Zaber Motion LibraryGetting StartedHow-to GuidesSupportBinary Protocol (Legacy)
API Reference
ZaberMotionAscii
AlertEventAllAxesAxisAxisGroupAxisIdentityAxisSettingsAxisStorageAxisTypeConnectionConversionFactorDeviceDeviceIdentityDeviceIODeviceIOInfoDeviceSettingsDeviceStorageDigitalOutputActionGetAxisSettingGetAxisSettingResultGetAxisSettingTypedResultGetSettingGetSettingResultGetSettingTypedResultIoPortLabelIoPortTypeLockstepMeasurementSequenceMessageTypeOscilloscopeOscilloscopeCapturePropertiesOscilloscopeDataOscilloscopeDataSourceParamsetInfoPidTuningPvtPvtAxisDefinitionPvtAxisTypePvtBufferPvtBufferAxisUnitsPvtCallActionPvtCancelAllOutputsScheduleActionPvtCancelOutputScheduleActionPvtCsvDataPvtIoPvtModePvtPartialCsvDataPvtPartialPointPvtPartialSequenceItemPvtPointPvtSequencePvtSequenceItemPvtSetAllAnalogOutputsActionPvtSetAllDigitalOutputsActionPvtSetAnalogOutputActionPvtSetDigitalOutputActionResponseServoTunerServoTuningParamServoTuningParamsetSetStateAxisResponseSetStateDeviceResponseSettingConstantsSimpleTuningSimpleTuningParamDefinitionStreamStreamAxisDefinitionStreamAxisTypeStreamBufferStreamIoStreamModeStreamsTransportTriggerTriggerActionTriggerConditionTriggerEnabledStateTriggerOperationTriggersTriggerStateTypedSettingUnknownResponseEventWarningFlagsWarnings
ZaberMotionBinary
BinarySettingsCommandCodeConnectionDeviceDeviceIdentityDeviceSettingsDeviceTypeErrorCodeMessageReplyCodeReplyOnlyEventUnknownResponseEvent
ZaberMotionExceptions
MotionLibExceptionBinaryCommandFailedExceptionDataCommandFailedExceptionDataCommandTooLongExceptionDataDeviceAddressConflictExceptionDataDeviceDbFailedExceptionDataDeviceDbInnerErrorGCodeExecutionExceptionDataGCodeSyntaxExceptionDataInvalidPacketExceptionDataInvalidPvtPointInvalidResponseExceptionDataMovementFailedExceptionDataMovementInterruptedExceptionDataOperationFailedExceptionDataPvtExecutionExceptionDataPvtMovementFailedExceptionDataPvtMovementInterruptedExceptionDataSetDeviceStateExceptionDataSetPeripheralStateExceptionDataStreamExecutionExceptionDataStreamMovementFailedExceptionDataStreamMovementInterruptedExceptionData
ZaberMotionGcode
AxisDefinitionAxisMappingAxisTransformationDeviceDefinitionOfflineTranslatorTranslateMessageTranslateResultTranslatorTranslatorConfig
ZaberMotionMicroscopy
AutofocusAutofocusStatusCameraTriggerFilterChangerIlluminatorIlluminatorChannelMicroscopeMicroscopeConfigObjectiveChangerThirdPartyComponentsWdiAutofocusProviderWdiAutofocusProviderStatus
ZaberMotionProduct
Ge1xGripperGe1xGripperDirectionGe1xGripperErrorGe1xGripperStateProcessProcessControllerProcessControllerModeProcessControllerSourceProcessControllerSourceSensor
ZaberMotion
AxisAddressChannelAddressCyclicDirectionDeviceDbSourceDeviceDbSourceTypeDeviceDiscoveryResultDevicePortTypeFirmwareVersionLibraryLogOutputModeMeasurementNamedParameterRotationDirectionToolsUnitConversionDescriptorUnitsUnitTable
© 2026 Zaber Technologies Inc.

API Reference v9.2.0

Unitsenum

Represents all units available across the library.

