.eraseKey(key)

Erases the device value stored at the provided key.

Arguments

Name	Type	Description
key	string	Key to erase.

Return Value

boolean A boolean indicating if the key existed.

getBool()

Async M

await deviceStorage.getBool(key)

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

Arguments

Name	Type	Description
key	string	Key to get the value at.

Return Value

boolean Stored value.

getNumber()

Async M

await deviceStorage.getNumber(key)

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

Arguments

Name	Type	Description
key	string	Key to get the value at.

Return Value

number Stored value.

getString()

Async M

await deviceStorage.getString(key, options = {})

Gets the device value stored with the provided key.

Arguments

Name	Type	Description
key	string	Key to read the value of.
options	DeviceStorage.GetStringOptions	Options for getString

GetStringOptions

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

Return Value

string Stored value.

keyExists()

Async M

await deviceStorage.keyExists(key)

Determines whether a given key exists in device storage.

Arguments

Name	Type	Description
key	string	Key which existence to determine.

Return Value

boolean True indicating that the key exists, false otherwise.

listKeys()

Async M

await deviceStorage.listKeys(options = {})

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

Arguments

Name	Type	Description
options	DeviceStorage.ListKeysOptions	Options for listKeys

ListKeysOptions

Name	Type	Default	Description
prefix	string	''	Optional key prefix.

Return Value

string[] Storage keys matching the given prefix.

setBool()

Async M

await deviceStorage.setBool(key, value)

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

Arguments

Name	Type	Description
key	string	Key to set the value at.
value	boolean	Value to set.

setNumber()

Async M

await deviceStorage.setNumber(key, value)

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

Arguments

Name	Type	Description
key	string	Key to set the value at.
value	number	Value to set.

setString()

Async M

await deviceStorage.setString(key, value, options = {})

Sets the device value stored at the provided key.

Arguments

Name	Type	Description
key	string	Key to set the value at.
value	string	Value to set.
options	DeviceStorage.SetStringOptions	Options for setString

SetStringOptions

Name	Type	Default	Description
encode	boolean	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 const { FirmwareVersion } = require('@zaber/motion'); to the top of your source code.

build

P

firmwareVersion.build

number Build version number.

major

P

firmwareVersion.major

number Major version number.

minor

P

firmwareVersion.minor

number Minor version number.

GCodeExecutionExceptionData

Contains additional data for GCodeExecutionException.

To use this type, add const { GCodeExecutionExceptionData } = require('@zaber/motion'); to the top of your source code.

fromBlock

P

gCodeExecutionExceptionData.fromBlock

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

toBlock

P

gCodeExecutionExceptionData.toBlock

number 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 const { GCodeSyntaxExceptionData } = require('@zaber/motion'); to the top of your source code.

fromBlock

P

gCodeSyntaxExceptionData.fromBlock

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

toBlock

P

gCodeSyntaxExceptionData.toBlock

number 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 const { InvalidPacketExceptionData } = require('@zaber/motion'); to the top of your source code.

packet

P

invalidPacketExceptionData.packet

string The invalid packet that caused the exception.

reason

P

invalidPacketExceptionData.reason

string The reason for the exception.

InvalidResponseExceptionData

Contains additional data for InvalidResponseException.

To use this type, add const { InvalidResponseExceptionData } = require('@zaber/motion'); to the top of your source code.

response

P

invalidResponseExceptionData.response

string The response data.

Library

Access class to general library information and configuration.

To use this type, add const { Library } = require('@zaber/motion'); 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	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	DeviceDbSourceType	Source type.
urlOrFilePath	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	LogOutputMode	Logging output mode.
filePath	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 const { ascii: { Lockstep } } = require('@zaber/motion'); to the top of your source code.

device

P

lockstep.device

Device Device that controls this lockstep group.

lockstepGroupId

P

lockstep.lockstepGroupId

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

disable()

Async M

await lockstep.disable()

Disable the lockstep group.

Arguments

No arguments

enable()

Async M

await lockstep.enable(...axes)

Activate the lockstep group on the axes specified.

Arguments

Name	Type	Description
...axes	number[]	The numbers of axes in the lockstep group.

getAxes()

Async M

Obsolete: Use GetAxisNumbers instead.

await lockstep.getAxes()

Gets the axes of the lockstep group.

Arguments

No arguments

Return Value

LockstepAxes LockstepAxes instance which contains the axes numbers of the lockstep group.

getAxisNumbers()

Async M

await lockstep.getAxisNumbers()

Gets the axis numbers of the lockstep group.

Arguments

No arguments

Return Value

number[] Axis numbers in order specified when enabling lockstep.

getOffsets()

Async M

await lockstep.getOffsets(unit = Units.NATIVE)

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

Arguments

Name	Type	Description
unit	Length | Angle | Native	Units of position.

Return Value

number[] Initial offset for each axis of the lockstep group.

getTwists()

Async M

await lockstep.getTwists(unit = Units.NATIVE)

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

Arguments

Name	Type	Description
unit	Length | Angle | Native	Units of position.

Return Value

number[] Difference between the initial offset and the actual offset for each axis of the lockstep group.

home()

Async M

await lockstep.home(options = {})

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

Arguments

Name	Type	Description
options	Lockstep.HomeOptions	Options for home

HomeOptions

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

isBusy()

Async M

await lockstep.isBusy()

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

Arguments

No arguments

Return Value

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

isEnabled()

Async M

await lockstep.isEnabled()

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

Arguments

No arguments

Return Value

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

moveAbsolute()

Async M

await lockstep.moveAbsolute(position, unit = Units.NATIVE, 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	number	Absolute position.
unit	Length | Angle | Native	Units of position.
options	Lockstep.MoveAbsoluteOptions	Options for moveAbsolute

MoveAbsoluteOptions

Name	Type	Default	Description
waitUntilIdle	boolean	true	Determines whether function should return after the movement is finished or just started.
velocity	number	0	Movement velocity. Default value of 0 indicates that the maxspeed setting is used instead.
velocityUnit	Velocity | AngularVelocity | Native	Units.NATIVE	Units of velocity.
acceleration	number	0	Movement acceleration. Default value of 0 indicates that the accel setting is used instead.
accelerationUnit	Acceleration | AngularAcceleration | Native	Units.NATIVE	Units of acceleration.

