Zaber Launcher Tutorials
Zaber Motion Library
Sample Projects
Virtual DeviceDropdown icon
About3D Viewer
AccountDropdown icon
Sign InSign Up
Zaber Motion LibraryGetting StartedHow-to Guides
API Reference
root
zaber_motion.ascii
AlertEventAllAxesAxisAxisGroupAxisIdentityAxisSettingsAxisStorageAxisTypeConnectionConversionFactorDeviceDeviceIdentityDeviceIODeviceIOInfoDeviceSettingsDeviceStorageDigitalOutputActionGetAxisSettingGetAxisSettingResultGetSettingGetSettingResultIoPortLabelIoPortTypeLockstepMeasurementSequenceMessageTypeOscilloscopeOscilloscopeCapturePropertiesOscilloscopeDataOscilloscopeDataSourceParamsetInfoPidTuningPvtPvtAxisDefinitionPvtAxisTypePvtBufferPvtCallActionPvtCancelAllOutputsScheduleActionPvtCancelOutputScheduleActionPvtCsvDataPvtIoPvtModePvtPartialCsvDataPvtPartialPointPvtPartialSequenceItemPvtPointPvtSequencePvtSequenceItemPvtSetAllAnalogOutputsActionPvtSetAllDigitalOutputsActionPvtSetAnalogOutputActionPvtSetDigitalOutputActionResponseServoTunerServoTuningParamServoTuningParamsetSetStateAxisResponseSetStateDeviceResponseSettingConstantsSimpleTuningSimpleTuningParamDefinitionStreamStreamAxisDefinitionStreamAxisTypeStreamBufferStreamIoStreamModeStreamsTransportTriggerTriggerActionTriggerConditionTriggerEnabledStateTriggerOperationTriggersTriggerStateUnknownResponseEventWarningFlagsWarnings
zaber_motion.binary
BinarySettingsCommandCodeConnectionDeviceDeviceIdentityDeviceSettingsDeviceTypeErrorCodeMessageReplyCodeReplyOnlyEventUnknownResponseEvent
zaber_motion.exceptions
MotionLibExceptionBinaryCommandFailedExceptionDataCommandFailedExceptionDataCommandTooLongExceptionDataDeviceAddressConflictExceptionDataDeviceDbFailedExceptionDataDeviceDbInnerErrorGCodeExecutionExceptionDataGCodeSyntaxExceptionDataInvalidPacketExceptionDataInvalidPvtPointInvalidResponseExceptionDataMovementFailedExceptionDataMovementInterruptedExceptionDataOperationFailedExceptionDataPvtExecutionExceptionDataPvtMovementFailedExceptionDataPvtMovementInterruptedExceptionDataSetDeviceStateExceptionDataSetPeripheralStateExceptionDataStreamExecutionExceptionDataStreamMovementFailedExceptionDataStreamMovementInterruptedExceptionData
zaber_motion.gcode
AxisDefinitionAxisMappingAxisTransformationDeviceDefinitionOfflineTranslatorTranslateMessageTranslateResultTranslatorTranslatorConfig
zaber_motion.microscopy
AutofocusAutofocusStatusCameraTriggerFilterChangerIlluminatorIlluminatorChannelMicroscopeMicroscopeConfigObjectiveChangerThirdPartyComponentsWdiAutofocusProviderWdiAutofocusProviderStatus
zaber_motion.product
ProcessProcessControllerProcessControllerModeProcessControllerSourceProcessControllerSourceSensor
zaber_motion
AxisAddressChannelAddressCyclicDirectionDeviceDbSourceDeviceDbSourceTypeDeviceDiscoveryResultDevicePortTypeFirmwareVersionLibraryLogOutputModeMeasurementNamedParameterRotationDirectionToolsUnitConversionDescriptorUnitsUnitTable
SupportBinary Protocol (Legacy)
© 2026 Zaber Technologies Inc.

API Reference v9.0.0

Unitsenum

Represents all units available across the library.

