MATLAB

AllAxes

Represents all axes of motion associated with a device.

To use this type, add import zaber.motion.ascii.AllAxes; to the top of your source code.

device

P

allAxes.getDevice()

Device Device that controls this axis.

home()

Async M

allAxes.home(waitUntilIdle)
allAxes.home()

Homes all axes. Axes return to their homing positions.

Arguments

Name Type Description

waitUntilIdle logical Determines whether function should return after the movement is finished or just started.

isBusy()

Async M

allAxes.isBusy()

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

Arguments

No arguments

Return Value

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

isHomed()

Async M

allAxes.isHomed()

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

Arguments

No arguments

Return Value

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

park()

Async M

allAxes.park()

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

Arguments

No arguments

stop()

Async M

allAxes.stop(waitUntilIdle)
allAxes.stop()

Stops ongoing axes movement. Decelerates until zero speed.

Arguments

Name Type Description

waitUntilIdle logical Determines whether function should return after the movement is finished or just started.

toString()

M

allAxes.toString()

Returns a string that represents the axes.

Arguments

No arguments

Return Value

char A string that represents the axes.

unpark()

Async M

allAxes.unpark()

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

Arguments

No arguments

waitUntilIdle()

Async M

allAxes.waitUntilIdle(throwErrorOnFault)
allAxes.waitUntilIdle()

Waits until all axes of device stop moving.

Arguments

Name Type Description

throwErrorOnFault logical Determines whether to throw error when fault is observed.

Axis

Represents an axis of motion associated with a device.

To use this type, add import zaber.motion.ascii.Axis; to the top of your source code.

axisNumber

P

axis.getAxisNumber()

int32 The axis number identifies the axis on the device. The first axis has the number one.

axisType

P

axis.getAxisType()

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

device

P

axis.getDevice()

Device Device that controls this axis.

identity

P

axis.getIdentity()

AxisIdentity Identity of the axis.

isPeripheral

P

axis.getIsPeripheral()

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

peripheralId

P

axis.getPeripheralId()

int32 Unique ID of the peripheral hardware.

peripheralName

P

axis.getPeripheralName()

char Name of the peripheral.

settings

P

axis.getSettings()

AxisSettings Settings and properties of this axis.

storage

P

axis.getStorage()

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

warnings

P

axis.getWarnings()

Warnings Warnings and faults of this axis.

genericCommand()

Async M

axis.genericCommand(command, checkErrors, timeout)
axis.genericCommand(command, checkErrors)
axis.genericCommand(command)

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

Arguments

Name Type Description

command char Command and its parameters.

checkErrors logical Controls whether to throw an exception when the device rejects the command.

timeout int32 The timeout, in milliseconds, for a device to respond to the command. Overrides the connection default request timeout.

Return Value

Response A response to the command.

genericCommandMultiResponse()

Async M

axis.genericCommandMultiResponse(command, checkErrors, timeout)
axis.genericCommandMultiResponse(command, checkErrors)
axis.genericCommandMultiResponse(command)

Sends a generic ASCII command to this axis and expect multiple responses. Responses are returned in order of arrival. For more information refer to: ASCII Protocol Manual.

Arguments

Name Type Description

command char Command and its parameters.

checkErrors logical Controls whether to throw an exception when a device rejects the command.

timeout int32 The timeout, in milliseconds, for a device to respond to the command. Overrides the connection default request timeout.

Return Value

Response[] All responses to the command.

genericCommandNoResponse()

Async M

axis.genericCommandNoResponse(command)

Sends a generic ASCII command to this axis without expecting a response and without adding a message ID For more information refer to: ASCII Protocol Manual.

Arguments

Name Type Description

command char Command and its parameters.

getPosition()

Async M

axis.getPosition(unit)
axis.getPosition()

Returns current axis position.

Arguments

Name Type Description

unit Units Units of position.

Return Value

double Axis position.

getState()

Async M

axis.getState()

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

Arguments

No arguments

Return Value

char A serialization of the current state of the axis.

home()

Async M

axis.home(waitUntilIdle)
axis.home()

Homes axis. Axis returns to its homing position.

Arguments

Name Type Description

waitUntilIdle logical Determines whether function should return after the movement is finished or just started.

isBusy()

Async M

axis.isBusy()

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

Arguments

No arguments

Return Value

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

isHomed()

Async M

axis.isHomed()

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

Arguments

No arguments

Return Value

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

isParked()

Async M

axis.isParked()

Returns bool indicating whether the axis is parked or not.

Arguments

No arguments

Return Value

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

moveAbsolute()

Async M

axis.moveAbsolute(position, unit, waitUntilIdle, velocity, velocityUnit, acceleration, accelerationUnit)
axis.moveAbsolute(position, unit, waitUntilIdle, velocity, velocityUnit, acceleration)
axis.moveAbsolute(position, unit, waitUntilIdle, velocity, velocityUnit)
axis.moveAbsolute(position, unit, waitUntilIdle, velocity)
axis.moveAbsolute(position, unit, waitUntilIdle)
axis.moveAbsolute(position, unit)
axis.moveAbsolute(position)

Move axis to absolute position.

Arguments

Name Type Description

position double Absolute position.

unit Units Units of position.

waitUntilIdle logical Determines whether function should return after the movement is finished or just started.

velocity double Movement velocity. Default value of 0 indicates that the maxspeed setting is used instead.

velocityUnit Units Units of velocity.

acceleration double Movement acceleration. Default value of 0 indicates that the accel setting is used instead.

accelerationUnit Units Units of acceleration.

moveMax()

Async M

axis.moveMax(waitUntilIdle, velocity, velocityUnit, acceleration, accelerationUnit)
axis.moveMax(waitUntilIdle, velocity, velocityUnit, acceleration)
axis.moveMax(waitUntilIdle, velocity, velocityUnit)
axis.moveMax(waitUntilIdle, velocity)
axis.moveMax(waitUntilIdle)
axis.moveMax()

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

Arguments

Name Type Description

waitUntilIdle logical Determines whether function should return after the movement is finished or just started.

velocity double Movement velocity. Default value of 0 indicates that the maxspeed setting is used instead.

velocityUnit Units Units of velocity.

acceleration double Movement acceleration. Default value of 0 indicates that the accel setting is used instead.

accelerationUnit Units Units of acceleration.

moveMin()

Async M

axis.moveMin(waitUntilIdle, velocity, velocityUnit, acceleration, accelerationUnit)
axis.moveMin(waitUntilIdle, velocity, velocityUnit, acceleration)
axis.moveMin(waitUntilIdle, velocity, velocityUnit)
axis.moveMin(waitUntilIdle, velocity)
axis.moveMin(waitUntilIdle)
axis.moveMin()

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

Arguments

Name Type Description

waitUntilIdle logical Determines whether function should return after the movement is finished or just started.

velocity double Movement velocity. Default value of 0 indicates that the maxspeed setting is used instead.

velocityUnit Units Units of velocity.

acceleration double Movement acceleration. Default value of 0 indicates that the accel setting is used instead.

accelerationUnit Units Units of acceleration.

moveRelative()

Async M

axis.moveRelative(position, unit, waitUntilIdle, velocity, velocityUnit, acceleration, accelerationUnit)
axis.moveRelative(position, unit, waitUntilIdle, velocity, velocityUnit, acceleration)
axis.moveRelative(position, unit, waitUntilIdle, velocity, velocityUnit)
axis.moveRelative(position, unit, waitUntilIdle, velocity)
axis.moveRelative(position, unit, waitUntilIdle)
axis.moveRelative(position, unit)
axis.moveRelative(position)

Move axis to position relative to current position.

Arguments

Name Type Description

position double Relative position.

unit Units Units of position.

waitUntilIdle logical Determines whether function should return after the movement is finished or just started.

velocity double Movement velocity. Default value of 0 indicates that the maxspeed setting is used instead.

velocityUnit Units Units of velocity.

acceleration double Movement acceleration. Default value of 0 indicates that the accel setting is used instead.

accelerationUnit Units Units of acceleration.

moveVelocity()

Async M

axis.moveVelocity(velocity, unit, acceleration, accelerationUnit)
axis.moveVelocity(velocity, unit, acceleration)
axis.moveVelocity(velocity, unit)
axis.moveVelocity(velocity)

Begins to move axis at specified speed.

Arguments

Name Type Description

velocity double Movement velocity.

unit Units Units of velocity.

acceleration double Movement acceleration. Default value of 0 indicates that the accel setting is used instead.

accelerationUnit Units Units of acceleration.

park()

Async M

axis.park()

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

Arguments

No arguments

prepareCommand()

M

axis.prepareCommand(commandTemplate, ...parameters)

Formats parameters into a command and performs unit conversions. Parameters in the command template are denoted by a question mark. Command returned is only valid for this axis and this device. For more information refer to: ASCII Protocol Manual.

Arguments

Name Type Description

commandTemplate char Template of a command to prepare. Parameters are denoted by question marks.

...parameters Measurement Variable number of command parameters.

Return Value

char Command with converted parameters.

setState()

Async M

axis.setState(state)

Applies a saved state to an axis.

Arguments

Name Type Description

state char The state object to apply to this axis.

stop()

Async M

axis.stop(waitUntilIdle)
axis.stop()

Stops ongoing axis movement. Decelerates until zero speed.

Arguments

Name Type Description

waitUntilIdle logical Determines whether function should return after the movement is finished or just started.

toString()

M

axis.toString()

Returns a string that represents the axis.

Arguments

No arguments

Return Value

char A string that represents the axis.

unpark()

Async M

axis.unpark()

Unparks axis. Axis will now be able to move.

Arguments

No arguments

waitUntilIdle()

Async M

axis.waitUntilIdle(throwErrorOnFault)
axis.waitUntilIdle()

Waits until axis stops moving.

Arguments

Name Type Description

throwErrorOnFault logical Determines whether to throw error when fault is observed.

AxisDefinition

Defines an axis of the translator.

To use this type, add import zaber.motion.gcode.AxisDefinition; to the top of your source code.

microstepResolution

P

axisDefinition.getMicrostepResolution()

int32 Microstep resolution of the axis. Can be obtained by reading the resolution setting. Leave empty if the axis does not have the setting.

peripheralId

P

axisDefinition.getPeripheralId()

int32 ID of the peripheral.

AxisIdentity

Representation of data gathered during axis identification.

To use this type, add import zaber.motion.ascii.AxisIdentity; to the top of your source code.

axisType

P

axisIdentity.getAxisType()

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

isModified

P

axisIdentity.getIsModified()

logical The peripheral has hardware modifications.

isPeripheral

P

axisIdentity.getIsPeripheral()

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

peripheralId

P

axisIdentity.getPeripheralId()

int32 Unique ID of the peripheral hardware.

peripheralName

P

axisIdentity.getPeripheralName()

char Name of the peripheral.

AxisMapping

Maps a translator axis to a Zaber stream axis.

To use this type, add import zaber.motion.gcode.AxisMapping; to the top of your source code.

axisIndex

P

axisMapping.getAxisIndex()

int32 Index of the stream axis.

axisLetter

P

axisMapping.getAxisLetter()

char 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 import zaber.motion.ascii.AxisSettings; 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 char Name of the setting.

Return Value

logical 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 char Name of the setting.

value double Value of the setting in Zaber native units.

unit Units Units to convert value to.

Return Value

double Setting value.

convertToNativeUnits()

M

axisSettings.convertToNativeUnits(setting, value, unit)

Convert arbitrary setting value to Zaber native units.

Arguments

Name Type Description

setting char Name of the setting.

value double Value of the setting in units specified by following argument.

unit Units Units of the value.