moveMax()

Async M

await lockstep.moveMax(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
options	Lockstep.MoveMaxOptions	Options for moveMax

MoveMaxOptions

Name	Type	Default	Description
waitUntilIdle	boolean	true	Determines whether function should return after the movement is finished or just started.
velocity	number	0	Movement velocity. Default value of 0 indicates that the maxspeed setting is used instead.
velocityUnit	Velocity | AngularVelocity | Native	Units.NATIVE	Units of velocity.
acceleration	number	0	Movement acceleration. Default value of 0 indicates that the accel setting is used instead.
accelerationUnit	Acceleration | AngularAcceleration | Native	Units.NATIVE	Units of acceleration.

moveMin()

Async M

await lockstep.moveMin(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
options	Lockstep.MoveMinOptions	Options for moveMin

MoveMinOptions

Name	Type	Default	Description
waitUntilIdle	boolean	true	Determines whether function should return after the movement is finished or just started.
velocity	number	0	Movement velocity. Default value of 0 indicates that the maxspeed setting is used instead.
velocityUnit	Velocity | AngularVelocity | Native	Units.NATIVE	Units of velocity.
acceleration	number	0	Movement acceleration. Default value of 0 indicates that the accel setting is used instead.
accelerationUnit	Acceleration | AngularAcceleration | Native	Units.NATIVE	Units of acceleration.

moveRelative()

Async M

await lockstep.moveRelative(position, unit = Units.NATIVE, 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	number	Relative position.
unit	Length | Angle | Native	Units of position.
options	Lockstep.MoveRelativeOptions	Options for moveRelative

MoveRelativeOptions

Name	Type	Default	Description
waitUntilIdle	boolean	true	Determines whether function should return after the movement is finished or just started.
velocity	number	0	Movement velocity. Default value of 0 indicates that the maxspeed setting is used instead.
velocityUnit	Velocity | AngularVelocity | Native	Units.NATIVE	Units of velocity.
acceleration	number	0	Movement acceleration. Default value of 0 indicates that the accel setting is used instead.
accelerationUnit	Acceleration | AngularAcceleration | Native	Units.NATIVE	Units of acceleration.

moveVelocity()

Async M

await lockstep.moveVelocity(velocity, unit = Units.NATIVE, 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	number	Movement velocity.
unit	Velocity | AngularVelocity | Native	Units of velocity.
options	Lockstep.MoveVelocityOptions	Options for moveVelocity

MoveVelocityOptions

Name	Type	Default	Description
acceleration	number	0	Movement acceleration. Default value of 0 indicates that the accel setting is used instead.
accelerationUnit	Acceleration | AngularAcceleration | Native	Units.NATIVE	Units of acceleration.

stop()

Async M

await lockstep.stop(options = {})

Stops ongoing lockstep group movement. Decelerates until zero speed.

Arguments

Name	Type	Description
options	Lockstep.StopOptions	Options for stop

StopOptions

Name	Type	Default	Description
waitUntilIdle	boolean	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

string String which represents the enabled lockstep group.

waitUntilIdle()

Async M

await lockstep.waitUntilIdle(options = {})

Waits until the lockstep group stops moving.

Arguments

Name	Type	Description
options	Lockstep.WaitUntilIdleOptions	Options for waitUntilIdle

WaitUntilIdleOptions

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

LockstepAxes

The axis numbers of a lockstep group.

To use this type, add const { ascii: { LockstepAxes } } = require('@zaber/motion'); to the top of your source code.

axis1

P

lockstepAxes.axis1

number The axis number used to set the first axis.

axis2

P

lockstepAxes.axis2

number The axis number used to set the second axis.

axis3

P

lockstepAxes.axis3

number The axis number used to set the third axis.

axis4

P

lockstepAxes.axis4

number The axis number used to set the fourth axis.

LogOutputMode

Mode of logging output of the library.

To use this type, add const { LogOutputMode } = require('@zaber/motion'); 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 const { Measurement } = require('@zaber/motion'); to the top of your source code.

unit

P

measurement.unit

Units Optional units of the measurement.

value

P

measurement.value

number Value of the measurement.

MessageType

Denotes type of the response message. For more information refer to: ASCII Protocol Manual.

To use this type, add const { ascii: { MessageType } } = require('@zaber/motion'); 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 const { MotionLibException } = require('@zaber/motion'); to the top of your source code.

details

P

motionLibException.details

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.message

string Error message of the exception.

toString()

M

motionLibException.toString()

Returns a string that represents the exception.

Arguments

No arguments

Return Value

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 const { MovementFailedExceptionData } = require('@zaber/motion'); to the top of your source code.

reason

P

movementFailedExceptionData.reason

string The reason for the Exception.

warnings

P

movementFailedExceptionData.warnings

string[] The full list of warnings.

MovementInterruptedExceptionData

Contains additional data for MovementInterruptedException.

To use this type, add const { MovementInterruptedExceptionData } = require('@zaber/motion'); to the top of your source code.

reason

P

movementInterruptedExceptionData.reason

string The reason for the Exception.

warnings

P

movementInterruptedExceptionData.warnings

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 const { gcode: { OfflineTranslator } } = require('@zaber/motion'); to the top of your source code.

coordinateSystem

P

offlineTranslator.coordinateSystem

string Current coordinate system.

translatorId

P

offlineTranslator.translatorId

number 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

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	string	Coordinate system (e.g. G54).
axis	string	Letter of the axis.
unit	Length | Angle | Native	Units of position.

Return Value

number 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	string	Letter of the axis.
unit	Length | Angle | Native	Units of position.