Native
ConstantUnit
Units.NATIVEDevice native units
Length
ConstantUnit
Units.LENGTH_METRESMetres
"m"Metres
Units.LENGTH_CENTIMETRESCentimetres
"cm"Centimetres
Units.LENGTH_MILLIMETRESMillimetres
"mm"Millimetres
Units.LENGTH_MICROMETRESMicrometres
"µm"Micrometres
"um"Micrometres
Units.LENGTH_NANOMETRESNanometres
"nm"Nanometres
Units.LENGTH_INCHESInches
"in"Inches
Velocity
ConstantUnit
Units.VELOCITY_METRES_PER_SECONDMetres per second
"m/s"Metres per second
Units.VELOCITY_CENTIMETRES_PER_SECONDCentimetres per second
"cm/s"Centimetres per second
Units.VELOCITY_MILLIMETRES_PER_SECONDMillimetres per second
"mm/s"Millimetres per second
Units.VELOCITY_MICROMETRES_PER_SECONDMicrometres per second
"µm/s"Micrometres per second
"um/s"Micrometres per second
Units.VELOCITY_NANOMETRES_PER_SECONDNanometres per second
"nm/s"Nanometres per second
Units.VELOCITY_INCHES_PER_SECONDInches per second
"in/s"Inches per second
Acceleration
ConstantUnit
Units.ACCELERATION_METRES_PER_SECOND_SQUAREDMetres per second squared
"m/s²"Metres per second squared
"m/s^2"Metres per second squared
Units.ACCELERATION_CENTIMETRES_PER_SECOND_SQUAREDCentimetres per second squared
"cm/s²"Centimetres per second squared
"cm/s^2"Centimetres per second squared
Units.ACCELERATION_MILLIMETRES_PER_SECOND_SQUAREDMillimetres per second squared
"mm/s²"Millimetres per second squared
"mm/s^2"Millimetres per second squared
Units.ACCELERATION_MICROMETRES_PER_SECOND_SQUAREDMicrometres per second squared
"µm/s²"Micrometres per second squared
"um/s^2"Micrometres per second squared
Units.ACCELERATION_NANOMETRES_PER_SECOND_SQUAREDNanometres per second squared
"nm/s²"Nanometres per second squared
"nm/s^2"Nanometres per second squared
Units.ACCELERATION_INCHES_PER_SECOND_SQUAREDInches per second squared
"in/s²"Inches per second squared
"in/s^2"Inches per second squared
Angle
ConstantUnit
Units.ANGLE_DEGREESDegrees
"°"Degrees
"deg"Degrees
Units.ANGLE_RADIANSRadians
"rad"Radians
Angular Velocity
ConstantUnit
Units.ANGULAR_VELOCITY_DEGREES_PER_SECONDDegrees per second
"°/s"Degrees per second
"deg/s"Degrees per second
Units.ANGULAR_VELOCITY_RADIANS_PER_SECONDRadians per second
"rad/s"Radians per second
Angular Acceleration
ConstantUnit
Units.ANGULAR_ACCELERATION_DEGREES_PER_SECOND_SQUAREDDegrees per second squared
"°/s²"Degrees per second squared
"deg/s^2"Degrees per second squared
Units.ANGULAR_ACCELERATION_RADIANS_PER_SECOND_SQUAREDRadians per second squared
"r/s²"Radians per second squared
"r/s^2"Radians per second squared
"rad/s²"Radians per second squared
"rad/s^2"Radians per second squared
AC Electric Current
ConstantUnit
Units.AC_ELECTRIC_CURRENT_AMPERES_PEAKAmperes peak
"A(peak)"Amperes peak
Units.AC_ELECTRIC_CURRENT_AMPERES_RMSAmperes RMS
"A(RMS)"Amperes RMS
Percent
ConstantUnit
Units.PERCENT_PERCENTPercent
"%"Percent
DC Electric Current
ConstantUnit
Units.DC_ELECTRIC_CURRENT_AMPERESAmperes
"A"Amperes
Force
ConstantUnit
