Translatorclass Module: zaber_motion.gcode
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.
The following example illustrates how you can obtain an instance of this type:
from zaber_motion.ascii import Connection
from zaber_motion.gcode import Translator
connection = Connection.open_serial_port('COM3' )
device = connection.get_device(1 )
streams = device.streams
stream = streams.get_stream(1 )
translator = Translator.setup(stream)Copy Properties p coordinate_system readonly translator.coordinate_system
str Current coordinate system.
p translator.translator_id
int The ID of the translator that serves to identify native resources.
Methods m translator.flush(wait_until_idle = True)
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 wait_until_idle boolDetermines whether to wait for the stream to finish all the movements.
Return Value List[str] The remaining stream commands.
m get_axis_coordinate_system_offset() translator.get_axis_coordinate_system_offset(coordinate_system, axis, unit)
Gets offset of an axis in a given coordinate system.
Arguments Name Type Description coordinate_system strCoordinate system (e.g. G54). axis strLetter of the axis. unit LengthUnitsUnits of position.
Return Value float Offset in translator units of the axis.
m translator.get_axis_position(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 strLetter of the axis. unit LengthUnitsUnits of position.
Return Value float Position of translator's axis.
m reset_after_stream_error() translator.reset_after_stream_error()
Resets internal state after device rejected generated command. Axis positions become uninitialized.
m reset_position() async available translator.reset_position()
Resets position of the translator from the underlying stream. Call this method after performing a movement outside of translator.
m translator.set_axis_home_position(axis, position, unit)
Sets the home position of translator's axis. This position is used by G28.
Arguments Name Type Description axis strLetter of the axis. position floatThe home position. unit LengthUnitsUnits of position.
m translator.set_axis_position(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 strLetter of the axis. position floatThe position. unit LengthUnitsUnits of position.
m set_axis_secondary_home_position() translator.set_axis_secondary_home_position(axis, position, unit)
Sets the secondary home position of translator's axis. This position is used by G30.
Arguments Name Type Description axis strLetter of the axis. position floatThe home position. unit LengthUnitsUnits of position.
m translator.set_feed_rate_override(coefficient)
Allows to scale feed rate of the translated code by a coefficient.
Arguments Name Type Description coefficient floatCoefficient of the original feed rate.
m translator.set_traverse_rate(traverse_rate, unit)
Sets the speed at which the device moves when traversing (G0).
Arguments Name Type Description traverse_rate floatThe traverse rate. unit VelocityUnitsUnits of the traverse rate.
s Translator.setup(stream, config = None)
Sets up the translator on top of a provided stream.
Arguments Name Type Description stream StreamThe stream to setup the translator on. The stream must be already setup in a live or a store mode. config Optional[TranslatorConfig]Configuration of the translator.
Return Value m translate() async available 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 strBlock (line) of G-code.
Return Value TranslateResult Result of translation containing the commands sent to the device.