Native
ConstantUnit
Units.nativeDevice native units
Length
ConstantUnit
Units.lengthMetresMetres
Units.Length.mMetres
Units.lengthCentimetresCentimetres
Units.Length.cmCentimetres
Units.lengthMillimetresMillimetres
Units.Length.mmMillimetres
Units.lengthMicrometresMicrometres
Units.Length.µmMicrometres
Units.Length.umMicrometres
Units.lengthNanometresNanometres
Units.Length.nmNanometres
Units.lengthInchesInches
Units.Length.inInches
Velocity
ConstantUnit
Units.velocityMetresPerSecondMetres per second
Units.velocity["m/s"]!Metres per second
Units.velocityCentimetresPerSecondCentimetres per second
Units.velocity["cm/s"]!Centimetres per second
Units.velocityMillimetresPerSecondMillimetres per second
Units.velocity["mm/s"]!Millimetres per second
Units.velocityMicrometresPerSecondMicrometres per second
Units.velocity["µm/s"]!Micrometres per second
Units.velocity["um/s"]!Micrometres per second
Units.velocityNanometresPerSecondNanometres per second
Units.velocity["nm/s"]!Nanometres per second
Units.velocityInchesPerSecondInches per second
Units.velocity["in/s"]!Inches per second
Acceleration
ConstantUnit
Units.accelerationMetresPerSecondSquaredMetres per second squared
Units.acceleration["m/s²"]!Metres per second squared
Units.acceleration["m/s^2"]!Metres per second squared
Units.accelerationCentimetresPerSecondSquaredCentimetres per second squared
Units.acceleration["cm/s²"]!Centimetres per second squared
Units.acceleration["cm/s^2"]!Centimetres per second squared
Units.accelerationMillimetresPerSecondSquaredMillimetres per second squared
Units.acceleration["mm/s²"]!Millimetres per second squared
Units.acceleration["mm/s^2"]!Millimetres per second squared
Units.accelerationMicrometresPerSecondSquaredMicrometres per second squared
Units.acceleration["µm/s²"]!Micrometres per second squared
Units.acceleration["um/s^2"]!Micrometres per second squared
Units.accelerationNanometresPerSecondSquaredNanometres per second squared
Units.acceleration["nm/s²"]!Nanometres per second squared
Units.acceleration["nm/s^2"]!Nanometres per second squared
Units.accelerationInchesPerSecondSquaredInches per second squared
Units.acceleration["in/s²"]!Inches per second squared
Units.acceleration["in/s^2"]!Inches per second squared
Angle
ConstantUnit
Units.angleDegreesDegrees
Units.angle["°"]!Degrees
Units.angle["deg"]!Degrees
Units.angleRadiansRadians
Units.angle["rad"]!Radians
Angular Velocity
ConstantUnit
Units.angularVelocityDegreesPerSecondDegrees per second
Units.angularVelocity["°/s"]!Degrees per second
Units.angularVelocity["deg/s"]!Degrees per second
Units.angularVelocityRadiansPerSecondRadians per second
Units.angularVelocity["rad/s"]!Radians per second
Angular Acceleration
ConstantUnit
Units.angularAccelerationDegreesPerSecondSquaredDegrees per second squared
Units.angularAcceleration["°/s²"]!Degrees per second squared
Units.angularAcceleration["deg/s^2"]!Degrees per second squared
Units.angularAccelerationRadiansPerSecondSquaredRadians per second squared
Units.angularAcceleration["r/s²"]!Radians per second squared
Units.angularAcceleration["r/s^2"]!Radians per second squared
Units.angularAcceleration["rad/s²"]!Radians per second squared
Units.angularAcceleration["rad/s^2"]!Radians per second squared
AC Electric Current
ConstantUnit
Units.aCElectricCurrentAmperesPeakAmperes peak
Units.aCElectricCurrent["A(peak)"]!Amperes peak
Units.aCElectricCurrentAmperesRmsAmperes RMS
Units.aCElectricCurrent["A(RMS)"]!Amperes RMS
Percent
ConstantUnit
Units.percentPercentPercent
Units.percent["%"]!Percent
DC Electric Current
ConstantUnit
Units.dCElectricCurrentAmperesAmperes
Units.DCElectricCurrent.AAmperes
Force
ConstantUnit
Units.forceNewtonsNewtons
Units.Force.NNewtons