Return Value

double Setting value.

get()

Async M

axisSettings.get(setting, unit)
axisSettings.get(setting)

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

Arguments

Name Type Description

setting char Name of the setting.

unit Units Units of setting.

Return Value

double Setting value.

getDefault()

M

axisSettings.getDefault(setting, unit)
axisSettings.getDefault(setting)

Returns the default value of a setting.

Arguments

Name Type Description

setting char Name of the setting.

unit Units Units of setting.

Return Value

double Default setting value.

getDefaultString()

M

axisSettings.getDefaultString(setting)

Returns the default value of a setting as a string.

Arguments

Name Type Description

setting char Name of the setting.

Return Value

char Default setting value.

getString()

Async M

axisSettings.getString(setting)

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

Arguments

Name Type Description

setting char Name of the setting.

Return Value

char Setting value.

set()

Async M

axisSettings.set(setting, value, unit)
axisSettings.set(setting, value)

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

Arguments

Name Type Description

setting char Name of the setting.

value double Value of the setting.

unit Units Units of setting.

setString()

Async M

axisSettings.setString(setting, value)

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

Arguments

Name Type Description

setting char Name of the setting.

value char Value of the setting.

AxisStorage

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

To use this type, add import zaber.motion.ascii.AxisStorage; to the top of your source code.

eraseKey()

Async M

axisStorage.eraseKey(key)

Erases the axis value stored at the provided key.

Arguments

Name Type Description

key char Key to erase.

Return Value

logical A boolean indicating if the key existed.

getBool()

Async M

axisStorage.getBool(key)

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

Arguments

Name Type Description

key char Key to get the value at.

Return Value

logical Stored value.

getNumber()

Async M

axisStorage.getNumber(key)

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

Arguments

Name Type Description

key char Key to get the value at.

Return Value

double Stored value.

getString()

Async M

axisStorage.getString(key, decode)
axisStorage.getString(key)

Gets the axis value stored with the provided key.

Arguments

Name Type Description

key char Key to read the value of.

decode logical Whether the stored value should be decoded. Only use this when reading values set by storage.set with "encode" true.

Return Value

char Stored value.

keyExists()

Async M

axisStorage.keyExists(key)

Determines whether a given key exists in axis storage.

Arguments

Name Type Description

key char Key which existence to determine.

Return Value

logical True indicating that the key exists, false otherwise.

listKeys()

Async M

axisStorage.listKeys(prefix)
axisStorage.listKeys()

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

Arguments

Name Type Description

prefix char Optional key prefix.

Return Value

char[] Storage keys matching the given prefix.

setBool()

Async M

axisStorage.setBool(key, value)

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

Arguments

Name Type Description

key char Key to set the value at.

value logical Value to set.

setNumber()

Async M

axisStorage.setNumber(key, value)

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

Arguments

Name Type Description

key char Key to set the value at.

value double Value to set.

setString()

Async M

axisStorage.setString(key, value, encode)
axisStorage.setString(key, value)

Sets the axis value stored at the provided key.

Arguments

Name Type Description

key char Key to set the value at.

value char Value to set.

encode logical 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 import zaber.motion.gcode.AxisTransformation; to the top of your source code.

axisLetter

P

axisTransformation.getAxisLetter()

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

scaling

P

axisTransformation.getScaling()

double Scaling factor.

translation

P

axisTransformation.getTranslation()

Measurement Translation distance.

AxisType

Denotes type of an axis and units it accepts.

To use this type, add import zaber.motion.ascii.AxisType; to the top of your source code.

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

BinaryCommandFailedExceptionData

Contains additional data for BinaryCommandFailedException.

To use this type, add import zaber.motion.exceptions.BinaryCommandFailedExceptionData; to the top of your source code.

responseData

P

binaryCommandFailedExceptionData.getResponseData()

int32 The response data.

CanSetStateAxisResponse

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

To use this type, add import zaber.motion.ascii.CanSetStateAxisResponse; to the top of your source code.

axisNumber

P

canSetStateAxisResponse.getAxisNumber()

int32 The number of the axis that cannot be set.

error

P

canSetStateAxisResponse.getError()

char 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 import zaber.motion.ascii.CanSetStateDeviceResponse; to the top of your source code.

axisErrors

P

canSetStateDeviceResponse.getAxisErrors()

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

error

P

canSetStateDeviceResponse.getError()

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

CommandFailedExceptionData

Contains additional data for CommandFailedException.

To use this type, add import zaber.motion.exceptions.CommandFailedExceptionData; to the top of your source code.

replyFlag

P

commandFailedExceptionData.getReplyFlag()

char The flags on the reply sent by the device.

responseData

P

commandFailedExceptionData.getResponseData()

char The response data.

status

P

commandFailedExceptionData.getStatus()

char The current device status.

warningFlag

P

commandFailedExceptionData.getWarningFlag()

char The current warning flag on the device.

CommandTooLongExceptionData

Information describing why the command could not fit.

To use this type, add import zaber.motion.exceptions.CommandTooLongExceptionData; to the top of your source code.

fit

P

commandTooLongExceptionData.getFit()

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

packetSize

P

commandTooLongExceptionData.getPacketSize()

int32 The length of the ascii string that can be written to a single line.

packetsMax

P

commandTooLongExceptionData.getPacketsMax()

int32 The number of lines a command can be split over using continuations.

remainder

P

commandTooLongExceptionData.getRemainder()

char 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 import zaber.motion.ascii.Connection; to the top of your source code.

DEFAULT_BAUD_RATE

C

Connection.DEFAULT_BAUD_RATE

int32 Default baud rate for serial connections.

TCP_PORT_CHAIN

C

Connection.TCP_PORT_CHAIN

int32 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

int32 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.getChecksumEnabled()

logical Controls whether outgoing messages contain checksum.

defaultRequestTimeout

P

connection.getDefaultRequestTimeout()

int32 The default timeout, in milliseconds, for a device to respond to a request. Setting the timeout to a too low value may cause request timeout exceptions.

interfaceId

P

connection.getInterfaceId()

int32 The interface ID identifies this Connection instance with the underlying library.

close()

Async M

connection.close()

Close the connection.

Arguments

No arguments

detectDevices()

Async M

connection.detectDevices(identifyDevices)
connection.detectDevices()

Attempts to detect any devices present on this connection.

Arguments

Name Type Description

identifyDevices logical Determines whether device identification should be performed as well.

Return Value

Device[] Array of detected devices.

disableAlerts()

Async M

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

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

connection.genericCommand(command, device, axis, checkErrors, timeout)
connection.genericCommand(command, device, axis, checkErrors)
connection.genericCommand(command, device, axis)
connection.genericCommand(command, device)
connection.genericCommand(command)

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

Arguments

Name Type Description

command char Command and its parameters.

device int32 Optional device address to send the command to.

axis int32 Optional axis number to send the command to.

checkErrors logical Controls whether to throw an exception when the device rejects the command.

timeout int32 The timeout, in milliseconds, for a device to respond to the command. Overrides the connection default request timeout.

Return Value

Response A response to the command.

genericCommandMultiResponse()

Async M

connection.genericCommandMultiResponse(command, device, axis, checkErrors, timeout)
connection.genericCommandMultiResponse(command, device, axis, checkErrors)
connection.genericCommandMultiResponse(command, device, axis)
connection.genericCommandMultiResponse(command, device)
connection.genericCommandMultiResponse(command)

Sends a generic ASCII command to this connection and expect multiple responses, either from one device or from many devices. Responses are returned in order of arrival. For more information refer to the ASCII Protocol Manual.

Arguments

Name Type Description

command char Command and its parameters.

device int32 Optional device address to send the command to.

axis int32 Optional axis number to send the command to.

checkErrors logical Controls whether to throw an exception when a device rejects the command.

timeout int32 The timeout, in milliseconds, for a device to respond to the command. Overrides the connection default request timeout.

Return Value

Response[] All responses to the command.

genericCommandNoResponse()

Async M

connection.genericCommandNoResponse(command, device, axis)
connection.genericCommandNoResponse(command, device)
connection.genericCommandNoResponse(command)

Sends a generic ASCII command to this connection without expecting a response and without adding a message ID. For more information refer to the ASCII Protocol Manual.

Arguments

Name Type Description

command char Command and its parameters.

device int32 Optional device address to send the command to. Specifying -1 omits the number completely.

axis int32 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 int32 Address of device intended to control. Address is configured for each device.

Return Value

Device Device instance.

homeAll()

Async M

connection.homeAll(waitUntilIdle)
connection.homeAll()

Homes all of the devices on this connection.

Arguments

Name Type Description

waitUntilIdle logical Determines whether the function should return immediately or wait until the devices are homed.

Return Value

int32[] The addresses of the devices that were homed by this command.

openCustom()

Async S

Connection.openCustom(transport)

Opens a connection using a custom transport.

Arguments

Name Type Description

transport Transport The custom connection transport.

Return Value

Connection An object representing the connection.

openIot()

Async S

Connection.openIot(cloudId, token, connectionName, realm, api)
Connection.openIot(cloudId, token, connectionName, realm)
Connection.openIot(cloudId, token, connectionName)
Connection.openIot(cloudId, token)
Connection.openIot(cloudId)

Opens a secured connection to a cloud connected device chain. Use this method to connect to devices on your account.

Arguments

Name Type Description

cloudId char The cloud ID to connect to.

token char The token to authenticate with. By default the connection will be unauthenticated.

connectionName char The name of the connection to open. Can be left empty to default to the only connection present. Otherwise, use serial port name for serial port connection or hostname:port for TCP connection.

realm char The realm to connect to. Can be left empty for the default account realm.

api char The URL of the API to receive connection info from.

Return Value

Connection An object representing the connection.

openNetworkShare()

Async S

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

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

Arguments

Name Type Description

hostName char Hostname or IP address.

port int32 Port number.

connectionName char The name of the connection to open. Can be left empty to default to the only connection present. Otherwise, use serial port name for serial port connection or hostname:port for TCP connection.

Return Value

Connection An object representing the connection.

openSerialPort()

Async S

Connection.openSerialPort(portName, baudRate, direct)
Connection.openSerialPort(portName, baudRate)
Connection.openSerialPort(portName)

Opens a serial port, if Zaber Launcher controls the port, the port will be opened through Zaber Launcher. Zaber Launcher allows sharing of the port between multiple applications, If port sharing is not desirable, use the direct parameter.

Arguments

Name Type Description

portName char Name of the port to open.

baudRate int32 Optional baud rate (defaults to 115200).

direct logical 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

Connection.openTcp(hostName, port)
Connection.openTcp(hostName)

Opens a TCP connection.

Arguments

Name Type Description

hostName char Hostname or IP address.

port int32 Optional port number (defaults to 55550).

Return Value

Connection An object representing the connection.

renumberDevices()

Async M

connection.renumberDevices(firstAddress)
connection.renumberDevices()

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

Arguments

Name Type Description

firstAddress int32 This is the address that the device closest to the computer is given. Remaining devices are numbered consecutively.

Return Value

int32 Total number of devices that responded to the renumber.

stopAll()

Async M

connection.stopAll(waitUntilIdle)
connection.stopAll()

Stops all of the devices on this connection.

Arguments

Name Type Description

waitUntilIdle logical Determines whether the function should return immediately or wait until the devices are stopped.

Return Value

int32[] The addresses of the devices that were stopped by this command.

toString()

M

connection.toString()

Returns a string that represents the connection.

Arguments

No arguments

Return Value

char A string that represents the connection.

ConversionFactor

Represents unit conversion factor for a single dimension.