Return Value

number 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	string	Letter of the axis.
position	number	The home position.
unit	Length | Angle | Native	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	string	Letter of the axis.
position	number	The position.
unit	Length | Angle | Native	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	string	Letter of the axis.
position	number	The home position.
unit	Length | Angle | Native	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	number	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	number	The traverse rate.
unit	Velocity | AngularVelocity | Native	Units of the traverse rate.

setup()

Async S

await OfflineTranslator.setup(definition, config?)

Sets up translator from provided device definition and configuration.

Arguments

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

Return Value

OfflineTranslator New instance of translator.

setupFromDevice()

Async S

await OfflineTranslator.setupFromDevice(device, axes, config?)

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

Arguments

Name	Type	Description
device	Device	Device that later performs the command streaming.
axes	number[]	Axis numbers that are later used to setup the stream. For a lockstep group specify only the first axis of the group.
config?	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	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 const { ascii: { Oscilloscope } } = require('@zaber/motion'); to the top of your source code.

device

P

oscilloscope.device

Device Device that this Oscilloscope measures.

addChannel()

Async M

await oscilloscope.addChannel(axis, setting)

Select a setting to be recorded.

Arguments

Name	Type	Description
axis	number	The 1-based index of the axis to record the value from.
setting	string	The name of a setting to record.

clear()

Async M

await oscilloscope.clear()

Clear the list of channels to record.

Arguments

No arguments

getBufferSize()

Async M

await 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

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

getDelay()

Async M

await oscilloscope.getDelay(unit = Units.NATIVE)

Get the delay before oscilloscope recording starts.

Arguments

Name	Type	Description
unit	Time | Native	Unit of measure to represent the delay in.

Return Value

number The current start delay in the selected time units.

getMaxBufferSize()

Async M

await oscilloscope.getMaxBufferSize()

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

Arguments

No arguments

Return Value

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

getMaxChannels()

Async M

await oscilloscope.getMaxChannels()

Get the maximum number of channels that can be recorded.

Arguments

No arguments

Return Value

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

getTimebase()

Async M

await oscilloscope.getTimebase(unit = Units.NATIVE)

Get the current sampling interval.

Arguments

Name	Type	Description
unit	Time | Native	Unit of measure to represent the timebase in.

Return Value

number The current sampling interval in the selected time units.

read()

Async M

await oscilloscope.read()

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

Arguments

No arguments

Return Value

OscilloscopeData[] Array of recorded channel data arrays, in the order added.

setDelay()

Async M

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

Set the sampling start delay.

Arguments

Name	Type	Description
interval	number	Delay time between triggering a recording and the first data point being recorded.
unit	Time | Native	Unit of measure the delay is represented in.

setTimebase()

Async M

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

Set the sampling interval.

Arguments

Name	Type	Description
interval	number	Sample interval for the next oscilloscope recording. Minimum value is 100µs.
unit	Time | Native	Unit of measure the timebase is represented in.

start()

Async M

await oscilloscope.start(captureLength = 0)

Trigger data recording.

Arguments

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

stop()

Async M

await 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 const { ascii: { OscilloscopeCaptureProperties } } = require('@zaber/motion'); to the top of your source code.

axisNumber

P

oscilloscopeCaptureProperties.axisNumber

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

setting

P

oscilloscopeCaptureProperties.setting

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 const { ascii: { OscilloscopeData } } = require('@zaber/motion'); to the top of your source code.

axisNumber

P

oscilloscopeData.axisNumber

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

dataId

P

oscilloscopeData.dataId

number Unique ID for this block of recorded data.

setting

P

oscilloscopeData.setting

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	Units	Unit of measure to convert the data to.

Return Value

number[] 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	Time | Native	Unit of measure to represent the delay in.

Return Value

number 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	number	0-based index of the sample to calculate the time of.
unit	Time | Native	Unit of measure to represent the calculated time in.

Return Value

number 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	Time | Native	Unit of measure to represent the timebase in.

Return Value

number 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 const { ascii: { ParamsetInfo } } = require('@zaber/motion'); to the top of your source code.

params

P

paramsetInfo.params

ServoTuningParam[] The raw tuning parameters of this device.

type

P

paramsetInfo.type

string The tuning algorithm used for this axis.

version

P

paramsetInfo.version

number 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 const { ascii: { PidTuning } } = require('@zaber/motion'); to the top of your source code.

d

P

pidTuning.d

number The derivative tuning argument.

fc

P

pidTuning.fc

number The frequency cutoff for the tuning.

i

P

pidTuning.i

number The integral tuning argument.

p

P

pidTuning.p

number The positional tuning argument.

type

P

pidTuning.type

string The tuning algorithm used to tune this axis.

version

P

pidTuning.version

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

Response

Response message from the device.

To use this type, add const { ascii: { Response } } = require('@zaber/motion'); to the top of your source code.

axisNumber

P

response.axisNumber

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

data

P

response.data

string Response data which varies depending on the request.

deviceAddress

P

response.deviceAddress

number Number of the device that sent the message.

messageType

P

response.messageType

MessageType Type of the reply received.

replyFlag

P

response.replyFlag

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

status

P

response.status

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

warningFlag

P

response.warningFlag

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 const { RotationDirection } = require('@zaber/motion'); 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 const { ascii: { ServoTuner } } = require('@zaber/motion'); 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.axis

Axis The axis that will be tuned.

getPidTuning()

Async M

await servoTuner.getPidTuning(paramset)

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

Arguments

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

Return Value

PidTuning The PID representation of the current tuning.

getSimpleTuningParamDefinitions()

Async M

await servoTuner.getSimpleTuningParamDefinitions()

Gets the parameters that are required to tune this device.

Arguments

No arguments

Return Value

SimpleTuningParamDefinition[] The tuning parameters.

getStartupParamset()

Async M

await 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()

Async M

await servoTuner.getTuning(paramset)

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

Arguments

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

Return Value

ParamsetInfo The raw representation of the current tuning.

loadParamset()

Async M

await servoTuner.loadParamset(toParamset, fromParamset)

Load the values from one paramset into another.

Arguments

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

setPidTuning()

Async M

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

Sets the tuning of a paramset using the PID method.

