API Reference v9.2.0

Append the actions in a PVT buffer to the sequence's queue.

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

Converts the time values in a PvtSequenceItem array from absolute to relative. Points passed to the Generate functions or sent to devices must have relative time values.

Converts the time values in a PvtPartialSequenceItem array from absolute to relative. Points passed to the Generate functions or sent to devices must have relative time values.

Converts the time values in a PvtSequenceItem array from relative to absolute.

Converts the time values in a PvtPartialSequenceItem array from relative to absolute.

Cork the front of the PVT sequences'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 PVT commands reaching the device late. You can only cork an idle live PVT sequence.

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

Generates positions for a sequence of velocities and times. This function calculates positions by enforcing that acceleration be continuous at each segment transition. This function does not modify the input velocities or times, and outputs absolute positions. If your initial point has a time of zero, it will be considered a starting position when submitted to the device, and you must already have moved the device to that position. Additionally, all times must be relative to the previous point. Please see the ConvertTimeAbsoluteToRelativePartial function for conversions. Does not support native units.

Generates velocities for a sequence of positions and times, and (optionally) a partially defined sequence of velocities. Note that if some velocities are defined, the solver will NOT modify them in any way. If all velocities are defined, the solver will simply return the same velocities. This function calculates velocities by enforcing that acceleration be continuous at each segment transition. The function does not modify the input positions or times. Also note that if the first position is relative, all following points must be relative. If the start position is absolute, then the sequence can include a mix of relative and absolute positions. Additionally, all times must be relative to the previous point. Please see the ConvertTimeAbsoluteToRelativePartial function for conversions. Does not support native units.

Generates sequences of velocities and times for a sequence of positions. This function fits a geometric spline (not-a-knot cubic for sequences of >3 points, natural cubic for 3, and a straight line for 2) over the position sequence and then calculates the velocity and time information by traversing it using a trapezoidal motion profile. This generation scheme attempts to keep speed and acceleration less than the specified target values, but does not guarantee it. Generally speaking, a higher resample number will bring the generated trajectory closer to respecting these limits. Note that consecutive duplicate points will be automatically removed as they have no geometric significance without additional time information. Also note that for multi-dimensional paths this function expects axes to be linear and orthogonal, however for paths of a single dimension rotary units are accepted. Additionally, if the first positions of the input sequence is relative, all following positions must also be relative. If the first position is absolute, the sequence may contain a mix of relative and absolute positions. Resampling a sequence which contains relative positions is not allowed. This function outputs points with absolute positions and relative times, with the first time equal to zero, meaning it will be treated as a start position when executing on a device. You must move the device to that position before submitting the sequence, or change the first point's time to a value greater than zero. Does not support native units.

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

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

Prevents PvtDiscontinuityException as a result of expected discontinuity when resuming the sequence.

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

Load PVT Sequence data from CSV file, allowing for some combinations of incomplete data. Output from this function cannot be enqueued on a device until the missing data has been filled in using the GenerateVelocities, GeneratePositions or GenerateVelocitiesAndTimes functions. The CSV data can include a header (recommended). There are two possible header formats: 1. A time column with named position and velocity columns. For example, "Time (ms),X Position (cm),X Velocity (cm/s),...". In this case, position, velocity and time columns are all optional. Also, order does not matter, but position and velocity names must be consistent. This is our recommended CSV format. 2. A time column with alternating position and velocity columns. For example, "Time (ms),Position (cm),Velocity (cm/s),...". In this case, only the time column is optional and order does matter. Units must be wrapped in parens or square braces: ie. (µm/s), [µm/s]. Additionally, native units are the default if no units are specified. Time values default to milliseconds if no units are provided. If no header is included, then column order is assumed to be "T,P1,V1,P2,V2,...". In this case the number of columns must be odd. Users can add a column named "Relative" with true/false values to indicate whether each point's position is relative or absolute. If this column is not included, all points will be assumed to be absolute. If the first point has time = zero, it is considered the start position and treated specially. It must have an absolute position, and the device must already be idle at that position when the sequence is submitted. The velocity of the start position is ignored, and should normally be zero. Sequences with nonzero time for the first point do not have these constraints. Buffer calls and I/O actions can be added into the CSV file by adding a column titled "Actions", containing the ASCII protocol command(s) shortened by everything up to the PVT stream number, for example "call 2" or "io set do 1 1". If you want to insert multiple actions after a point, put them in the same cell separated by a semicolon. See the ASCII Protocol Manual PVT command reference section for the list of available commands. Unit symbols are not supported; analog output voltages are always in volts and schedule delay times are always in milliseconds. Note that the Relative and Actions columns are not automatically detected, so if you include them you must include a header row. Time values should always be relative when sent to a device or to the various Generate... functions on this class. If you want to store absolute times in a CSV file, you can use the ConvertTimeRelativeToAbsolute function to convert after loading the file.