To use this type, add import zaber.motion.ascii.ConversionFactor; to the top of your source code.

setting

P

conversionFactor.getSetting()

char Setting representing the dimension.

unit

P

conversionFactor.getUnit()

Units Units of the value.

value

P

conversionFactor.getValue()

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

Device

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

To use this type, add import zaber.motion.ascii.Device; to the top of your source code.

allAxes

P

device.getAllAxes()

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

axisCount

P

device.getAxisCount()

int32 Number of axes this device has.

connection

P

device.getConnection()

Connection Connection of this device.

deviceAddress

P

device.getDeviceAddress()

int32 The device address uniquely identifies the device on the connection. It can be configured or automatically assigned by the renumber command.

deviceId

P

device.getDeviceId()

int32 Unique ID of the device hardware.

firmwareVersion

P

device.getFirmwareVersion()

FirmwareVersion Version of the firmware.

identity

P

device.getIdentity()

DeviceIdentity Identity of the device.

io

P

device.getIo()

DeviceIO I/O channels of this device.

isIdentified

P

device.getIsIdentified()

logical Indicates whether or not the device has been identified.

isIntegrated

P

device.getIsIntegrated()

logical The device is an integrated product.

name

P

device.getName()

char Name of the product.

oscilloscope

P

device.getOscilloscope()

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

serialNumber

P

device.getSerialNumber()

int64 Serial number of the device.

settings

P

device.getSettings()

DeviceSettings Settings and properties of this device.

storage

P

device.getStorage()

DeviceStorage Key-value storage of this device.

warnings

P

device.getWarnings()

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

genericCommand()

Async M

device.genericCommand(command, axis, checkErrors, timeout)
device.genericCommand(command, axis, checkErrors)
device.genericCommand(command, axis)
device.genericCommand(command)

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

Arguments

Name Type Description

command char Command and its parameters.

axis int32 Optional axis number to send the command to.

checkErrors logical Controls whether to throw an exception when the device rejects the command.

timeout int32 The timeout, in milliseconds, for a device to respond to the command. Overrides the connection default request timeout.

Return Value

Response A response to the command.

genericCommandMultiResponse()

Async M

device.genericCommandMultiResponse(command, axis, checkErrors, timeout)
device.genericCommandMultiResponse(command, axis, checkErrors)
device.genericCommandMultiResponse(command, axis)
device.genericCommandMultiResponse(command)

Sends a generic ASCII command to this device and expect multiple responses. Responses are returned in order of arrival. For more information refer to: ASCII Protocol Manual.

Arguments

Name Type Description

command char Command and its parameters.

axis int32 Optional axis number to send the command to.

checkErrors logical Controls whether to throw an exception when a device rejects the command.

timeout int32 The timeout, in milliseconds, for a device to respond to the command. Overrides the connection default request timeout.

Return Value

Response[] All responses to the command.

genericCommandNoResponse()

Async M

device.genericCommandNoResponse(command, axis)
device.genericCommandNoResponse(command)

Sends a generic ASCII command to this device without expecting a response and without adding a message ID For more information refer to: ASCII Protocol Manual.

Arguments

Name Type Description

command char Command and its parameters.

axis int32 Optional axis number to send the command to. 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 int32 Number of axis intended to control.

Return Value

Axis Axis instance.

getLockstep()

M

device.getLockstep(lockstepGroupId)

Gets a Lockstep class instance which allows you to control a particular lockstep group on the device. Requires at least Firmware 6.15 or 7.11.

Arguments

Name Type Description

lockstepGroupId int32 The ID of the lockstep group to control. Lockstep group IDs start at one.

Return Value

Lockstep Lockstep instance.

getState()

Async M

device.getState()

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

Arguments

No arguments

Return Value

char 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 int32 The ID of the stream to control. Stream IDs start at one.

Return Value

Stream Stream instance.

getStreamBuffer()

M

device.getStreamBuffer(streamBufferId)

Gets a StreamBuffer class instance which is a handle for a stream buffer on the device.

Arguments

Name Type Description

streamBufferId int32 The ID of the stream buffer to control. Stream buffer IDs start at one.

Return Value

StreamBuffer StreamBuffer instance.

identify()

Async M

device.identify()

Queries the device and the database, gathering information about the product. Without this information features such as unit conversions will not work. Usually, called automatically by detect devices method.

Arguments

No arguments

Return Value

DeviceIdentity Device identification data.

prepareCommand()

M

device.prepareCommand(commandTemplate, ...parameters)

Formats parameters into a command and performs unit conversions. Parameters in the command template are denoted by a question mark. Command returned is only valid for this device. For more information refer to: ASCII Protocol Manual.

Arguments

Name Type Description

commandTemplate char Template of a command to prepare. Parameters are denoted by question marks.

...parameters Measurement Variable number of command parameters.

Return Value

char Command with converted parameters.

setState()

Async M

device.setState(state, deviceOnly)
device.setState(state)

Applies a saved state to an axis.

Arguments

Name Type Description

state char The state object to apply to this axis.

deviceOnly logical 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

char A string that represents the device.

DeviceAddressConflictExceptionData

Contains additional data for DeviceAddressConflictException.

To use this type, add import zaber.motion.exceptions.DeviceAddressConflictExceptionData; to the top of your source code.

deviceAddresses

P

deviceAddressConflictExceptionData.getDeviceAddresses()

int32[] The full list of detected device addresses.

DeviceDbFailedExceptionData

Contains additional data for a DeviceDbFailedException.

To use this type, add import zaber.motion.exceptions.DeviceDbFailedExceptionData; to the top of your source code.

code

P

deviceDbFailedExceptionData.getCode()

char Code describing type of the error.

DeviceDbSourceType

Type of source of Device DB data.

To use this type, add import zaber.motion.DeviceDbSourceType; to the top of your source code.

Member	Numeric value
`DeviceDbSourceType.WEB_SERVICE`	0
`DeviceDbSourceType.FILE`	1

DeviceDefinition

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

To use this type, add import zaber.motion.gcode.DeviceDefinition; to the top of your source code.

axes

P

deviceDefinition.getAxes()

AxisDefinition[] Applicable axes of the device.

deviceId

P

deviceDefinition.getDeviceId()

int32 Device ID of the controller. Can be obtained from device settings.

maxSpeed

P

deviceDefinition.getMaxSpeed()

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

DeviceIdentity

Representation of data gathered during device identification.

To use this type, add import zaber.motion.ascii.DeviceIdentity; to the top of your source code.

axisCount

P

deviceIdentity.getAxisCount()

int32 Number of axes this device has.

deviceId

P

deviceIdentity.getDeviceId()

int32 Unique ID of the device hardware.

firmwareVersion

P

deviceIdentity.getFirmwareVersion()

FirmwareVersion Version of the firmware.

isIntegrated

P

deviceIdentity.getIsIntegrated()

logical The device is an integrated product.

isModified

P

deviceIdentity.getIsModified()

logical The device has hardware modifications.

name

P

deviceIdentity.getName()

char Name of the product.

serialNumber

P

deviceIdentity.getSerialNumber()

int64 Serial number of the device.

DeviceIO

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

To use this type, add import zaber.motion.ascii.DeviceIO; to the top of your source code.

getAllAnalogInputs()

Async M

deviceIO.getAllAnalogInputs()

Returns the current values of all analog input channels.

Arguments

No arguments

Return Value

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

getAllAnalogOutputs()

Async M

deviceIO.getAllAnalogOutputs()

Returns the current values of all analog output channels.

Arguments

No arguments

Return Value

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

getAllDigitalInputs()

Async M

deviceIO.getAllDigitalInputs()

Returns the current values of all digital input channels.

Arguments

No arguments

Return Value

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

getAllDigitalOutputs()

Async M

deviceIO.getAllDigitalOutputs()

Returns the current values of all digital output channels.

Arguments

No arguments

Return Value

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

getAnalogInput()

Async M

deviceIO.getAnalogInput(channelNumber)

Returns the current value of the specified analog input channel.

Arguments

Name Type Description

channelNumber int32 Channel number starting at 1.

Return Value

double A measurementsof the voltage present on the input channel.

getAnalogOutput()

Async M

deviceIO.getAnalogOutput(channelNumber)

Returns the current values of the specified analog output channel.

Arguments

Name Type Description

channelNumber int32 Channel number starting at 1.

Return Value

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

getChannelsInfo()

Async M

deviceIO.getChannelsInfo()

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

Arguments

No arguments

Return Value

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

getDigitalInput()

Async M

deviceIO.getDigitalInput(channelNumber)

Returns the current value of the specified digital input channel.

Arguments

Name Type Description

channelNumber int32 Channel number starting at 1.

Return Value

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

getDigitalOutput()

Async M

deviceIO.getDigitalOutput(channelNumber)

Returns the current value of the specified digital output channel.

Arguments

Name Type Description

channelNumber int32 Channel number starting at 1.

Return Value

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

setAllAnalogOutputs()

Async M

deviceIO.setAllAnalogOutputs(values)

Sets values for all analog output channels.

Arguments

Name Type Description

values double[] Voltage values to set the output channels to.

setAllDigitalOutputs()

Async M

deviceIO.setAllDigitalOutputs(values)

Sets values for all digital output channels.

Arguments

Name Type Description

values logical[] True to set the output channel to conducting and false to turn it off.

setAnalogOutput()

Async M

deviceIO.setAnalogOutput(channelNumber, value)

Sets value for the specified analog output channel.

Arguments

Name Type Description

channelNumber int32 Channel number starting at 1.

value double Value to set the output channel voltage to.

setDigitalOutput()

Async M

deviceIO.setDigitalOutput(channelNumber, value)

Sets value for the specified digital output channel.

Arguments

Name Type Description

channelNumber int32 Channel number starting at 1.

value logical True to set the output channel to conducting and false to turn it off.

DeviceIOInfo

Class representing information on the I/O channels of the device.

To use this type, add import zaber.motion.ascii.DeviceIOInfo; to the top of your source code.

numberAnalogInputs

P

deviceIOInfo.getNumberAnalogInputs()

int32 Number of analog input channels.

numberAnalogOutputs

P

deviceIOInfo.getNumberAnalogOutputs()

int32 Number of analog output channels.

numberDigitalInputs

P

deviceIOInfo.getNumberDigitalInputs()

int32 Number of digital input channels.

numberDigitalOutputs

P

deviceIOInfo.getNumberDigitalOutputs()

int32 Number of digital output channels.

DeviceSettings

Class providing access to various device settings and properties.

To use this type, add import zaber.motion.ascii.DeviceSettings; to the top of your source code.

canConvertNativeUnits()

M

deviceSettings.canConvertNativeUnits(setting)

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

Arguments

Name Type Description

setting char Name of the setting.

Return Value

logical 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 char Name of the setting.

value double Value of the setting in Zaber native units.

unit Units Units to convert value to.

Return Value

double Setting value.

convertToNativeUnits()

M

deviceSettings.convertToNativeUnits(setting, value, unit)

Convert arbitrary setting value to Zaber native units.

Arguments

Name Type Description

setting char Name of the setting.

value double Value of the setting in units specified by following argument.

unit Units Units of the value.

Return Value

double Setting value.

get()

Async M

deviceSettings.get(setting, unit)
deviceSettings.get(setting)

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

Arguments

Name Type Description

setting char Name of the setting.

unit Units Units of setting.

Return Value

double Setting value.

getDefault()

M

deviceSettings.getDefault(setting, unit)
deviceSettings.getDefault(setting)

Returns the default value of a setting.

Arguments

Name Type Description

setting char Name of the setting.

unit Units Units of setting.