Arguments

Name	Type	Description
paramset	ServoTuningParamset	The paramset to get tuning for.
p	number	The proportional gain. Must be in units of N/m.
i	number	The integral gain. Must be in units of N/m⋅s.
d	number	The derivative gain. Must be in units of N⋅s/m.
fc	number	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()

Async M

await servoTuner.setSimpleTuning(paramset, tuningParams, loadMass, options = {})

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

Arguments

Name	Type	Description
paramset	ServoTuningParamset	The paramset to set tuning for.
tuningParams	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	number	The mass loaded on the stage (excluding the mass of the carriage itself) in kg.
options	ServoTuner.SetSimpleTuningOptions	Options for setSimpleTuning

SetSimpleTuningOptions

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

setStartupParamset()

Async M

await servoTuner.setStartupParamset(paramset)

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

Arguments

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

setTuning()

Async M

await 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	ServoTuningParamset	The paramset to set tuning of.
tuningParams	ServoTuningParam[]	The params to set.

ServoTuningParam

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

To use this type, add const { ascii: { ServoTuningParam } } = require('@zaber/motion'); to the top of your source code.

name

P

servoTuningParam.name

string The name of the parameter to set.

value

P

servoTuningParam.value

number The value to use for this parameter.

ServoTuningParamset

Servo Tuning Parameter Set to target.

To use this type, add const { ascii: { ServoTuningParamset } } = require('@zaber/motion'); 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 const { SetDeviceStateExceptionData } = require('@zaber/motion'); to the top of your source code.

peripherals

P

setDeviceStateExceptionData.peripherals

SetPeripheralStateExceptionData[] Errors for any peripherals that could not be set.

servoTuning

P

setDeviceStateExceptionData.servoTuning

string The reason servo tuning could not be set.

settings

P

setDeviceStateExceptionData.settings

string[] A list of settings which could not be set.

storage

P

setDeviceStateExceptionData.storage

string[] The reasons storage could not be set.

storedPositions

P

setDeviceStateExceptionData.storedPositions

string[] The reasons stored positions could not be set.

streamBuffers

P

setDeviceStateExceptionData.streamBuffers

string[] The reason the stream buffers could not be set.

triggers

P

setDeviceStateExceptionData.triggers

string[] The reason the triggers could not be set.

SetPeripheralStateExceptionData

Contains additional data for a SetPeripheralStateFailedException.

To use this type, add const { SetPeripheralStateExceptionData } = require('@zaber/motion'); to the top of your source code.

axisNumber

P

setPeripheralStateExceptionData.axisNumber

number The number of axis where the exception originated.

servoTuning

P

setPeripheralStateExceptionData.servoTuning

string The reason servo tuning could not be set.

settings

P

setPeripheralStateExceptionData.settings

string[] A list of settings which could not be set.

storage

P

setPeripheralStateExceptionData.storage

string[] The reasons storage could not be set.

storedPositions

P

setPeripheralStateExceptionData.storedPositions

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 const { ascii: { SettingConstants } } = require('@zaber/motion'); 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 const { ascii: { SimpleTuningParamDefinition } } = require('@zaber/motion'); to the top of your source code.

dataType

P

simpleTuningParamDefinition.dataType

string How this parameter will be parsed by the tuner.

maxLabel

P

simpleTuningParamDefinition.maxLabel

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

minLabel

P

simpleTuningParamDefinition.minLabel

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

name

P

simpleTuningParamDefinition.name

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 const { ascii: { Stream } } = require('@zaber/motion'); to the top of your source code.

axes

P

stream.axes

StreamAxisDefinition[] An array of axes definitions the stream is set up to control.

device

P

stream.device

Device Device that controls this stream.

mode

P

stream.mode

StreamMode Current mode of the stream.

streamId

P

stream.streamId

number The number that identifies the stream on the device.

arcAbsolute()

Async M

await stream.arcAbsolute(rotationDirection, centerX, centerY, endX, endY)

Queue an absolute arc movement on the first two axes of the stream. Absolute meaning that the home positions of the axes is treated as the origin.

Arguments

Name	Type	Description
rotationDirection	RotationDirection	The direction of the rotation.
centerX	Measurement	The first dimensions of the position of the center of the circle on which the arc exists.
centerY	Measurement	The second dimensions of the position of the center of the circle on which the arc exists.
endX	Measurement	The first dimensions of the end position of the arc.
endY	Measurement	The second dimensions of the end position of the arc.

arcAbsoluteOn()

Async M

await 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	number[]	Indices of the axes in the stream the movement targets. Refers to the axes provided during the stream setup or further execution. Indices are zero-based.
rotationDirection	RotationDirection	The direction of the rotation.
centerX	Measurement	The first dimensions of the position of the center of the circle on which the arc exists.
centerY	Measurement	The second dimensions of the position of the center of the circle on which the arc exists.
endX	Measurement	The first dimensions of the end position of the arc.
endY	Measurement	The second dimensions of the end position of the arc.

arcRelative()

Async M

await stream.arcRelative(rotationDirection, centerX, centerY, endX, endY)

Queue a relative arc movement on the first two axes of the stream. Relative meaning that the current position of the axes is treated as the origin.

Arguments

Name	Type	Description
rotationDirection	RotationDirection	The direction of the rotation.
centerX	Measurement	The first dimensions of the position of the center of the circle on which the arc exists.
centerY	Measurement	The second dimensions of the position of the center of the circle on which the arc exists.
endX	Measurement	The first dimensions of the end position of the arc.
endY	Measurement	The second dimensions of the end position of the arc.

arcRelativeOn()

Async M

await 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	number[]	Indices of the axes in the stream the movement targets. Refers to the axes provided during the stream setup or further execution. Indices are zero-based.
rotationDirection	RotationDirection	The direction of the rotation.
centerX	Measurement	The first dimensions of the position of the center of the circle on which the arc exists.
centerY	Measurement	The second dimensions of the position of the center of the circle on which the arc exists.
endX	Measurement	The first dimensions of the end position of the arc.
endY	Measurement	The second dimensions of the end position of the arc.

call()

Async M

await stream.call(streamBuffer)

Append the actions in a stream buffer to the queue.