Units.forceMillinewtonsMillinewtons
Units.Force.mNMillinewtons
Units.forcePoundsForcePounds-force
Units.Force.lbfPounds-force
Units.forceKilonewtonsKilonewtons
Units.Force.kNKilonewtons
Time
ConstantUnit
Units.timeSecondsSeconds
Units.Time.sSeconds
Units.timeMillisecondsMilliseconds
Units.Time.msMilliseconds
Units.timeMicrosecondsMicroseconds
Units.Time.µsMicroseconds
Units.Time.usMicroseconds
Torque
ConstantUnit
Units.torqueNewtonMetresNewton metres
Units.torque["N⋅m"]!Newton metres
Units.torqueNewtonCentimetresNewton centimetres
Units.torque["N⋅cm"]!Newton centimetres
Units.torquePoundForceFeetPound-force-feet
Units.torque["lbf⋅ft"]!Pound-force-feet
Units.torqueOunceForceInchesOunce-force-inches
Units.torque["ozf⋅in"]!Ounce-force-inches
Inertia
ConstantUnit
Units.inertiaGramsGrams
Units.Inertia.gGrams
Units.inertiaKilogramsKilograms
Units.Inertia.kgKilograms
Units.inertiaMilligramsMilligrams
Units.Inertia.mgMilligrams
Units.inertiaPoundsPounds
Units.Inertia.lbPounds
Units.inertiaOuncesOunces
Units.Inertia.ozOunces
Rotational Inertia
ConstantUnit
Units.rotationalInertiaGramSquareMetreGram-square metre
Units.rotationalInertia["g⋅m²"]!Gram-square metre
Units.rotationalInertia["g⋅m^2"]!Gram-square metre
Units.rotationalInertiaKilogramSquareMetreKilogram-square metre
Units.rotationalInertia["kg⋅m²"]!Kilogram-square metre
Units.rotationalInertia["kg⋅m^2"]!Kilogram-square metre
Units.rotationalInertiaPoundSquareFeetPound-square-feet
Units.rotationalInertia["lb⋅ft²"]!Pound-square-feet
Units.rotationalInertia["lb⋅ft^2"]!Pound-square-feet
Units.rotationalInertiaGramSquareMillimetreGram-square millimetre
Units.rotationalInertia["g⋅mm²"]!Gram-square millimetre
Units.rotationalInertia["g⋅mm^2"]!Gram-square millimetre
Force Constant
ConstantUnit
Units.forceConstantNewtonsPerAmpNewtons per amp
Units.forceConstant["N/A"]!Newtons per amp
Units.forceConstantMillinewtonsPerAmpMillinewtons per amp
Units.forceConstant["mN/A"]!Millinewtons per amp
Units.forceConstantKilonewtonsPerAmpKilonewtons per amp
Units.forceConstant["kN/A"]!Kilonewtons per amp
Units.forceConstantPoundsForcePerAmpPounds-force per amp
Units.forceConstant["lbf/A"]!Pounds-force per amp
Torque Constant
ConstantUnit
Units.torqueConstantNewtonMetresPerAmpNewton metres per amp
Units.torqueConstant["N⋅m/A"]!Newton metres per amp
Units.torqueConstantMillinewtonMetresPerAmpMillinewton metres per amp
Units.torqueConstant["mN⋅m/A"]!Millinewton metres per amp
Units.torqueConstantKilonewtonMetresPerAmpKilonewton metres per amp
Units.torqueConstant["kN⋅m/A"]!Kilonewton metres per amp
Units.torqueConstantPoundForceFeetPerAmpPound-force-feet per amp
Units.torqueConstant["lbf⋅ft/A"]!Pound-force-feet per amp
Voltage
ConstantUnit
Units.voltageVoltsVolts
Units.Voltage.VVolts
Units.voltageMillivoltsMillivolts
Units.Voltage.mVMillivolts
Units.voltageMicrovoltsMicrovolts
Units.Voltage.µVMicrovolts
Units.Voltage.uVMicrovolts
Current Controller Proportional Gain
ConstantUnit
Units.currentControllerProportionalGainVoltsPerAmpVolts per amp
Units.currentControllerProportionalGain["V/A"]!Volts per amp
Units.currentControllerProportionalGainMillivoltsPerAmpMillivolts per amp
Units.currentControllerProportionalGain["mV/A"]!Millivolts per amp
Units.currentControllerProportionalGainMicrovoltsPerAmpMicrovolts per amp
Units.currentControllerProportionalGain["µV/A"]!Microvolts per amp
Units.currentControllerProportionalGain["uV/A"]!Microvolts per amp
Current Controller Integral Gain
ConstantUnit
Units.currentControllerIntegralGainVoltsPerAmpPerSecondVolts per amp per second
Units.currentControllerIntegralGain["V/(A⋅s)"]!Volts per amp per second
Units.currentControllerIntegralGainMillivoltsPerAmpPerSecondMillivolts per amp per second