Return Value

double Default setting value.

getDefaultString()

M

deviceSettings.getDefaultString(setting)

Returns the default value of a setting as a string.

Arguments

Name Type Description

setting char Name of the setting.

Return Value

char Default setting value.

getString()

Async M

deviceSettings.getString(setting)

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

Arguments

Name Type Description

setting char Name of the setting.

Return Value

char Setting value.

set()

Async M

deviceSettings.set(setting, value, unit)
deviceSettings.set(setting, value)

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

Arguments

Name Type Description

setting char Name of the setting.

value double Value of the setting.

unit Units Units of setting.

setString()

Async M

deviceSettings.setString(setting, value)

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

Arguments

Name Type Description

setting char Name of the setting.

value char Value of the setting.

DeviceStorage

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

To use this type, add import zaber.motion.ascii.DeviceStorage; to the top of your source code.

eraseKey()

Async M

deviceStorage.eraseKey(key)

Erases the device value stored at the provided key.

Arguments

Name Type Description

key char Key to erase.

Return Value

logical A boolean indicating if the key existed.

getBool()

Async M

deviceStorage.getBool(key)

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

Arguments

Name Type Description

key char Key to get the value at.

Return Value

logical Stored value.

getNumber()

Async M

deviceStorage.getNumber(key)

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

Arguments

Name Type Description

key char Key to get the value at.

Return Value

double Stored value.

getString()

Async M

deviceStorage.getString(key, decode)
deviceStorage.getString(key)

Gets the device value stored with the provided key.

Arguments

Name Type Description

key char Key to read the value of.

decode logical Whether the stored value should be decoded. Only use this when reading values set by storage.set with "encode" true.

Return Value

char Stored value.

keyExists()

Async M

deviceStorage.keyExists(key)

Determines whether a given key exists in device storage.

Arguments

Name Type Description

key char Key which existence to determine.

Return Value

logical True indicating that the key exists, false otherwise.

listKeys()

Async M

deviceStorage.listKeys(prefix)
deviceStorage.listKeys()

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

Arguments

Name Type Description

prefix char Optional key prefix.

Return Value

char[] Storage keys matching the given prefix.

setBool()

Async M

deviceStorage.setBool(key, value)

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

Arguments

Name Type Description

key char Key to set the value at.

value logical Value to set.

setNumber()

Async M

deviceStorage.setNumber(key, value)

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

Arguments

Name Type Description

key char Key to set the value at.

value double Value to set.

setString()

Async M

deviceStorage.setString(key, value, encode)
deviceStorage.setString(key, value)

Sets the device value stored at the provided key.

Arguments

Name Type Description

key char Key to set the value at.

value char Value to set.

encode logical 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 import zaber.motion.FirmwareVersion; to the top of your source code.

build

P

firmwareVersion.getBuild()

int32 Build version number.

major

P

firmwareVersion.getMajor()

int32 Major version number.

minor

P

firmwareVersion.getMinor()

int32 Minor version number.

GCodeExecutionExceptionData

Contains additional data for GCodeExecutionException.

To use this type, add import zaber.motion.exceptions.GCodeExecutionExceptionData; to the top of your source code.

fromBlock

P

gCodeExecutionExceptionData.getFromBlock()

int32 The index in the block string that caused the exception.

toBlock

P

gCodeExecutionExceptionData.getToBlock()

int32 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 import zaber.motion.exceptions.GCodeSyntaxExceptionData; to the top of your source code.

fromBlock

P

gCodeSyntaxExceptionData.getFromBlock()

int32 The index in the block string that caused the exception.

toBlock

P

gCodeSyntaxExceptionData.getToBlock()

int32 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 import zaber.motion.exceptions.InvalidPacketExceptionData; to the top of your source code.

packet

P

invalidPacketExceptionData.getPacket()

char The invalid packet that caused the exception.

reason

P

invalidPacketExceptionData.getReason()

char The reason for the exception.

InvalidResponseExceptionData

Contains additional data for InvalidResponseException.

To use this type, add import zaber.motion.exceptions.InvalidResponseExceptionData; to the top of your source code.

response

P

invalidResponseExceptionData.getResponse()

char The response data.

Library

Access class to general library information and configuration.

To use this type, add import zaber.motion.Library; to the top of your source code.

disableDeviceDbStore()

S

Library.disableDeviceDbStore()

Disables Device DB store.

Arguments

No arguments

enableDeviceDbStore()

S

Library.enableDeviceDbStore(storeLocation)
Library.enableDeviceDbStore()

Enables Device DB store. The store uses filesystem to save information obtained from the Device DB. The stored data are later used instead of the Device DB.

Arguments

Name Type Description

storeLocation char Specifies relative or absolute path of the folder used by the store. If left empty defaults to a folder in user home directory. Must be accessible by the process.

setDeviceDbSource()

S

Library.setDeviceDbSource(sourceType, urlOrFilePath)
Library.setDeviceDbSource(sourceType)

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

Arguments

Name Type Description

sourceType DeviceDbSourceType Source type.

urlOrFilePath char URL of the web service or path to the local file. Leave empty for the default URL of Zaber web service.

setLogOutput()

S

Library.setLogOutput(mode, filePath)
Library.setLogOutput(mode)

Sets library logging output.

Arguments

Name Type Description

mode LogOutputMode Logging output mode.

filePath char Path of the file to open.

Lockstep

Represents a lockstep group with this ID on a device. A lockstep group is a movement synchronized pair of axes on a device. Requires at least Firmware 6.15 or 7.11.

To use this type, add import zaber.motion.ascii.Lockstep; to the top of your source code.

device

P

lockstep.getDevice()

Device Device that controls this lockstep group.

lockstepGroupId

P

lockstep.getLockstepGroupId()

int32 The number that identifies the lockstep group on the device.

disable()

Async M

lockstep.disable()

Disable the lockstep group.

Arguments

No arguments

enable()

Async M

lockstep.enable(...axes)

Activate the lockstep group on the axes specified.

Arguments

Name Type Description

...axes int32 The numbers of axes in the lockstep group.

getAxes()

Async M

Obsolete: Use GetAxisNumbers instead.

lockstep.getAxes()

Gets the axes of the lockstep group.

Arguments

No arguments

Return Value

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

getAxisNumbers()

Async M

lockstep.getAxisNumbers()

Gets the axis numbers of the lockstep group.

Arguments

No arguments

Return Value

int32[] Axis numbers in order specified when enabling lockstep.

getOffsets()

Async M

lockstep.getOffsets(unit)
lockstep.getOffsets()

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

Arguments

Name Type Description

unit Units Units of position.

Return Value

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

getTwists()

Async M

lockstep.getTwists(unit)
lockstep.getTwists()

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

Arguments

Name Type Description

unit Units Units of position.

Return Value

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

home()

Async M

lockstep.home(waitUntilIdle)
lockstep.home()

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

Arguments

Name Type Description

waitUntilIdle logical Determines whether function should return after the movement is finished or just started.

isBusy()

Async M

lockstep.isBusy()

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

Arguments

No arguments

Return Value

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

isEnabled()

Async M

lockstep.isEnabled()

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

Arguments

No arguments

Return Value

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

moveAbsolute()

Async M

lockstep.moveAbsolute(position, unit, waitUntilIdle, velocity, velocityUnit, acceleration, accelerationUnit)
lockstep.moveAbsolute(position, unit, waitUntilIdle, velocity, velocityUnit, acceleration)
lockstep.moveAbsolute(position, unit, waitUntilIdle, velocity, velocityUnit)
lockstep.moveAbsolute(position, unit, waitUntilIdle, velocity)
lockstep.moveAbsolute(position, unit, waitUntilIdle)
lockstep.moveAbsolute(position, unit)
lockstep.moveAbsolute(position)

Move the first axis of the lockstep group to an absolute position. The other axes in the lockstep group maintain their offsets throughout movement.

Arguments

Name Type Description

position double Absolute position.

unit Units Units of position.

waitUntilIdle logical Determines whether function should return after the movement is finished or just started.

velocity double Movement velocity. Default value of 0 indicates that the maxspeed setting is used instead.

velocityUnit Units Units of velocity.

acceleration double Movement acceleration. Default value of 0 indicates that the accel setting is used instead.

accelerationUnit Units Units of acceleration.

moveMax()

Async M

lockstep.moveMax(waitUntilIdle, velocity, velocityUnit, acceleration, accelerationUnit)
lockstep.moveMax(waitUntilIdle, velocity, velocityUnit, acceleration)
lockstep.moveMax(waitUntilIdle, velocity, velocityUnit)
lockstep.moveMax(waitUntilIdle, velocity)
lockstep.moveMax(waitUntilIdle)
lockstep.moveMax()

Moves the axes to the maximum valid position. The axes in the lockstep group maintain their offsets throughout movement. Respects lim.max for all axes in the group.

Arguments

Name Type Description

waitUntilIdle logical Determines whether function should return after the movement is finished or just started.

velocity double Movement velocity. Default value of 0 indicates that the maxspeed setting is used instead.

velocityUnit Units Units of velocity.

acceleration double Movement acceleration. Default value of 0 indicates that the accel setting is used instead.

accelerationUnit Units Units of acceleration.

moveMin()

Async M

lockstep.moveMin(waitUntilIdle, velocity, velocityUnit, acceleration, accelerationUnit)
lockstep.moveMin(waitUntilIdle, velocity, velocityUnit, acceleration)
lockstep.moveMin(waitUntilIdle, velocity, velocityUnit)
lockstep.moveMin(waitUntilIdle, velocity)
lockstep.moveMin(waitUntilIdle)
lockstep.moveMin()

Moves the axes to the minimum valid position. The axes in the lockstep group maintain their offsets throughout movement. Respects lim.min for all axes in the group.

Arguments

Name Type Description

waitUntilIdle logical Determines whether function should return after the movement is finished or just started.

velocity double Movement velocity. Default value of 0 indicates that the maxspeed setting is used instead.

velocityUnit Units Units of velocity.

acceleration double Movement acceleration. Default value of 0 indicates that the accel setting is used instead.

accelerationUnit Units Units of acceleration.

moveRelative()

Async M

lockstep.moveRelative(position, unit, waitUntilIdle, velocity, velocityUnit, acceleration, accelerationUnit)
lockstep.moveRelative(position, unit, waitUntilIdle, velocity, velocityUnit, acceleration)
lockstep.moveRelative(position, unit, waitUntilIdle, velocity, velocityUnit)
lockstep.moveRelative(position, unit, waitUntilIdle, velocity)
lockstep.moveRelative(position, unit, waitUntilIdle)
lockstep.moveRelative(position, unit)
lockstep.moveRelative(position)

Move the first axis of the lockstep group to a position relative to its current position. The other axes in the lockstep group maintain their offsets throughout movement.

Arguments

Name Type Description

position double Relative position.

unit Units Units of position.

waitUntilIdle logical Determines whether function should return after the movement is finished or just started.

velocity double Movement velocity. Default value of 0 indicates that the maxspeed setting is used instead.

velocityUnit Units Units of velocity.

acceleration double Movement acceleration. Default value of 0 indicates that the accel setting is used instead.

accelerationUnit Units Units of acceleration.

moveVelocity()

Async M

lockstep.moveVelocity(velocity, unit, acceleration, accelerationUnit)
lockstep.moveVelocity(velocity, unit, acceleration)
lockstep.moveVelocity(velocity, unit)
lockstep.moveVelocity(velocity)

Moves the first axis of the lockstep group at the specified speed. The other axes in the lockstep group maintain their offsets throughout movement.