Arguments

Name	Type	Description
streamBuffer	StreamBuffer	The stream buffer to call.

checkDisabled()

Async M

await 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

boolean True if the stream is disabled.

circleAbsolute()

Async M

await stream.circleAbsolute(rotationDirection, centerX, centerY)

Queue an absolute circle movement on the first two axes of the stream. Absolute meaning that the home positions of the axes are treated as the origin.

Arguments

Name	Type	Description
rotationDirection	RotationDirection	The direction of the rotation.
centerX	Measurement	The first dimension of the position of the center of the circle.
centerY	Measurement	The second dimension of the position of the center of the circle.

circleAbsoluteOn()

Async M

await 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	number[]	Indices of the axes in the stream the movement targets. Refers to the axes provided during the stream setup or further execution. Indices are zero-based.
rotationDirection	RotationDirection	The direction of the rotation.
centerX	Measurement	The first dimension of the position of the center of the circle.
centerY	Measurement	The second dimension of the position of the center of the circle.

circleRelative()

Async M

await stream.circleRelative(rotationDirection, centerX, centerY)

Queue a relative circle movement on the first two axes of the stream. Relative meaning that the current position of the axes is treated as the origin.

Arguments

Name	Type	Description
rotationDirection	RotationDirection	The direction of the rotation.
centerX	Measurement	The first dimension of the position of the center of the circle.
centerY	Measurement	The second dimension of the position of the center of the circle.

circleRelativeOn()

Async M

await 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	number[]	Indices of the axes in the stream the movement targets. Refers to the axes provided during the stream setup or further execution. Indices are zero-based.
rotationDirection	RotationDirection	The direction of the rotation.
centerX	Measurement	The first dimension of the position of the center of the circle.
centerY	Measurement	The second dimension of the position of the center of the circle.

cork()

Async M

await stream.cork()

Cork the front of the stream's action queue, blocking execution. Execution resumes upon uncorking the queue, or when the number of queued actions reaches its limit. Corking eliminates discontinuities in motion due to subsequent stream commands reaching the device late. You can only cork an idle live stream.

Arguments

No arguments

disable()

Async M

await 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()

Async M

await 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	string	Command and its parameters.

genericCommandBatch()

Async M

await 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	string[]	Array of commands.

getMaxCentripetalAcceleration()

Async M

await 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	Acceleration | AngularAcceleration | Native	Units of acceleration.

Return Value

number The maximum centripetal acceleration of the live stream.

getMaxSpeed()

Async M

await 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	Velocity | AngularVelocity | Native	Units of velocity.

Return Value

number The maximum speed of the stream.

getMaxTangentialAcceleration()

Async M

await 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	Acceleration | AngularAcceleration | Native	Units of acceleration.

Return Value

number The maximum tangential acceleration of the live stream.

isBusy()

Async M

await stream.isBusy()

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

Arguments

No arguments

Return Value

boolean True if the stream is executing a queued action.

lineAbsolute()

Async M

await stream.lineAbsolute(...endpoint)

Queue an absolute line movement in the stream.

Arguments

Name	Type	Description
...endpoint	Measurement[]	Positions for the axes to move to, relative to their home positions.

lineAbsoluteOn()

Async M

await 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	number[]	Indices of the axes in the stream the movement targets. Refers to the axes provided during the stream setup or further execution. Indices are zero-based.
endpoint	Measurement[]	Positions for the axes to move to, relative to their home positions.

lineRelative()

Async M

await stream.lineRelative(...endpoint)

Queue a relative line movement in the stream.

Arguments

Name	Type	Description
...endpoint	Measurement[]	Positions for the axes to move to, relative to their positions before movement.

lineRelativeOn()

Async M

await 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	number[]	Indices of the axes in the stream the movement targets. Refers to the axes provided during the stream setup or further execution. Indices are zero-based.
endpoint	Measurement[]	Positions for the axes to move to, relative to their positions before movement.

setAllAnalogOutputs()

Async M

await stream.setAllAnalogOutputs(values)

Sets values for all analog output channels.

Arguments

Name	Type	Description
values	number[]	Voltage values to set the output channels to.

setAllDigitalOutputs()

Async M

await stream.setAllDigitalOutputs(values)

Sets values for all digital output channels.

Arguments

Name	Type	Description
values	boolean[]	True to set the output channel to conducting and false to turn it off.

setAnalogOutput()

Async M

await stream.setAnalogOutput(channelNumber, value)

Set the value of an analog output channel.

Arguments

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

setDigitalOutput()

Async M

await stream.setDigitalOutput(channelNumber, value)

Set the value of a digital output channel.

Arguments

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

setMaxCentripetalAcceleration()

Async M

await 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	number	Maximum centripetal acceleration at which any stream action is executed.
unit	Acceleration | AngularAcceleration | Native	Units of acceleration.

setMaxSpeed()

Async M

await 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	number	Maximum speed at which any stream action is executed.
unit	Velocity | AngularVelocity | Native	Units of velocity.

setMaxTangentialAcceleration()

Async M

await 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	number	Maximum tangential acceleration at which any stream action is executed.
unit	Acceleration | AngularAcceleration | Native	Units of acceleration.

setupLive()

Async M

await stream.setupLive(...axes)

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

Arguments

Name	Type	Description
...axes	number[]	Numbers of physical axes to setup the stream on.

setupLiveComposite()

Async M

await stream.setupLiveComposite(...axes)

Setup the stream to control the specified axes and to queue actions on the device. Allows use of lockstep axes in a stream.

Arguments

Name	Type	Description
...axes	StreamAxisDefinition[]	Definition of the stream axes.

setupStore()

Async M

await stream.setupStore(streamBuffer, ...axes)

Setup the stream to control the specified axes and queue actions into a stream buffer.