Units.currentControllerIntegralGain["mV/(A⋅s)"]!Millivolts per amp per second
Units.currentControllerIntegralGainMicrovoltsPerAmpPerSecondMicrovolts per amp per second
Units.currentControllerIntegralGain["µV/(A⋅s)"]!Microvolts per amp per second
Units.currentControllerIntegralGain["uV/(A⋅s)"]!Microvolts per amp per second
Current Controller Derivative Gain
ConstantUnit
Units.currentControllerDerivativeGainVoltsSecondPerAmpVolts second per amp
Units.currentControllerDerivativeGain["V⋅s/A"]!Volts second per amp
Units.currentControllerDerivativeGainMillivoltsSecondPerAmpMillivolts second per amp
Units.currentControllerDerivativeGain["mV⋅s/A"]!Millivolts second per amp
Units.currentControllerDerivativeGainMicrovoltsSecondPerAmpMicrovolts second per amp
Units.currentControllerDerivativeGain["µV⋅s/A"]!Microvolts second per amp
Units.currentControllerDerivativeGain["uV⋅s/A"]!Microvolts second per amp
Resistance
ConstantUnit
Units.resistanceKiloohmsKiloohms
Units.Resistance.kΩKiloohms
Units.resistanceOhmsOhms
Units.Resistance.ΩOhms
Units.resistanceMilliohmsMilliohms
Units.Resistance.mΩMilliohms
Units.resistanceMicroohmsMicroohms
Units.Resistance.µΩMicroohms
Units.Resistance.uΩMicroohms
Units.resistanceNanoohmsNanoohms
Units.Resistance.nΩNanoohms
Inductance
ConstantUnit
Units.inductanceHenriesHenries
Units.Inductance.HHenries
Units.inductanceMillihenriesMillihenries
Units.Inductance.mHMillihenries
Units.inductanceMicrohenriesMicrohenries
Units.Inductance.µHMicrohenries
Units.Inductance.uHMicrohenries
Units.inductanceNanohenriesNanohenries
Units.Inductance.nHNanohenries
Voltage Constant
ConstantUnit
Units.voltageConstantVoltSecondsPerRadianVolt seconds per radian
Units.voltageConstant["V·s/rad"]!Volt seconds per radian
Units.voltageConstantMillivoltSecondsPerRadianMillivolt seconds per radian
Units.voltageConstant["mV·s/rad"]!Millivolt seconds per radian
Units.voltageConstantMicrovoltSecondsPerRadianMicrovolt seconds per radian
Units.voltageConstant["µV·s/rad"]!Microvolt seconds per radian
Units.voltageConstant["uV·s/rad"]!Microvolt seconds per radian
Absolute Temperature
ConstantUnit
Units.absoluteTemperatureDegreesCelsiusDegrees Celsius
Units.absoluteTemperature["°C"]!Degrees Celsius
Units.absoluteTemperature["degC"]!Degrees Celsius
Units.absoluteTemperatureKelvinsKelvins
Units.absoluteTemperature["K"]!Kelvins
Units.absoluteTemperatureDegreesFahrenheitDegrees Fahrenheit
Units.absoluteTemperature["°F"]!Degrees Fahrenheit
Units.absoluteTemperature["degF"]!Degrees Fahrenheit
Units.absoluteTemperatureDegreesRankineDegrees Rankine
Units.absoluteTemperature["°R"]!Degrees Rankine
Units.absoluteTemperature["degR"]!Degrees Rankine
Relative Temperature
ConstantUnit
Units.relativeTemperatureDegreesCelsiusDegrees Celsius
Units.relativeTemperature["°C"]!Degrees Celsius
Units.relativeTemperature["degC"]!Degrees Celsius
Units.relativeTemperatureKelvinsKelvins
Units.relativeTemperature["K"]!Kelvins
Units.relativeTemperatureDegreesFahrenheitDegrees Fahrenheit
Units.relativeTemperature["°F"]!Degrees Fahrenheit
Units.relativeTemperature["degF"]!Degrees Fahrenheit
Units.relativeTemperatureDegreesRankineDegrees Rankine
Units.relativeTemperature["°R"]!Degrees Rankine
Units.relativeTemperature["degR"]!Degrees Rankine
Frequency
ConstantUnit
Units.frequencyGigahertzGigahertz
Units.Frequency.GHzGigahertz
Units.frequencyMegahertzMegahertz
Units.Frequency.MHzMegahertz
Units.frequencyKilohertzKilohertz
Units.Frequency.kHzKilohertz
Units.frequencyHertzHertz
Units.Frequency.HzHertz
Units.frequencyMillihertzMillihertz
Units.Frequency.mHzMillihertz
Units.frequencyMicrohertzMicrohertz
Units.Frequency.µHzMicrohertz
Units.Frequency.uHzMicrohertz
Units.frequencyNanohertzNanohertz
Units.Frequency.nHzNanohertz