Arguments

Name Type Description

velocity double Movement velocity.

unit Units Units of velocity.

acceleration double Movement acceleration. Default value of 0 indicates that the accel setting is used instead.

accelerationUnit Units Units of acceleration.

stop()

Async M

lockstep.stop(waitUntilIdle)
lockstep.stop()

Stops ongoing lockstep group movement. Decelerates until zero speed.

Arguments

Name Type Description

waitUntilIdle logical Determines whether function should return after the movement is finished or just started.

toString()

M

lockstep.toString()

Returns a string which represents the enabled lockstep group.

Arguments

No arguments

Return Value

char String which represents the enabled lockstep group.

waitUntilIdle()

Async M

lockstep.waitUntilIdle(throwErrorOnFault)
lockstep.waitUntilIdle()

Waits until the lockstep group stops moving.

Arguments

Name Type Description

throwErrorOnFault logical Determines whether to throw error when fault is observed.

LockstepAxes

The axis numbers of a lockstep group.

To use this type, add import zaber.motion.ascii.LockstepAxes; to the top of your source code.

axis1

P

lockstepAxes.getAxis1()

int32 The axis number used to set the first axis.

axis2

P

lockstepAxes.getAxis2()

int32 The axis number used to set the second axis.

axis3

P

lockstepAxes.getAxis3()

int32 The axis number used to set the third axis.

axis4

P

lockstepAxes.getAxis4()

int32 The axis number used to set the fourth axis.

LogOutputMode

Mode of logging output of the library.

To use this type, add import zaber.motion.LogOutputMode; to the top of your source code.

Member	Numeric value
`LogOutputMode.OFF`	0
`LogOutputMode.STDOUT`	1
`LogOutputMode.STDERR`	2
`LogOutputMode.FILE`	3

Measurement

Represents a numerical value with optional units specified.

To use this type, add import zaber.motion.Measurement; to the top of your source code.

unit

P

measurement.getUnit()

Units Optional units of the measurement.

value

P

measurement.getValue()

double Value of the measurement.

MessageType

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

To use this type, add import zaber.motion.ascii.MessageType; to the top of your source code.

Member	Numeric value
`MessageType.REPLY`	0
`MessageType.INFO`	1
`MessageType.ALERT`	2

MotionLibException

Exception originating in the library.

To use this type, add import zaber.motion.MotionLibException; to the top of your source code.

details

P

motionLibException.getDetails()

ExceptionData Additional data for a given exception subclass. The structure of this data is different for each subclass and some subclasses may not even have this property. See the list of available subclasses below for more details.

message

P

motionLibException.getMessage()

char Error message of the exception.

toString()

M

motionLibException.toString()

Returns a string that represents the exception.

Arguments

No arguments

Return Value

char A string that represents the exception.

Below are the subclasses of MotionLibException:

Exception	Description
`BinaryCommandFailedException`	Thrown when a device rejects a binary command with an error. Details: `BinaryCommandFailedExceptionData`
`CommandFailedException`	Thrown when a device rejects a command. Details: `CommandFailedExceptionData`
`CommandPreemptedException`	Thrown when a movement command gets preempted by another command.
`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 import zaber.motion.exceptions.MovementFailedExceptionData; to the top of your source code.

reason

P

movementFailedExceptionData.getReason()

char The reason for the Exception.

warnings

P

movementFailedExceptionData.getWarnings()

char[] The full list of warnings.

MovementInterruptedExceptionData

Contains additional data for MovementInterruptedException.

To use this type, add import zaber.motion.exceptions.MovementInterruptedExceptionData; to the top of your source code.

reason

P

movementInterruptedExceptionData.getReason()

char The reason for the Exception.

warnings

P

movementInterruptedExceptionData.getWarnings()

char[] The full list of warnings.

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 import zaber.motion.gcode.OfflineTranslator; to the top of your source code.

coordinateSystem

P

offlineTranslator.getCoordinateSystem()

char Current coordinate system.

translatorId

P

offlineTranslator.getTranslatorId()

int32 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

char[] 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 char Coordinate system (e.g. G54).

axis char Letter of the axis.

unit Units Units of position.

Return Value

double Offset in translator units of the axis.

getAxisPosition()

M

offlineTranslator.getAxisPosition(axis, unit)

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

Arguments

Name Type Description

axis char Letter of the axis.

unit Units Units of position.

Return Value

double Position of translator's axis.

resetAfterStreamError()

M

offlineTranslator.resetAfterStreamError()

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

Arguments

No arguments

setAxisHomePosition()

M

offlineTranslator.setAxisHomePosition(axis, position, unit)

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

Arguments

Name Type Description

axis char Letter of the axis.

position double The home position.

unit Units Units of position.

setAxisPosition()

M

offlineTranslator.setAxisPosition(axis, position, unit)

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

Arguments

Name Type Description

axis char Letter of the axis.

position double The position.

unit Units Units of position.

setAxisSecondaryHomePosition()

M

offlineTranslator.setAxisSecondaryHomePosition(axis, position, unit)

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

Arguments

Name Type Description

axis char Letter of the axis.

position double The home position.

unit Units Units of position.

setFeedRateOverride()

M

offlineTranslator.setFeedRateOverride(coefficient)

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

Arguments

Name Type Description

coefficient double Coefficient of the original feed rate.

setTraverseRate()

M

offlineTranslator.setTraverseRate(traverseRate, unit)

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

Arguments

Name Type Description

traverseRate double The traverse rate.

unit Units Units of the traverse rate.

setup()

Async S

OfflineTranslator.setup(definition, config)
OfflineTranslator.setup(definition)

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

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

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 int32[] 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 char 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 import zaber.motion.ascii.Oscilloscope; to the top of your source code.

device

P

oscilloscope.getDevice()

Device Device that this Oscilloscope measures.

addChannel()

Async M

oscilloscope.addChannel(axis, setting)

Select a setting to be recorded.

Arguments

Name Type Description

axis int32 The 1-based index of the axis to record the value from.

setting char The name of a setting to record.

clear()

Async M

oscilloscope.clear()

Clear the list of channels to record.

Arguments

No arguments

getBufferSize()

Async M

oscilloscope.getBufferSize()

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

Arguments

No arguments

Return Value

int32 Number of samples that will be recorded per channel with the current channels. Zero if none have been added.

getDelay()

Async M

oscilloscope.getDelay(unit)
oscilloscope.getDelay()

Get the delay before oscilloscope recording starts.

Arguments

Name Type Description

unit Units Unit of measure to represent the delay in.

Return Value

double The current start delay in the selected time units.

getMaxBufferSize()

Async M

oscilloscope.getMaxBufferSize()

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

Arguments

No arguments

Return Value

int32 The maximum number of samples that can be recorded per Oscilloscope channel.

getMaxChannels()

Async M

oscilloscope.getMaxChannels()

Get the maximum number of channels that can be recorded.

Arguments

No arguments

Return Value

int32 The maximum number of channels that can be added to an Oscilloscope recording.

getTimebase()

Async M

oscilloscope.getTimebase(unit)
oscilloscope.getTimebase()

Get the current sampling interval.

Arguments

Name Type Description

unit Units Unit of measure to represent the timebase in.

Return Value

double The current sampling interval in the selected time units.

read()

Async M

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

oscilloscope.setDelay(interval, unit)
oscilloscope.setDelay(interval)

Set the sampling start delay.

Arguments

Name Type Description

interval double Delay time between triggering a recording and the first data point being recorded.

unit Units Unit of measure the delay is represented in.

setTimebase()

Async M

oscilloscope.setTimebase(interval, unit)
oscilloscope.setTimebase(interval)

Set the sampling interval.

Arguments

Name Type Description

interval double Sample interval for the next oscilloscope recording. Minimum value is 100µs.

unit Units Unit of measure the timebase is represented in.

start()

Async M

oscilloscope.start(captureLength)
oscilloscope.start()

Trigger data recording.

Arguments

Name Type Description

captureLength int32 Optional number of samples to record per channel. If left empty, the device records samples until the buffer fills.

stop()

Async M

oscilloscope.stop()

End data recording if currently in progress.

Arguments

No arguments

OscilloscopeCaptureProperties

The public properties of one channel of recorded oscilloscope data.

To use this type, add import zaber.motion.ascii.OscilloscopeCaptureProperties; to the top of your source code.

axisNumber

P

oscilloscopeCaptureProperties.getAxisNumber()

int32 The number of the axis the data was recorded from, or 0 for the controller.

setting

P

oscilloscopeCaptureProperties.getSetting()

char 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 import zaber.motion.ascii.OscilloscopeData; to the top of your source code.

axisNumber

P

oscilloscopeData.getAxisNumber()

int32 The number of the axis the data was recorded from, or 0 for the controller.

dataId

P

oscilloscopeData.getDataId()

int32 Unique ID for this block of recorded data.

setting

P

oscilloscopeData.getSetting()

char The name of the recorded setting.

getData()

M

oscilloscopeData.getData(unit)
oscilloscopeData.getData()

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

double[] The recorded data for one oscilloscope channel, converted to the units specified.

getDelay()

M

oscilloscopeData.getDelay(unit)
oscilloscopeData.getDelay()

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 Units Unit of measure to represent the delay in.

Return Value

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

getSampleTime()

M

oscilloscopeData.getSampleTime(index, unit)
oscilloscopeData.getSampleTime(index)

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

Arguments

Name Type Description

index int32 0-based index of the sample to calculate the time of.

unit Units Unit of measure to represent the calculated time in.

Return Value

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

getTimebase()

M

oscilloscopeData.getTimebase(unit)
oscilloscopeData.getTimebase()

Get the sample interval that this data was recorded with.

Arguments

Name Type Description

unit Units Unit of measure to represent the timebase in.

Return Value

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

ParamsetInfo

The raw parameters currently saved to a given paramset.

To use this type, add import zaber.motion.ascii.ParamsetInfo; to the top of your source code.

params

P

paramsetInfo.getParams()

ServoTuningParam[] The raw tuning parameters of this device.

type

P

paramsetInfo.getType()

char The tuning algorithm used for this axis.

version

P

paramsetInfo.getVersion()

int32 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 import zaber.motion.ascii.PidTuning; to the top of your source code.

d

P

pidTuning.getD()

double The derivative tuning argument.

fc

P

pidTuning.getFc()

double The frequency cutoff for the tuning.

i

P

pidTuning.getI()

double The integral tuning argument.

p

P

pidTuning.getP()

double The positional tuning argument.

type

P

pidTuning.getType()

char The tuning algorithm used to tune this axis.

version

P

pidTuning.getVersion()

int32 The version of the tuning algorithm used to tune this axis.

Response

Response message from the device.

To use this type, add import zaber.motion.ascii.Response; to the top of your source code.

axisNumber

P

response.getAxisNumber()

int32 Number of the axis which the response applies to. Zero denotes device scope.

data

P

response.getData()

char Response data which varies depending on the request.

deviceAddress

P

response.getDeviceAddress()

int32 Number of the device that sent the message.

messageType

P

response.getMessageType()

MessageType Type of the reply received.

replyFlag

P

response.getReplyFlag()

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

status

P

response.getStatus()

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

warningFlag

P

response.getWarningFlag()

char The warning flag contains the highest priority warning currently active for the device or axis.

RotationDirection

Direction of rotation.

To use this type, add import zaber.motion.RotationDirection; to the top of your source code.

Member	Numeric value
`RotationDirection.CLOCKWISE`	0
`RotationDirection.COUNTERCLOCKWISE`	1
`RotationDirection.CW`	0
`RotationDirection.CCW`	1

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 import zaber.motion.ascii.ServoTuner; to the top of your source code.