Arguments

Name	Type	Description
streamBuffer	StreamBuffer	The stream buffer to queue actions in.
...axes	number[]	Numbers of physical axes to setup the stream on.

setupStoreArbitraryAxes()

Async M

await stream.setupStoreArbitraryAxes(streamBuffer, axesCount)

Setup the stream to use a specified number of axes, and to queue actions in a stream buffer. Afterwards, you may call the resulting stream buffer on arbitrary axes. This mode does not allow for unit conversions.

Arguments

Name	Type	Description
streamBuffer	StreamBuffer	The stream buffer to queue actions in.
axesCount	number	The number of axes in the stream.

setupStoreComposite()

Async M

await stream.setupStoreComposite(streamBuffer, ...axes)

Setup the stream to control the specified axes and queue actions into a stream buffer. Allows use of lockstep axes in a stream.

Arguments

Name	Type	Description
streamBuffer	StreamBuffer	The stream buffer to queue actions in.
...axes	StreamAxisDefinition[]	Definition of the stream axes.

toggleDigitalOutput()

Async M

await stream.toggleDigitalOutput(channelNumber)

Toggle the value of a digital output channel.

Arguments

Name	Type	Description
channelNumber	number	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

string String which represents the stream.

uncork()

Async M

await stream.uncork()

Uncork the front of the queue, unblocking command execution. You can only uncork an idle live stream that is corked.

Arguments

No arguments

wait()

Async M

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

Wait a specified time.

Arguments

Name	Type	Description
time	number	Amount of time to wait.
unit	Time | Native	Units of time.

waitAnalogInput()

Async M

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

waitDigitalInput()

Async M

await stream.waitDigitalInput(channelNumber, value)

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

Arguments

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

waitUntilIdle()

Async M

await stream.waitUntilIdle(options = {})

Waits until the live stream executes all queued actions.

Arguments

Name	Type	Description
options	Stream.WaitUntilIdleOptions	Options for waitUntilIdle

WaitUntilIdleOptions

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

StreamAxisDefinition

Defines an axis of the stream.

To use this type, add const { ascii: { StreamAxisDefinition } } = require('@zaber/motion'); to the top of your source code.

axisNumber

P

streamAxisDefinition.axisNumber

number Number of a physical axis or a lockstep group.

axisType

P

streamAxisDefinition.axisType

StreamAxisType Defines the type of the axis.

StreamAxisType

Denotes type of the stream axis.

To use this type, add const { ascii: { StreamAxisType } } = require('@zaber/motion'); 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 const { ascii: { StreamBuffer } } = require('@zaber/motion'); to the top of your source code.

bufferId

P

streamBuffer.bufferId

number The number identifying the buffer on the device.

device

P

streamBuffer.device

Device The Device this buffer exists on.

erase()

Async M

await streamBuffer.erase()

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

Arguments

No arguments

getContent()

Async M

await streamBuffer.getContent()

Get the buffer contents as an array of strings.

Arguments

No arguments

Return Value

string[] A string array containing all the stream commands stored in the buffer.

StreamExecutionExceptionData

Contains additional data for StreamExecutionException.

To use this type, add const { StreamExecutionExceptionData } = require('@zaber/motion'); to the top of your source code.

errorFlag

P

streamExecutionExceptionData.errorFlag

string The error flag that caused the exception.

reason

P

streamExecutionExceptionData.reason

string The reason for the exception.

StreamMode

Mode of a stream.

To use this type, add const { ascii: { StreamMode } } = require('@zaber/motion'); 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 const { StreamMovementFailedExceptionData } = require('@zaber/motion'); to the top of your source code.

reason

P

streamMovementFailedExceptionData.reason

string The reason for the Exception.

warnings

P

streamMovementFailedExceptionData.warnings

string[] The full list of warnings.

StreamMovementInterruptedExceptionData

Contains additional data for StreamMovementInterruptedException.

To use this type, add const { StreamMovementInterruptedExceptionData } = require('@zaber/motion'); to the top of your source code.

reason

P

streamMovementInterruptedExceptionData.reason

string The reason for the Exception.

warnings

P

streamMovementInterruptedExceptionData.warnings

string[] The full list of warnings.

Tools

Class providing various utility functions.

To use this type, add const { Tools } = require('@zaber/motion'); 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

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

listSerialPorts()

Async S

await Tools.listSerialPorts()

Lists all serial ports on the computer.

Arguments

No arguments

Return Value

string[] Array of serial port names.

TranslateMessage

Represents a message from translator regarding a block translation.

To use this type, add const { gcode: { TranslateMessage } } = require('@zaber/motion'); to the top of your source code.

fromBlock

P

translateMessage.fromBlock

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

message

P

translateMessage.message

string The message describing an occurrence.

toBlock

P

translateMessage.toBlock

number 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 const { gcode: { TranslateResult } } = require('@zaber/motion'); to the top of your source code.

commands

P

translateResult.commands

string[] Stream commands resulting from the block.

warnings

P

translateResult.warnings

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 const { gcode: { Translator } } = require('@zaber/motion'); to the top of your source code.

coordinateSystem

P

translator.coordinateSystem

string Current coordinate system.

translatorId

P

translator.translatorId

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

flush()

Async M

await translator.flush(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
options	Translator.FlushOptions	Options for flush

FlushOptions

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

Return Value

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	string	Coordinate system (e.g. G54).
axis	string	Letter of the axis.
unit	Length | Angle | Native	Units of position.

Return Value

number 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	string	Letter of the axis.
unit	Length | Angle | Native	Units of position.

Return Value

number 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()

Async M

await 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	string	Letter of the axis.
position	number	The home position.
unit	Length | Angle | Native	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	string	Letter of the axis.
position	number	The position.
unit	Length | Angle | Native	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	string	Letter of the axis.
position	number	The home position.
unit	Length | Angle | Native	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	number	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	number	The traverse rate.
unit	Velocity | AngularVelocity | Native	Units of the traverse rate.

setup()

Async S

await Translator.setup(stream, config?)

Sets up the translator on top of a provided stream.