Units.FORCE_NEWTONSNewtons
"N"Newtons
Units.FORCE_MILLINEWTONSMillinewtons
"mN"Millinewtons
Units.FORCE_POUNDS_FORCEPounds-force
"lbf"Pounds-force
Units.FORCE_KILONEWTONSKilonewtons
"kN"Kilonewtons
Time
ConstantUnit
Units.TIME_SECONDSSeconds
"s"Seconds
Units.TIME_MILLISECONDSMilliseconds
"ms"Milliseconds
Units.TIME_MICROSECONDSMicroseconds
"µs"Microseconds
"us"Microseconds
Torque
ConstantUnit
Units.TORQUE_NEWTON_METRESNewton metres
"N⋅m"Newton metres
Units.TORQUE_NEWTON_CENTIMETRESNewton centimetres
"N⋅cm"Newton centimetres
Units.TORQUE_POUND_FORCE_FEETPound-force-feet
"lbf⋅ft"Pound-force-feet
Units.TORQUE_OUNCE_FORCE_INCHESOunce-force-inches
"ozf⋅in"Ounce-force-inches
Inertia
ConstantUnit
Units.INERTIA_GRAMSGrams
"g"Grams
Units.INERTIA_KILOGRAMSKilograms
"kg"Kilograms
Units.INERTIA_MILLIGRAMSMilligrams
"mg"Milligrams
Units.INERTIA_POUNDSPounds
"lb"Pounds
Units.INERTIA_OUNCESOunces
"oz"Ounces
Rotational Inertia
ConstantUnit
Units.ROTATIONAL_INERTIA_GRAM_SQUARE_METREGram-square metre
"g⋅m²"Gram-square metre
"g⋅m^2"Gram-square metre
Units.ROTATIONAL_INERTIA_KILOGRAM_SQUARE_METREKilogram-square metre
"kg⋅m²"Kilogram-square metre
"kg⋅m^2"Kilogram-square metre
Units.ROTATIONAL_INERTIA_POUND_SQUARE_FEETPound-square-feet
"lb⋅ft²"Pound-square-feet
"lb⋅ft^2"Pound-square-feet
Units.ROTATIONAL_INERTIA_GRAM_SQUARE_MILLIMETREGram-square millimetre
"g⋅mm²"Gram-square millimetre
"g⋅mm^2"Gram-square millimetre
Force Constant
ConstantUnit
Units.FORCE_CONSTANT_NEWTONS_PER_AMPNewtons per amp
"N/A"Newtons per amp
Units.FORCE_CONSTANT_MILLINEWTONS_PER_AMPMillinewtons per amp
"mN/A"Millinewtons per amp
Units.FORCE_CONSTANT_KILONEWTONS_PER_AMPKilonewtons per amp
"kN/A"Kilonewtons per amp
Units.FORCE_CONSTANT_POUNDS_FORCE_PER_AMPPounds-force per amp
"lbf/A"Pounds-force per amp
Torque Constant
ConstantUnit
Units.TORQUE_CONSTANT_NEWTON_METRES_PER_AMPNewton metres per amp
"N⋅m/A"Newton metres per amp
Units.TORQUE_CONSTANT_MILLINEWTON_METRES_PER_AMPMillinewton metres per amp
"mN⋅m/A"Millinewton metres per amp
Units.TORQUE_CONSTANT_KILONEWTON_METRES_PER_AMPKilonewton metres per amp
"kN⋅m/A"Kilonewton metres per amp
Units.TORQUE_CONSTANT_POUND_FORCE_FEET_PER_AMPPound-force-feet per amp
"lbf⋅ft/A"Pound-force-feet per amp
Voltage
ConstantUnit
Units.VOLTAGE_VOLTSVolts
"V"Volts
Units.VOLTAGE_MILLIVOLTSMillivolts
"mV"Millivolts
Units.VOLTAGE_MICROVOLTSMicrovolts
"µV"Microvolts
"uV"Microvolts
Current Controller Proportional Gain
ConstantUnit
Units.CURRENT_CONTROLLER_PROPORTIONAL_GAIN_VOLTS_PER_AMPVolts per amp
"V/A"Volts per amp
Units.CURRENT_CONTROLLER_PROPORTIONAL_GAIN_MILLIVOLTS_PER_AMPMillivolts per amp
"mV/A"Millivolts per amp
Units.CURRENT_CONTROLLER_PROPORTIONAL_GAIN_MICROVOLTS_PER_AMPMicrovolts per amp
"µV/A"Microvolts per amp
"uV/A"Microvolts per amp
Current Controller Integral Gain
ConstantUnit
Units.CURRENT_CONTROLLER_INTEGRAL_GAIN_VOLTS_PER_AMP_PER_SECONDVolts per amp per second