ServoTuner()

Constructor

new ServoTuner(axis)

Creates instance of ServoTuner for the given axis.

Arguments

Name Type Description

axis Axis The axis that will be tuned.

axis

P

servoTuner.getAxis()

Axis The axis that will be tuned.

getPidTuning()

Async M

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

servoTuner.getSimpleTuningParamDefinitions()

Gets the parameters that are required to tune this device.

Arguments

No arguments

Return Value

SimpleTuningParamDefinition[] The tuning parameters.

getStartupParamset()

Async M

servoTuner.getStartupParamset()

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

Arguments

No arguments

Return Value

ServoTuningParamset The paramset used at when the device restarts.

getTuning()

Async M

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

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

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 double The proportional gain. Must be in units of N/m.

i double The integral gain. Must be in units of N/m⋅s.

d double The derivative gain. Must be in units of N⋅s/m.

fc double The cutoff frequency. Must be in units of Hz.

Return Value

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

setSimpleTuning()

Async M

servoTuner.setSimpleTuning(paramset, tuningParams, loadMass, carriageMass)
servoTuner.setSimpleTuning(paramset, tuningParams, loadMass)

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 double The mass loaded on the stage (excluding the mass of the carriage itself) in kg.

carriageMass double The mass of the carriage in kg. If this value is not set the default carriage mass is used.

setStartupParamset()

Async M

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

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 import zaber.motion.ascii.ServoTuningParam; to the top of your source code.

name

P

servoTuningParam.getName()

char The name of the parameter to set.

value

P

servoTuningParam.getValue()

double The value to use for this parameter.

ServoTuningParamset

Servo Tuning Parameter Set to target.

To use this type, add import zaber.motion.ascii.ServoTuningParamset; 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 import zaber.motion.exceptions.SetDeviceStateExceptionData; to the top of your source code.

peripherals

P

setDeviceStateExceptionData.getPeripherals()

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

servoTuning

P

setDeviceStateExceptionData.getServoTuning()

char The reason servo tuning could not be set.

settings

P

setDeviceStateExceptionData.getSettings()

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

storage

P

setDeviceStateExceptionData.getStorage()

char[] The reasons storage could not be set.

storedPositions

P

setDeviceStateExceptionData.getStoredPositions()

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

streamBuffers

P

setDeviceStateExceptionData.getStreamBuffers()

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

triggers

P

setDeviceStateExceptionData.getTriggers()

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

SetPeripheralStateExceptionData

Contains additional data for a SetPeripheralStateFailedException.

To use this type, add import zaber.motion.exceptions.SetPeripheralStateExceptionData; to the top of your source code.

axisNumber

P

setPeripheralStateExceptionData.getAxisNumber()

int32 The number of axis where the exception originated.

servoTuning

P

setPeripheralStateExceptionData.getServoTuning()

char The reason servo tuning could not be set.

settings

P

setPeripheralStateExceptionData.getSettings()

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

storage

P

setPeripheralStateExceptionData.getStorage()

char[] The reasons storage could not be set.

storedPositions

P

setPeripheralStateExceptionData.getStoredPositions()

char[] 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 import zaber.motion.ascii.SettingConstants; to the top of your source code.

Constant	Value
`SettingConstants.ACCEL`	`accel`
`SettingConstants.CALIBRATION_TYPE`	`calibration.type`
`SettingConstants.CLOOP_CONTINUOUS_ENABLE`	`cloop.continuous.enable`
`SettingConstants.CLOOP_COUNTS`	`cloop.counts`
`SettingConstants.CLOOP_DISPLACE_TOLERANCE`	`cloop.displace.tolerance`
`SettingConstants.CLOOP_DURATION_MAX`	`cloop.duration.max`
`SettingConstants.CLOOP_ENABLE`	`cloop.enable`
`SettingConstants.CLOOP_MODE`	`cloop.mode`
`SettingConstants.CLOOP_RECOVERY_ENABLE`	`cloop.recovery.enable`
`SettingConstants.CLOOP_SERVO_ENABLE`	`cloop.servo.enable`
`SettingConstants.CLOOP_SETTLE_PERIOD`	`cloop.settle.period`
`SettingConstants.CLOOP_SETTLE_TOLERANCE`	`cloop.settle.tolerance`
`SettingConstants.CLOOP_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 import zaber.motion.ascii.SimpleTuningParamDefinition; to the top of your source code.

dataType

P

simpleTuningParamDefinition.getDataType()

char How this parameter will be parsed by the tuner.

maxLabel

P

simpleTuningParamDefinition.getMaxLabel()

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

minLabel

P

simpleTuningParamDefinition.getMinLabel()

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

name

P

simpleTuningParamDefinition.getName()

char 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 import zaber.motion.ascii.Stream; to the top of your source code.

axes

P

stream.getAxes()

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

device

P

stream.getDevice()

Device Device that controls this stream.

mode

P

stream.getMode()

StreamMode Current mode of the stream.

streamId

P

stream.getStreamId()

int32 The number that identifies the stream on the device.

arcAbsolute()

Async M

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

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

Arguments

Name Type Description

rotationDirection RotationDirection The direction of the rotation.

centerX Measurement The first dimensions of the position of the center of the circle on which the arc exists.

centerY Measurement The second dimensions of the position of the center of the circle on which the arc exists.

endX Measurement The first dimensions of the end position of the arc.

endY Measurement The second dimensions of the end position of the arc.

arcAbsoluteOn()

Async M

stream.arcAbsoluteOn(targetAxesIndices, rotationDirection, centerX, centerY, endX, endY)

Queue an absolute arc movement in the stream. The movement will only target the specified subset of axes in the stream. Requires at least Firmware 7.11.

Arguments

Name Type Description

targetAxesIndices int32[] Indices of the axes in the stream the movement targets. Refers to the axes provided during the stream setup or further execution. Indices are zero-based.

rotationDirection RotationDirection The direction of the rotation.

centerX Measurement The first dimensions of the position of the center of the circle on which the arc exists.

centerY Measurement The second dimensions of the position of the center of the circle on which the arc exists.

endX Measurement The first dimensions of the end position of the arc.

endY Measurement The second dimensions of the end position of the arc.

arcRelative()

Async M

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

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

Arguments

Name Type Description

rotationDirection RotationDirection The direction of the rotation.

centerX Measurement The first dimensions of the position of the center of the circle on which the arc exists.

centerY Measurement The second dimensions of the position of the center of the circle on which the arc exists.

endX Measurement The first dimensions of the end position of the arc.

endY Measurement The second dimensions of the end position of the arc.

arcRelativeOn()

Async M

stream.arcRelativeOn(targetAxesIndices, rotationDirection, centerX, centerY, endX, endY)

Queue a relative arc movement in the stream. The movement will only target the specified subset of axes in the stream. Requires at least Firmware 7.11.

Arguments

Name Type Description

targetAxesIndices int32[] Indices of the axes in the stream the movement targets. Refers to the axes provided during the stream setup or further execution. Indices are zero-based.

rotationDirection RotationDirection The direction of the rotation.

centerX Measurement The first dimensions of the position of the center of the circle on which the arc exists.

centerY Measurement The second dimensions of the position of the center of the circle on which the arc exists.

endX Measurement The first dimensions of the end position of the arc.

endY Measurement The second dimensions of the end position of the arc.

call()

Async M

stream.call(streamBuffer)

Append the actions in a stream buffer to the queue.

Arguments

Name Type Description

streamBuffer StreamBuffer The stream buffer to call.

checkDisabled()

Async M

stream.checkDisabled()

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

Arguments

No arguments

Return Value

logical True if the stream is disabled.

circleAbsolute()

Async M

stream.circleAbsolute(rotationDirection, centerX, centerY)

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

Arguments

Name Type Description

rotationDirection RotationDirection The direction of the rotation.

centerX Measurement The first dimension of the position of the center of the circle.

centerY Measurement The second dimension of the position of the center of the circle.

circleAbsoluteOn()

Async M

stream.circleAbsoluteOn(targetAxesIndices, rotationDirection, centerX, centerY)

Queue an absolute circle movement in the stream. The movement will only target the specified subset of axes in the stream. Requires at least Firmware 7.11.

Arguments

Name Type Description

targetAxesIndices int32[] Indices of the axes in the stream the movement targets. Refers to the axes provided during the stream setup or further execution. Indices are zero-based.

rotationDirection RotationDirection The direction of the rotation.

centerX Measurement The first dimension of the position of the center of the circle.

centerY Measurement The second dimension of the position of the center of the circle.

circleRelative()

Async M

stream.circleRelative(rotationDirection, centerX, centerY)

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

Arguments

Name Type Description

rotationDirection RotationDirection The direction of the rotation.

centerX Measurement The first dimension of the position of the center of the circle.

centerY Measurement The second dimension of the position of the center of the circle.

circleRelativeOn()

Async M

stream.circleRelativeOn(targetAxesIndices, rotationDirection, centerX, centerY)

Queue a relative circle movement in the stream. The movement will only target the specified subset of axes in the stream. Requires at least Firmware 7.11.

Arguments

Name Type Description

targetAxesIndices int32[] Indices of the axes in the stream the movement targets. Refers to the axes provided during the stream setup or further execution. Indices are zero-based.

rotationDirection RotationDirection The direction of the rotation.

centerX Measurement The first dimension of the position of the center of the circle.

centerY Measurement The second dimension of the position of the center of the circle.

cork()

Async M

stream.cork()

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

Arguments

No arguments

disable()

Async M

stream.disable()

Disable the stream. If the stream is not setup, this command does nothing. Once disabled, the stream will no longer accept stream commands. The stream will process the rest of the commands in the queue until it is empty.

Arguments

No arguments

genericCommand()

Async M

stream.genericCommand(command)

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

Arguments

Name Type Description

command char Command and its parameters.

genericCommandBatch()

Async M

stream.genericCommandBatch(batch)

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

Arguments

Name Type Description

batch char[] Array of commands.

getMaxCentripetalAcceleration()

Async M

stream.getMaxCentripetalAcceleration(unit)
stream.getMaxCentripetalAcceleration()

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

Arguments

Name Type Description

unit Units Units of acceleration.

Return Value

double The maximum centripetal acceleration of the live stream.

getMaxSpeed()

Async M

stream.getMaxSpeed(unit)
stream.getMaxSpeed()

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

Arguments

Name Type Description

unit Units Units of velocity.

Return Value

double The maximum speed of the stream.

getMaxTangentialAcceleration()

Async M

stream.getMaxTangentialAcceleration(unit)
stream.getMaxTangentialAcceleration()

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

Arguments

Name Type Description

unit Units Units of acceleration.

Return Value

double The maximum tangential acceleration of the live stream.

isBusy()

Async M

stream.isBusy()

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

Arguments

No arguments

Return Value

logical True if the stream is executing a queued action.

lineAbsolute()

Async M

stream.lineAbsolute(...endpoint)

Queue an absolute line movement in the stream.

Arguments

Name Type Description

...endpoint Measurement Positions for the axes to move to, relative to their home positions.

lineAbsoluteOn()

Async M

stream.lineAbsoluteOn(targetAxesIndices, endpoint)

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

Arguments

Name Type Description

targetAxesIndices int32[] Indices of the axes in the stream the movement targets. Refers to the axes provided during the stream setup or further execution. Indices are zero-based.

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

lineRelative()

Async M

stream.lineRelative(...endpoint)

Queue a relative line movement in the stream.