Arguments

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

Return Value

Translator New instance of translator.

translate()

Async M

await 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	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 const { gcode: { TranslatorConfig } } = require('@zaber/motion'); to the top of your source code.

axisMappings

P

translatorConfig.axisMappings

AxisMapping[] Optional custom mapping of translator axes to stream axes.

axisTransformations

P

translatorConfig.axisTransformations

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 const { ascii: { Transport } } = require('@zaber/motion'); to the top of your source code.

transportId

P

transport.transportId

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

close()

Async M

await transport.close()

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

Arguments

No arguments

closeWithError()

Async M

await transport.closeWithError(errorMessage)

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

Arguments

Name	Type	Description
errorMessage	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()

Async M

await 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

string Message generated by the connection.

write()

Async M

await 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	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
Length.METRES	Metres
Length.m	Metres
Length.CENTIMETRES	Centimetres
Length.cm	Centimetres
Length.MILLIMETRES	Millimetres
Length.mm	Millimetres
Length.MICROMETRES	Micrometres
Length['µm']	Micrometres
Length.NANOMETRES	Nanometres
Length.nm	Nanometres
Length.INCHES	Inches
Length.in	Inches

---

Velocity

Constant	Unit
Velocity.METRES_PER_SECOND	Metres per second
Velocity['m/s']	Metres per second
Velocity.CENTIMETRES_PER_SECOND	Centimetres per second
Velocity['cm/s']	Centimetres per second
Velocity.MILLIMETRES_PER_SECOND	Millimetres per second
Velocity['mm/s']	Millimetres per second
Velocity.MICROMETRES_PER_SECOND	Micrometres per second
Velocity['µm/s']	Micrometres per second
Velocity.NANOMETRES_PER_SECOND	Nanometres per second
Velocity['nm/s']	Nanometres per second
Velocity.INCHES_PER_SECOND	Inches per second
Velocity['in/s']	Inches per second

---

Acceleration

Constant	Unit
Acceleration.METRES_PER_SECOND_SQUARED	Metres per second squared
Acceleration['m/s²']	Metres per second squared
Acceleration.CENTIMETRES_PER_SECOND_SQUARED	Centimetres per second squared
Acceleration['cm/s²']	Centimetres per second squared
Acceleration.MILLIMETRES_PER_SECOND_SQUARED	Millimetres per second squared
Acceleration['mm/s²']	Millimetres per second squared
Acceleration.MICROMETRES_PER_SECOND_SQUARED	Micrometres per second squared
Acceleration['µm/s²']	Micrometres per second squared
Acceleration.NANOMETRES_PER_SECOND_SQUARED	Nanometres per second squared
Acceleration['nm/s²']	Nanometres per second squared
Acceleration.INCHES_PER_SECOND_SQUARED	Inches per second squared
Acceleration['in/s²']	Inches per second squared

---

Angle

Constant	Unit
Angle.DEGREES	Degrees
Angle['°']	Degrees
Angle.RADIANS	Radians
Angle.rad	Radians

---

Angular Velocity

Constant	Unit
AngularVelocity.DEGREES_PER_SECOND	Degrees per second
AngularVelocity['°/s']	Degrees per second
AngularVelocity.RADIANS_PER_SECOND	Radians per second
AngularVelocity['rad/s']	Radians per second

---

Angular Acceleration

Constant	Unit
AngularAcceleration.DEGREES_PER_SECOND_SQUARED	Degrees per second squared
AngularAcceleration['°/s²']	Degrees per second squared
AngularAcceleration.RADIANS_PER_SECOND_SQUARED	Radians per second squared
AngularAcceleration['rad/s²']	Radians per second squared

---

AC Electric Current

Constant	Unit
ACElectricCurrent.AMPERES_PEAK	Amperes peak
ACElectricCurrent['A(peak)']	Amperes peak
ACElectricCurrent.AMPERES_RMS	Amperes RMS
ACElectricCurrent['A(RMS)']	Amperes RMS

---

Percent

Constant	Unit
Percent.PERCENT	Percent
Percent['%']	Percent

---

DC Electric Current

Constant	Unit
DCElectricCurrent.AMPERES	Amperes
DCElectricCurrent.A	Amperes

---

Force

Constant	Unit
Force.NEWTONS	Newtons
Force.N	Newtons
Force.MILLINEWTONS	Millinewtons
Force.mN	Millinewtons
Force.POUNDS_FORCE	Pounds-force
Force.lbf	Pounds-force
Force.KILONEWTONS	Kilonewtons
Force.kN	Kilonewtons

---

Time

Constant	Unit
Time.SECONDS	Seconds
Time.s	Seconds
Time.MILLISECONDS	Milliseconds
Time.ms	Milliseconds
Time.MICROSECONDS	Microseconds
Time['µs']	Microseconds

---

Torque

Constant	Unit
Torque.NEWTON_METRES	Newton metres
Torque['N⋅m']	Newton metres
Torque.NEWTON_CENTIMETRES	Newton centimetres
Torque['N⋅cm']	Newton centimetres
Torque.POUND_FORCE_FEET	Pound-force-feet
Torque['lbf⋅ft']	Pound-force-feet
Torque.OUNCE_FORCE_INCHES	Ounce-force-inches
Torque['ozf⋅in']	Ounce-force-inches

---

Inertia

Constant	Unit
Inertia.GRAMS	Grams
Inertia.g	Grams
Inertia.KILOGRAMS	Kilograms
Inertia.kg	Kilograms
Inertia.MILLIGRAMS	Milligrams
Inertia.mg	Milligrams
Inertia.POUNDS	Pounds
Inertia.lb	Pounds
Inertia.OUNCES	Ounces
Inertia.oz	Ounces

---

Rotational Inertia

Constant	Unit
RotationalInertia.GRAM_SQUARE_METRE	Gram-square metre
RotationalInertia['g⋅m²']	Gram-square metre
RotationalInertia.KILOGRAM_SQUARE_METRE	Kilogram-square metre
RotationalInertia['kg⋅m²']	Kilogram-square metre
RotationalInertia.POUND_SQUARE_FEET	Pound-square-feet
RotationalInertia['lb⋅ft²']	Pound-square-feet