"V/(A⋅s)"Volts per amp per second
Units.CURRENT_CONTROLLER_INTEGRAL_GAIN_MILLIVOLTS_PER_AMP_PER_SECONDMillivolts per amp per second
"mV/(A⋅s)"Millivolts per amp per second
Units.CURRENT_CONTROLLER_INTEGRAL_GAIN_MICROVOLTS_PER_AMP_PER_SECONDMicrovolts per amp per second
"µV/(A⋅s)"Microvolts per amp per second
"uV/(A⋅s)"Microvolts per amp per second
Current Controller Derivative Gain
ConstantUnit
Units.CURRENT_CONTROLLER_DERIVATIVE_GAIN_VOLTS_SECOND_PER_AMPVolts second per amp
"V⋅s/A"Volts second per amp
Units.CURRENT_CONTROLLER_DERIVATIVE_GAIN_MILLIVOLTS_SECOND_PER_AMPMillivolts second per amp
"mV⋅s/A"Millivolts second per amp
Units.CURRENT_CONTROLLER_DERIVATIVE_GAIN_MICROVOLTS_SECOND_PER_AMPMicrovolts second per amp
"µV⋅s/A"Microvolts second per amp
"uV⋅s/A"Microvolts second per amp
Resistance
ConstantUnit
Units.RESISTANCE_KILOOHMSKiloohms
"kΩ"Kiloohms
Units.RESISTANCE_OHMSOhms
"Ω"Ohms
Units.RESISTANCE_MILLIOHMSMilliohms
"mΩ"Milliohms
Units.RESISTANCE_MICROOHMSMicroohms
"µΩ"Microohms
"uΩ"Microohms
Units.RESISTANCE_NANOOHMSNanoohms
"nΩ"Nanoohms
Inductance
ConstantUnit
Units.INDUCTANCE_HENRIESHenries
"H"Henries
Units.INDUCTANCE_MILLIHENRIESMillihenries
"mH"Millihenries
Units.INDUCTANCE_MICROHENRIESMicrohenries
"µH"Microhenries
"uH"Microhenries
Units.INDUCTANCE_NANOHENRIESNanohenries
"nH"Nanohenries
Voltage Constant
ConstantUnit
Units.VOLTAGE_CONSTANT_VOLT_SECONDS_PER_RADIANVolt seconds per radian
"V·s/rad"Volt seconds per radian
Units.VOLTAGE_CONSTANT_MILLIVOLT_SECONDS_PER_RADIANMillivolt seconds per radian
"mV·s/rad"Millivolt seconds per radian
Units.VOLTAGE_CONSTANT_MICROVOLT_SECONDS_PER_RADIANMicrovolt seconds per radian
"µV·s/rad"Microvolt seconds per radian
"uV·s/rad"Microvolt seconds per radian
Absolute Temperature
ConstantUnit
Units.ABSOLUTE_TEMPERATURE_DEGREES_CELSIUSDegrees Celsius
"°C"Degrees Celsius
"degC"Degrees Celsius
Units.ABSOLUTE_TEMPERATURE_KELVINSKelvins
"K"Kelvins
Units.ABSOLUTE_TEMPERATURE_DEGREES_FAHRENHEITDegrees Fahrenheit
"°F"Degrees Fahrenheit
"degF"Degrees Fahrenheit
Units.ABSOLUTE_TEMPERATURE_DEGREES_RANKINEDegrees Rankine
"°R"Degrees Rankine
"degR"Degrees Rankine
Relative Temperature
ConstantUnit
Units.RELATIVE_TEMPERATURE_DEGREES_CELSIUSDegrees Celsius
"°C"Degrees Celsius
"degC"Degrees Celsius
Units.RELATIVE_TEMPERATURE_KELVINSKelvins
"K"Kelvins
Units.RELATIVE_TEMPERATURE_DEGREES_FAHRENHEITDegrees Fahrenheit
"°F"Degrees Fahrenheit
"degF"Degrees Fahrenheit
Units.RELATIVE_TEMPERATURE_DEGREES_RANKINEDegrees Rankine
"°R"Degrees Rankine
"degR"Degrees Rankine
Frequency
ConstantUnit
Units.FREQUENCY_GIGAHERTZGigahertz
"GHz"Gigahertz
Units.FREQUENCY_MEGAHERTZMegahertz
"MHz"Megahertz
Units.FREQUENCY_KILOHERTZKilohertz
"kHz"Kilohertz
Units.FREQUENCY_HERTZHertz
"Hz"Hertz
Units.FREQUENCY_MILLIHERTZMillihertz
"mHz"Millihertz
Units.FREQUENCY_MICROHERTZMicrohertz
"µHz"Microhertz
"uHz"Microhertz
Units.FREQUENCY_NANOHERTZNanohertz
"nHz"Nanohertz
Top