Arguments

Name Type Description

...endpoint Measurement Positions for the axes to move to, relative to their positions before movement.

lineRelativeOn()

Async M

stream.lineRelativeOn(targetAxesIndices, endpoint)

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

Arguments

Name Type Description

targetAxesIndices int32[] Indices of the axes in the stream the movement targets. Refers to the axes provided during the stream setup or further execution. Indices are zero-based.

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

setAllAnalogOutputs()

Async M

stream.setAllAnalogOutputs(values)

Sets values for all analog output channels.

Arguments

Name Type Description

values double[] Voltage values to set the output channels to.

setAllDigitalOutputs()

Async M

stream.setAllDigitalOutputs(values)

Sets values for all digital output channels.

Arguments

Name Type Description

values logical[] True to set the output channel to conducting and false to turn it off.

setAnalogOutput()

Async M

stream.setAnalogOutput(channelNumber, value)

Set the value of an analog output channel.

Arguments

Name Type Description

channelNumber int32 The number of the analog output channel. Channel numbers are numbered from one.

value double The value to set the channel to, in volts.

setDigitalOutput()

Async M

stream.setDigitalOutput(channelNumber, value)

Set the value of a digital output channel.

Arguments

Name Type Description

channelNumber int32 The number of the digital output channel. Channel numbers are numbered from one.

value logical The value to set the channel to.

setMaxCentripetalAcceleration()

Async M

stream.setMaxCentripetalAcceleration(maxCentripetalAcceleration, unit)
stream.setMaxCentripetalAcceleration(maxCentripetalAcceleration)

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

Arguments

Name Type Description

maxCentripetalAcceleration double Maximum centripetal acceleration at which any stream action is executed.

unit Units Units of acceleration.

setMaxSpeed()

Async M

stream.setMaxSpeed(maxSpeed, unit)
stream.setMaxSpeed(maxSpeed)

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

Arguments

Name Type Description

maxSpeed double Maximum speed at which any stream action is executed.

unit Units Units of velocity.

setMaxTangentialAcceleration()

Async M

stream.setMaxTangentialAcceleration(maxTangentialAcceleration, unit)
stream.setMaxTangentialAcceleration(maxTangentialAcceleration)

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

Arguments

Name Type Description

maxTangentialAcceleration double Maximum tangential acceleration at which any stream action is executed.

unit Units Units of acceleration.

setupLive()

Async M

stream.setupLive(...axes)

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

Arguments

Name Type Description

...axes int32 Numbers of physical axes to setup the stream on.

setupLiveComposite()

Async M

stream.setupLiveComposite(...axes)

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

Arguments

Name Type Description

...axes StreamAxisDefinition Definition of the stream axes.

setupStore()

Async M

stream.setupStore(streamBuffer, ...axes)

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

Arguments

Name Type Description

streamBuffer StreamBuffer The stream buffer to queue actions in.

...axes int32 Numbers of physical axes to setup the stream on.

setupStoreArbitraryAxes()

Async M

stream.setupStoreArbitraryAxes(streamBuffer, axesCount)

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

Arguments

Name Type Description

streamBuffer StreamBuffer The stream buffer to queue actions in.

axesCount int32 The number of axes in the stream.

setupStoreComposite()

Async M

stream.setupStoreComposite(streamBuffer, ...axes)

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

Arguments

Name Type Description

streamBuffer StreamBuffer The stream buffer to queue actions in.

...axes StreamAxisDefinition Definition of the stream axes.

toggleDigitalOutput()

Async M

stream.toggleDigitalOutput(channelNumber)

Toggle the value of a digital output channel.

Arguments

Name Type Description

channelNumber int32 The number of the digital output channel. Channel numbers are numbered from one.

toString()

M

stream.toString()

Returns a string which represents the stream.

Arguments

No arguments

Return Value

char String which represents the stream.

uncork()

Async M

stream.uncork()

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

Arguments

No arguments

wait()

Async M

stream.wait(time, unit)
stream.wait(time)

Wait a specified time.

Arguments

Name Type Description

time double Amount of time to wait.

unit Units Units of time.

waitAnalogInput()

Async M

stream.waitAnalogInput(channelNumber, condition, value)

Wait for the value of a analog input channel to reach a condition concerning a given value.

Arguments

Name Type Description

channelNumber int32 The number of the analog input channel. Channel numbers are numbered from one.

condition char A condition (e.g. <, <=, ==, !=).

value double The value that the condition concerns, in volts.

waitDigitalInput()

Async M

stream.waitDigitalInput(channelNumber, value)

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

Arguments

Name Type Description

channelNumber int32 The number of the digital input channel. Channel numbers are numbered from one.

value logical The value that the stream should wait for.

waitUntilIdle()

Async M

stream.waitUntilIdle(throwErrorOnFault)
stream.waitUntilIdle()

Waits until the live stream executes all queued actions.

Arguments

Name Type Description

throwErrorOnFault logical Determines whether to throw error when fault is observed.

StreamAxisDefinition

Defines an axis of the stream.

To use this type, add import zaber.motion.ascii.StreamAxisDefinition; to the top of your source code.

axisNumber

P

streamAxisDefinition.getAxisNumber()

int32 Number of a physical axis or a lockstep group.

axisType

P

streamAxisDefinition.getAxisType()

StreamAxisType Defines the type of the axis.

StreamAxisType

Denotes type of the stream axis.

To use this type, add import zaber.motion.ascii.StreamAxisType; to the top of your source code.

Member	Numeric value
`StreamAxisType.PHYSICAL`	0
`StreamAxisType.LOCKSTEP`	1

StreamBuffer

Represents a stream buffer with this ID on a device. A stream buffer is a place to store a queue of stream actions.

To use this type, add import zaber.motion.ascii.StreamBuffer; to the top of your source code.

bufferId

P

streamBuffer.getBufferId()

int32 The number identifying the buffer on the device.

device

P

streamBuffer.getDevice()

Device The Device this buffer exists on.

erase()

Async M

streamBuffer.erase()

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

Arguments

No arguments

getContent()

Async M

streamBuffer.getContent()

Get the buffer contents as an array of strings.

Arguments

No arguments

Return Value

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

StreamExecutionExceptionData

Contains additional data for StreamExecutionException.

To use this type, add import zaber.motion.exceptions.StreamExecutionExceptionData; to the top of your source code.

errorFlag

P

streamExecutionExceptionData.getErrorFlag()

char The error flag that caused the exception.

reason

P

streamExecutionExceptionData.getReason()

char The reason for the exception.

StreamMode

Mode of a stream.

To use this type, add import zaber.motion.ascii.StreamMode; to the top of your source code.

Member	Numeric value
`StreamMode.DISABLED`	0
`StreamMode.STORE`	1
`StreamMode.STORE_ARBITRARY_AXES`	2
`StreamMode.LIVE`	3

StreamMovementFailedExceptionData

Contains additional data for StreamMovementFailedException.

To use this type, add import zaber.motion.exceptions.StreamMovementFailedExceptionData; to the top of your source code.

reason

P

streamMovementFailedExceptionData.getReason()

char The reason for the Exception.

warnings

P

streamMovementFailedExceptionData.getWarnings()

char[] The full list of warnings.

StreamMovementInterruptedExceptionData

Contains additional data for StreamMovementInterruptedException.

To use this type, add import zaber.motion.exceptions.StreamMovementInterruptedExceptionData; to the top of your source code.

reason

P

streamMovementInterruptedExceptionData.getReason()

char The reason for the Exception.

warnings

P

streamMovementInterruptedExceptionData.getWarnings()

char[] The full list of warnings.

Tools

Class providing various utility functions.

To use this type, add import zaber.motion.Tools; to the top of your source code.

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

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

listSerialPorts()

Async S

Tools.listSerialPorts()

Lists all serial ports on the computer.

Arguments

No arguments

Return Value

char[] Array of serial port names.

TranslateMessage

Represents a message from translator regarding a block translation.

To use this type, add import zaber.motion.gcode.TranslateMessage; to the top of your source code.

fromBlock

P

translateMessage.getFromBlock()

int32 The index in the block string that the message regards to.

message

P

translateMessage.getMessage()

char The message describing an occurrence.

toBlock

P

translateMessage.getToBlock()

int32 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 import zaber.motion.gcode.TranslateResult; to the top of your source code.

commands

P

translateResult.getCommands()

char[] Stream commands resulting from the block.

warnings

P

translateResult.getWarnings()

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 import zaber.motion.gcode.Translator; to the top of your source code.

coordinateSystem

P

translator.getCoordinateSystem()

char Current coordinate system.

translatorId

P

translator.getTranslatorId()

int32 The ID of the translator that serves to identify native resources.

flush()

Async M

translator.flush(waitUntilIdle)
translator.flush()

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

Arguments

Name Type Description

waitUntilIdle logical Determines whether to wait for the stream to finish all the movements.

Return Value

char[] 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 char Coordinate system (e.g. G54).

axis char Letter of the axis.

unit Units Units of position.

Return Value

double Offset in translator units of the axis.

getAxisPosition()

M

translator.getAxisPosition(axis, unit)

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

Arguments

Name Type Description

axis char Letter of the axis.

unit Units Units of position.

Return Value

double Position of translator's axis.

resetAfterStreamError()

M

translator.resetAfterStreamError()

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

Arguments

No arguments

resetPosition()

Async M

translator.resetPosition()

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

Arguments

No arguments

setAxisHomePosition()

M

translator.setAxisHomePosition(axis, position, unit)

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

Arguments

Name Type Description

axis char Letter of the axis.

position double The home position.

unit Units Units of position.

setAxisPosition()

M

translator.setAxisPosition(axis, position, unit)

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

Arguments

Name Type Description

axis char Letter of the axis.

position double The position.

unit Units Units of position.

setAxisSecondaryHomePosition()

M

translator.setAxisSecondaryHomePosition(axis, position, unit)

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

Arguments

Name Type Description

axis char Letter of the axis.

position double The home position.

unit Units Units of position.

setFeedRateOverride()

M

translator.setFeedRateOverride(coefficient)

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

Arguments

Name Type Description

coefficient double Coefficient of the original feed rate.

setTraverseRate()

M

translator.setTraverseRate(traverseRate, unit)

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

Arguments

Name Type Description

traverseRate double The traverse rate.

unit Units Units of the traverse rate.

setup()

Async S

Translator.setup(stream, config)
Translator.setup(stream)

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

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 char 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 import zaber.motion.gcode.TranslatorConfig; to the top of your source code.

axisMappings

P

translatorConfig.getAxisMappings()

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

axisTransformations

P

translatorConfig.getAxisTransformations()

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 import zaber.motion.ascii.Transport; to the top of your source code.

transportId

P

transport.getTransportId()

int32 The transport ID identifies this transport instance with the underlying library.

close()

Async M

transport.close()

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

Arguments

No arguments

closeWithError()

Async M

transport.closeWithError(errorMessage)

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

Arguments

Name Type Description

errorMessage char Error to be propagated.

open()

S

Transport.open()

Creates new instance allowing to read/write messages from/to a single connection.

Arguments

No arguments

Return Value

Transport New instance of transport.

read()

Async M

transport.read()

Reads a single message generated by the connection. The message is a request for the device. Read should be called continuously in a loop to ensure all generated messages are processed. Subsequent read call confirms that previous message was delivered to the device.

Arguments

No arguments

Return Value

char Message generated by the connection.

write()

Async M

transport.write(message)

Writes a single message to the connection. The message will be processed as a reply from the device.

Arguments

Name Type Description

message char Single message of Zaber ASCII protocol.

Units

Represents all units available across the library.