Load PVT Sequence data from CSV file. This function expects complete data in the CSV files (a time column and both position and velocity columns for each series). If your CSV file has partial data, use LoadPartialSequenceData instead. The CSV data can include a header (recommended). There are two possible header formats: 1. A time column with named position and velocity columns. For example, "Time (ms),X Position (cm),X Velocity (cm/s),...". In this case, position, velocity and time columns are all optional. Also, order does not matter, but position and velocity names must be consistent. This is our recommended CSV format. 2. A time column with alternating position and velocity columns. For example, "Time (ms),Position (cm),Velocity (cm/s),...". In this case, only the time column is optional and order does matter. Units must be wrapped in parens or square braces: ie. (µm/s), [µm/s]. Additionally, native units are the default if no units are specified. Time values default to milliseconds if no units are provided. If no header is included, then column order is assumed to be "T,P1,V1,P2,V2,...". In this case the number of columns must be odd. Users can add a column named "Relative" with true/false values to indicate whether each point's position is relative or absolute. If this column is not included, all points will be assumed to be absolute. If the first point has time = zero, it is considered the start position and treated specially. It must have an absolute position, and the device must already be idle at that position when the sequence is submitted. The velocity of the start position is ignored, and should normally be zero. Sequences with nonzero time for the first point do not have these constraints. Buffer calls and I/O actions can be added into the CSV file by adding a column titled "Actions", containing the ASCII protocol command(s) shortened by everything up to the PVT stream number, for example "call 2" or "io set do 1 1". If you want to insert multiple actions after a point, put them in the same cell separated by a semicolon. See the ASCII Protocol Manual PVT command reference section for the list of available commands. Unit symbols are not supported; analog output voltages are always in volts and schedule delay times are always in milliseconds. Note that the Relative and Actions columns are not automatically detected, so if you include them you must include a header row. Time values should always be relative when sent to a device or to the various Generate... functions on this class. If you want to store absolute times in a CSV file, you can use the ConvertTimeRelativeToAbsolute function to convert after loading the file.

Queues a point with absolute coordinates in the PVT sequence. If some or all velocities are not provided, the sequence calculates the velocities from surrounding points using finite difference. If time value is zero, the device must already be idle at the specified position and the specified velocity must be zero. The last point of the sequence must have defined velocity (likely zero).

Queues a point with coordinates relative to the previous point in the PVT sequence. If some or all velocities are not provided, the sequence calculates the velocities from surrounding points using finite difference. The time value must be greater than zero, and each point must have its time value measured relative to the previous point or unexpected behavior will result. The last point of the sequence must have defined velocity (likely zero).

Queues points with absolute coordinates in the PVT sequence. Each point must have its time value measured relative to the previous point or unexpected behavior will result. Note that if the first time value is zero, the device must already be idle at the position of the first point and the velocity of that point must be zero. All other time values must be greater than zero.

Queues points with coordinates relative to the previous point in the PVT sequence. All time values must be greater than zero and each point must have its time value measured relative to the previous point or unexpected behavior will result.

Saves PvtSequenceItem array as a csv file. Save format is compatible with Zaber Launcher PVT Editor App. Normally a sequence in memory should have relative time values on the points. If you want to store absolute times instead, you can use the ConvertTimeRelativeToAbsolute function to convert before saving. Throws InvalidArgumentException if fields are undefined or inconsistent. For example, position and velocity arrays must have the same dimensions. Sequence lengths must be consistent for positions, velocities and times.

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

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

Setup the PVT sequence to use the specified axes and queue actions into a PVT buffer.

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

Writes the contents of a PvtSequenceItem array to the sequence. Each point must have its time value measured relative to the previous point or unexpected behavior will result. If your point times are absolute (measured from the start of the sequence), use the ConvertTimeAbsoluteToRelative function to convert them before submitting. If the first point in the sequence has a time value of zero, it is considered the starting position. It must have an absolute position, zero velocity, and the device must already be idle at the specified position.

Returns a string which represents the PVT sequence.

Makes the PVT sequence throw PvtDiscontinuityException when it encounters discontinuities (ND warning flag).

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

Waits until the live PVT sequence executes all queued actions.