---

Force Constant

Constant	Unit
ForceConstant.NEWTONS_PER_AMP	Newtons per amp
ForceConstant['N/A']	Newtons per amp
ForceConstant.MILLINEWTONS_PER_AMP	Millinewtons per amp
ForceConstant['mN/A']	Millinewtons per amp
ForceConstant.KILONEWTONS_PER_AMP	Kilonewtons per amp
ForceConstant['kN/A']	Kilonewtons per amp
ForceConstant.POUNDS_FORCE_PER_AMP	Pounds-force per amp
ForceConstant['lbf/A']	Pounds-force per amp

---

Torque Constant

Constant	Unit
TorqueConstant.NEWTON_METRES_PER_AMP	Newton metres per amp
TorqueConstant['N⋅m/A']	Newton metres per amp
TorqueConstant.MILLINEWTON_METRES_PER_AMP	Millinewton metres per amp
TorqueConstant['mN⋅m/A']	Millinewton metres per amp
TorqueConstant.KILONEWTON_METRES_PER_AMP	Kilonewton metres per amp
TorqueConstant['kN⋅m/A']	Kilonewton metres per amp
TorqueConstant.POUND_FORCE_FEET_PER_AMP	Pound-force-feet per amp
TorqueConstant['lbf⋅ft/A']	Pound-force-feet per amp

---

Voltage

Constant	Unit
Voltage.VOLTS	Volts
Voltage.V	Volts
Voltage.MILLIVOLTS	Millivolts
Voltage.mV	Millivolts
Voltage.MICROVOLTS	Microvolts
Voltage['µV']	Microvolts

---

Current Controller Proportional Gain

Constant	Unit
CurrentControllerProportionalGain.VOLTS_PER_AMP	Volts per amp
CurrentControllerProportionalGain['V/A']	Volts per amp
CurrentControllerProportionalGain.MILLIVOLTS_PER_AMP	Millivolts per amp
CurrentControllerProportionalGain['mV/A']	Millivolts per amp
CurrentControllerProportionalGain.MICROVOLTS_PER_AMP	Microvolts per amp
CurrentControllerProportionalGain['µV/A']	Microvolts per amp

---

Current Controller Integral Gain

Constant	Unit
CurrentControllerIntegralGain.VOLTS_PER_AMP_PER_SECOND	Volts per amp per second
CurrentControllerIntegralGain['V/(A⋅s)']	Volts per amp per second
CurrentControllerIntegralGain.MILLIVOLTS_PER_AMP_PER_SECOND	Millivolts per amp per second
CurrentControllerIntegralGain['mV/(A⋅s)']	Millivolts per amp per second
CurrentControllerIntegralGain.MICROVOLTS_PER_AMP_PER_SECOND	Microvolts per amp per second
CurrentControllerIntegralGain['µV/(A⋅s)']	Microvolts per amp per second

---

Current Controller Derivative Gain

Constant	Unit
CurrentControllerDerivativeGain.VOLTS_SECOND_PER_AMP	Volts second per amp
CurrentControllerDerivativeGain['V⋅s/A']	Volts second per amp
CurrentControllerDerivativeGain.MILLIVOLTS_SECOND_PER_AMP	Millivolts second per amp
CurrentControllerDerivativeGain['mV⋅s/A']	Millivolts second per amp
CurrentControllerDerivativeGain.MICROVOLTS_SECOND_PER_AMP	Microvolts second per amp
CurrentControllerDerivativeGain['µV⋅s/A']	Microvolts second per amp

---

Resistance

Constant	Unit
Resistance.KILOOHMS	Kiloohms
Resistance['kΩ']	Kiloohms
Resistance.OHMS	Ohms
Resistance['Ω']	Ohms
Resistance.MILLIOHMS	Milliohms
Resistance['mΩ']	Milliohms
Resistance.MICROOHMS	Microohms
Resistance['µΩ']	Microohms
Resistance.NANOOHMS	Nanoohms
Resistance['nΩ']	Nanoohms

---

Inductance

Constant	Unit
Inductance.HENRIES	Henries
Inductance.H	Henries
Inductance.MILLIHENRIES	Millihenries
Inductance.mH	Millihenries
Inductance.MICROHENRIES	Microhenries
Inductance['µH']	Microhenries
Inductance.NANOHENRIES	Nanohenries
Inductance.nH	Nanohenries

---

Voltage Constant

Constant	Unit
VoltageConstant.VOLT_SECONDS_PER_RADIAN	Volt seconds per radian
VoltageConstant['V·s/rad']	Volt seconds per radian
VoltageConstant.MILLIVOLT_SECONDS_PER_RADIAN	Millivolt seconds per radian
VoltageConstant['mV·s/rad']	Millivolt seconds per radian
VoltageConstant.MICROVOLT_SECONDS_PER_RADIAN	Microvolt seconds per radian
VoltageConstant['µV·s/rad']	Microvolt seconds per radian

UnknownResponseEvent

Reply that could not be matched to a request.

To use this type, add const { ascii: { UnknownResponseEvent } } = require('@zaber/motion'); to the top of your source code.

axisNumber

P

unknownResponseEvent.axisNumber

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

data

P

unknownResponseEvent.data

string Response data which varies depending on the request.

deviceAddress

P

unknownResponseEvent.deviceAddress

number Number of the device that sent the message.

messageType

P

unknownResponseEvent.messageType

MessageType Type of the reply received.

replyFlag

P

unknownResponseEvent.replyFlag

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

status

P

unknownResponseEvent.status

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

warningFlag

P

unknownResponseEvent.warningFlag

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 const { ascii: { WarningFlags } } = require('@zaber/motion'); 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 const { ascii: { Warnings } } = require('@zaber/motion'); to the top of your source code.

clearFlags()

Async M

await warnings.clearFlags()

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

Arguments

No arguments

Return Value

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

getFlags()

Async M

await warnings.getFlags()

Returns current warnings and faults on axis or device.

Arguments

No arguments

Return Value

Set<string> Retrieved warnings and faults. Refer to WarningFlags to check a particular flag.