Native

Constant	Unit
`Units.NATIVE`	Device native units

Length

Constant	Unit
`Units.LENGTH_METRES`	Metres
`Units.LENGTH_CENTIMETRES`	Centimetres
`Units.LENGTH_MILLIMETRES`	Millimetres
`Units.LENGTH_MICROMETRES`	Micrometres
`Units.LENGTH_NANOMETRES`	Nanometres
`Units.LENGTH_INCHES`	Inches

Velocity

Constant	Unit
`Units.VELOCITY_METRES_PER_SECOND`	Metres per second
`Units.VELOCITY_CENTIMETRES_PER_SECOND`	Centimetres per second
`Units.VELOCITY_MILLIMETRES_PER_SECOND`	Millimetres per second
`Units.VELOCITY_MICROMETRES_PER_SECOND`	Micrometres per second
`Units.VELOCITY_NANOMETRES_PER_SECOND`	Nanometres per second
`Units.VELOCITY_INCHES_PER_SECOND`	Inches per second

Acceleration

Constant	Unit
`Units.ACCELERATION_METRES_PER_SECOND_SQUARED`	Metres per second squared
`Units.ACCELERATION_CENTIMETRES_PER_SECOND_SQUARED`	Centimetres per second squared
`Units.ACCELERATION_MILLIMETRES_PER_SECOND_SQUARED`	Millimetres per second squared
`Units.ACCELERATION_MICROMETRES_PER_SECOND_SQUARED`	Micrometres per second squared
`Units.ACCELERATION_NANOMETRES_PER_SECOND_SQUARED`	Nanometres per second squared
`Units.ACCELERATION_INCHES_PER_SECOND_SQUARED`	Inches per second squared

Angle

Constant	Unit
`Units.ANGLE_DEGREES`	Degrees
`Units.ANGLE_RADIANS`	Radians

Angular Velocity

Constant	Unit
`Units.ANGULAR_VELOCITY_DEGREES_PER_SECOND`	Degrees per second
`Units.ANGULAR_VELOCITY_RADIANS_PER_SECOND`	Radians per second

Angular Acceleration

Constant	Unit
`Units.ANGULAR_ACCELERATION_DEGREES_PER_SECOND_SQUARED`	Degrees per second squared
`Units.ANGULAR_ACCELERATION_RADIANS_PER_SECOND_SQUARED`	Radians per second squared

AC Electric Current

Constant	Unit
`Units.AC_ELECTRIC_CURRENT_AMPERES_PEAK`	Amperes peak
`Units.AC_ELECTRIC_CURRENT_AMPERES_RMS`	Amperes RMS

Percent

Constant	Unit
`Units.PERCENT_PERCENT`	Percent

DC Electric Current

Constant	Unit
`Units.DC_ELECTRIC_CURRENT_AMPERES`	Amperes

Force

Constant	Unit
`Units.FORCE_NEWTONS`	Newtons
`Units.FORCE_MILLINEWTONS`	Millinewtons
`Units.FORCE_POUNDS_FORCE`	Pounds-force
`Units.FORCE_KILONEWTONS`	Kilonewtons

Time

Constant	Unit
`Units.TIME_SECONDS`	Seconds
`Units.TIME_MILLISECONDS`	Milliseconds
`Units.TIME_MICROSECONDS`	Microseconds

Torque

Constant	Unit
`Units.TORQUE_NEWTON_METRES`	Newton metres
`Units.TORQUE_NEWTON_CENTIMETRES`	Newton centimetres
`Units.TORQUE_POUND_FORCE_FEET`	Pound-force-feet
`Units.TORQUE_OUNCE_FORCE_INCHES`	Ounce-force-inches

Inertia

Constant	Unit
`Units.INERTIA_GRAMS`	Grams
`Units.INERTIA_KILOGRAMS`	Kilograms
`Units.INERTIA_MILLIGRAMS`	Milligrams
`Units.INERTIA_POUNDS`	Pounds
`Units.INERTIA_OUNCES`	Ounces

Rotational Inertia

Constant	Unit
`Units.ROTATIONAL_INERTIA_GRAM_SQUARE_METRE`	Gram-square metre
`Units.ROTATIONAL_INERTIA_KILOGRAM_SQUARE_METRE`	Kilogram-square metre
`Units.ROTATIONAL_INERTIA_POUND_SQUARE_FEET`	Pound-square-feet

Force Constant

Constant	Unit
`Units.FORCE_CONSTANT_NEWTONS_PER_AMP`	Newtons per amp
`Units.FORCE_CONSTANT_MILLINEWTONS_PER_AMP`	Millinewtons per amp
`Units.FORCE_CONSTANT_KILONEWTONS_PER_AMP`	Kilonewtons per amp
`Units.FORCE_CONSTANT_POUNDS_FORCE_PER_AMP`	Pounds-force per amp

Torque Constant

Constant	Unit
`Units.TORQUE_CONSTANT_NEWTON_METRES_PER_AMP`	Newton metres per amp
`Units.TORQUE_CONSTANT_MILLINEWTON_METRES_PER_AMP`	Millinewton metres per amp
`Units.TORQUE_CONSTANT_KILONEWTON_METRES_PER_AMP`	Kilonewton metres per amp
`Units.TORQUE_CONSTANT_POUND_FORCE_FEET_PER_AMP`	Pound-force-feet per amp

Voltage

Constant	Unit
`Units.VOLTAGE_VOLTS`	Volts
`Units.VOLTAGE_MILLIVOLTS`	Millivolts
`Units.VOLTAGE_MICROVOLTS`	Microvolts

Current Controller Proportional Gain

Constant	Unit
`Units.CURRENT_CONTROLLER_PROPORTIONAL_GAIN_VOLTS_PER_AMP`	Volts per amp
`Units.CURRENT_CONTROLLER_PROPORTIONAL_GAIN_MILLIVOLTS_PER_AMP`	Millivolts per amp
`Units.CURRENT_CONTROLLER_PROPORTIONAL_GAIN_MICROVOLTS_PER_AMP`	Microvolts per amp

Current Controller Integral Gain

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

Current Controller Derivative Gain

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

Resistance

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

Inductance

Constant	Unit
`Units.INDUCTANCE_HENRIES`	Henries
`Units.INDUCTANCE_MILLIHENRIES`	Millihenries
`Units.INDUCTANCE_MICROHENRIES`	Microhenries
`Units.INDUCTANCE_NANOHENRIES`	Nanohenries

Voltage Constant

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

WarningFlags

Warning flag constants that indicate whether any device fault or warning is active. For more information please refer to the ASCII Protocol Manual.

To use this type, add import zaber.motion.ascii.WarningFlags; to the top of your source code.

Constant	Value
`WarningFlags.ANALOG_ENCODER_SYNC_ERROR`	`FA`
`WarningFlags.CONTROLLER_TEMPERATURE_HIGH`	`WT`
`WarningFlags.CRITICAL_SYSTEM_ERROR`	`FF`
`WarningFlags.CURRENT_INRUSH_ERROR`	`FC`
`WarningFlags.DEVICE_NOT_HOMED`	`WH`
`WarningFlags.DISPLACED_WHEN_STATIONARY`	`WM`
`WarningFlags.DRIVER_DISABLED`	`FD`
`WarningFlags.DRIVER_DISABLED_NO_FAULT`	`FO`
`WarningFlags.ENCODER_ERROR`	`FQ`
`WarningFlags.EXCESSIVE_TWIST`	`FT`
`WarningFlags.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 import zaber.motion.ascii.Warnings; to the top of your source code.

clearFlags()

Async M

warnings.clearFlags()

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

Arguments

No arguments

Return Value

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

getFlags()

Async M

warnings.getFlags()

Returns current warnings and faults on axis or device.

Arguments

No arguments

Return Value

java.util.Set<char> Retrieved warnings and faults. Refer to WarningFlags to check a particular flag.

Name	Type	Description
command	`char`	Command and its parameters.
checkErrors	`logical`	Controls whether to throw an exception when the device rejects the command.
timeout	`int32`	The timeout, in milliseconds, for a device to respond to the command. Overrides the connection default request timeout.

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

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

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

Name	Type	Description
commandTemplate	`char`	Template of a command to prepare. Parameters are denoted by question marks.
...parameters	`Measurement`	Variable number of command parameters.

Name	Type	Description
setting	`char`	Name of the setting.
value	`double`	Value of the setting in Zaber native units.
unit	`Units`	Units to convert value to.

Name	Type	Description
key	`char`	Key to read the value of.
decode	`logical`	Whether the stored value should be decoded. Only use this when reading values set by storage.set with "encode" true.

Name	Type	Description
key	`char`	Key to set the value at.
value	`logical`	Value to set.

Name	Type	Description
cloudId	`char`	The cloud ID to connect to.
token	`char`	The token to authenticate with. By default the connection will be unauthenticated.
connectionName	`char`	The name of the connection to open. Can be left empty to default to the only connection present. Otherwise, use serial port name for serial port connection or hostname:port for TCP connection.
realm	`char`	The realm to connect to. Can be left empty for the default account realm.
api	`char`	The URL of the API to receive connection info from.

Name	Type	Description
hostName	`char`	Hostname or IP address.
port	`int32`	Port number.
connectionName	`char`	The name of the connection to open. Can be left empty to default to the only connection present. Otherwise, use serial port name for serial port connection or hostname:port for TCP connection.

Name	Type	Description
portName	`char`	Name of the port to open.
baudRate	`int32`	Optional baud rate (defaults to 115200).
direct	`logical`	If true will connect to the serial port directly, failing if the connection is already opened by a message router instance.

Name	Type	Description
state	`char`	The state object to apply to this axis.
deviceOnly	`logical`	If true, only device scope settings and features will be set.

Name	Type	Description
channelNumber	`int32`	Channel number starting at 1.
value	`double`	Value to set the output channel voltage to.

Name	Type	Description
sourceType	`DeviceDbSourceType`	Source type.
urlOrFilePath	`char`	URL of the web service or path to the local file. Leave empty for the default URL of Zaber web service.

Name	Type	Description
mode	`LogOutputMode`	Logging output mode.
filePath	`char`	Path of the file to open.

Name	Type	Description
coordinateSystem	`char`	Coordinate system (e.g. G54).
axis	`char`	Letter of the axis.
unit	`Units`	Units of position.

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

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.

Name	Type	Description
device	`Device`	Device that later performs the command streaming.
axes	`int32[]`	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.

Name	Type	Description
axis	`int32`	The 1-based index of the axis to record the value from.
setting	`char`	The name of a setting to record.

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

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

Name	Type	Description
index	`int32`	0-based index of the sample to calculate the time of.
unit	`Units`	Unit of measure to represent the calculated time in.

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

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

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	`double`	The mass loaded on the stage (excluding the mass of the carriage itself) in kg.
carriageMass	`double`	The mass of the carriage in kg. If this value is not set the default carriage mass is used.

Name	Type	Description
paramset	`ServoTuningParamset`	The paramset to set tuning of.
tuningParams	`ServoTuningParam[]`	The params to set.

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.

Name	Type	Description
targetAxesIndices	`int32[]`	Indices of the axes in the stream the movement targets. Refers to the axes provided during the stream setup or further execution. Indices are zero-based.
rotationDirection	`RotationDirection`	The direction of the rotation.
centerX	`Measurement`	The first dimensions of the position of the center of the circle on which the arc exists.
centerY	`Measurement`	The second dimensions of the position of the center of the circle on which the arc exists.
endX	`Measurement`	The first dimensions of the end position of the arc.
endY	`Measurement`	The second dimensions of the end position of the arc.

Name	Type	Description
channelNumber	`int32`	The number of the analog output channel. Channel numbers are numbered from one.
value	`double`	The value to set the channel to, in volts.