• Scope
  • Conventions
  • Physical Units
  • Quick Start
    • Connecting
    • Talking to Zaber Devices
      • Talking to an Individual Device
      • Talking to an Individual Axis
      • Talking to Multiple Axes
    • Making it Move
    • Changing a Device Setting
  • Message Format
    • Commands
    • Replies
    • Warning Flags
    • Info
    • Alerts
  • Command Reference
    • activate
    • axis restore
    • driver
      • driver disable
      • driver enable
    • comm
      • comm en ipv4 dhcp
      • comm en ipv4 static
    • force
      • force abs
      • force off
    • get
    • home
    • home measure phase
    • io
      • io cancel schedule
      • io get ai
      • io get ao
      • io get di
      • io get do
      • io info
      • io set ao
      • io set ao schedule
      • io set do
      • io set do schedule
    • lamp
      • lamp off
      • lamp on
    • lockstep
      • lockstep driver disable
      • lockstep driver enable
      • lockstep get
      • lockstep home
      • lockstep move abs
      • lockstep move min|max
      • lockstep move rel
      • lockstep move sin
      • lockstep move sin stop
      • lockstep move stored
      • lockstep move vel
      • lockstep park|unpark
      • lockstep print
      • lockstep set tolerance
      • lockstep setup disable
      • lockstep setup enable
      • lockstep stop
    • move
      • move abs
      • move index
      • move index next|prev
      • move min|max
      • move rel
      • move sin
      • move sin stop
      • move stored
      • move scan track once
      • move track
      • move vel
    • process
      • process off
      • process on [duration]
    • pvt
      • pvt buffer erase
      • pvt buffer list
      • pvt buffer print
      • pvt call
      • pvt fifo
      • pvt info
      • pvt io cancel schedule
      • pvt io set ao
      • pvt io set ao schedule
      • pvt io set do
      • pvt io set do schedule
      • pvt point
      • pvt setup disable
      • pvt setup live
      • pvt setup store
    • renumber
    • scope
      • scope add
      • scope add io ai
      • scope add io ao
      • scope add io di
      • scope add io do
      • scope clear
      • scope print
      • scope start
      • scope stop
    • servo
      • servo get startup
      • servo paramset get
      • servo paramset get all
      • servo paramset get type
      • servo paramset load
      • servo paramset set
      • servo print params
      • servo print paramsets
      • servo print types
      • servo set startup
    • set
    • stop
    • storage
      • storage append
      • storage erase
      • storage exists
      • storage get
      • storage print
      • storage set
    • stream
      • stream buffer erase
      • stream buffer list
      • stream buffer print
      • stream arc
      • stream call
      • stream circle
      • stream fifo
      • stream helix
      • stream hold on|off
      • stream info
      • stream io cancel schedule
      • stream io set ao
      • stream io set ao schedule
      • stream io set do
      • stream io set do schedule
      • stream line
      • stream set
      • stream setup disable
      • stream setup live
      • stream setup store
      • stream wait
      • stream wait io
    • system
      • system errors
      • system factoryreset
      • system reset
      • system restore
    • tools
      • tools detectholder
      • tools echo
      • tools findrange
      • tools findrange hardstop
      • tools gotolimit
      • tools gotolimit hardstop
      • tools parking
      • tools setcomm
      • tools storepos
      • tools storepos current
      • tools storepos position
    • trigger
      • trigger action command
      • trigger action none
      • trigger action setting
      • trigger action setting setting
      • trigger disable
      • trigger enable
      • trigger print
      • trigger show
      • trigger when encoder dist
      • trigger when dist
      • trigger when io
      • trigger when setting
      • trigger when time
    • warnings
  • Setting Reference
    • accel
    • autodetect.coil.mode
    • brake
      • brake.mode
      • brake.state
    • calibration.error
    • calibration.type
    • cia402.controlword
    • cia402.modes
    • cia402.modes.display
    • cia402.statusword
    • cloop
      • cloop.continuous.enable
      • cloop.displace.tolerance
      • cloop.enable
      • cloop.following.tolerance
      • cloop.recovery.enable
      • cloop.servo.effort
      • cloop.servo.enable
      • cloop.settle.period
      • cloop.settle.tolerance
      • cloop.stall.action
      • cloop.stall.detect.mode
      • cloop.stall.tolerance
      • cloop.timeout
    • comm
      • comm.address
      • comm.alert
      • comm.checksum
      • comm.command.packets.max
      • comm.en.ipv4.address
      • comm.en.ipv4.dhcp.enabled
      • comm.en.ipv4.gateway
      • comm.en.ipv4.netmask
      • comm.en.mac
      • comm.en.mdns.enable
      • comm.ethercat.remote
      • comm.next.owner
      • comm.packet.size.max
      • comm.protocol
      • comm.rs232.baud
      • comm.word.size.max
    • device
      • device.hw.modified
      • device.id
    • driver
      • driver.bipolar
      • driver.current.approach
      • driver.current.continuous
      • driver.current.continuous.max
      • driver.current.hold
      • driver.current.inject.noise.amplitude
      • driver.current.max
      • driver.current.overdrive
      • driver.current.overdrive.duration
      • driver.current.overdrive.max
      • driver.current.run
      • driver.current.servo
      • driver.dir
      • driver.enabled
      • driver.enable.mode
      • driver.i2t.measured
      • driver.overdrive.state
      • driver.temperature
    • encoder
      • encoder.1.count
      • encoder.1.count.cal
      • encoder.1.dir
      • encoder.1.fault.type
      • encoder.1.filter
      • encoder.1.index.mode
      • encoder.1.mode
      • encoder.1.pos
      • encoder.1.pos.error
      • encoder.1.power.up.delay
      • encoder.1.ratio.div
      • encoder.1.ratio.mult
      • encoder.1.ref.phase
      • encoder.1.type
      • encoder.2.cos
      • encoder.2.cos.dc
      • encoder.2.cos.dc.tune
      • encoder.2.cos.gain
      • encoder.2.cos.gain.tune
      • encoder.2.count
      • encoder.2.count.cal
      • encoder.2.dir
      • encoder.2.fault.type
      • encoder.2.filter
      • encoder.2.index.mode
      • encoder.2.interpolation
      • encoder.2.mode
      • encoder.2.out.interpolation
      • encoder.2.out.enable
      • encoder.2.out.width
      • encoder.2.pos
      • encoder.2.pos.error
      • encoder.2.power.up.delay
      • encoder.2.ratio.div
      • encoder.2.ratio.mult
      • encoder.2.signal.min
      • encoder.2.sin
      • encoder.2.sin.dc
      • encoder.2.sin.dc.tune
      • encoder.2.sin.gain
      • encoder.2.sin.gain.tune
      • encoder.2.type
      • encoder.count
      • encoder.count.cal
      • encoder.dir
      • encoder.port.default
      • encoder.pos
      • encoder.pos.error
      • encoder.power.up.delay
      • encoder.ratio.div
      • encoder.ratio.mult
      • encoder.vel
    • filter.holderid
    • force.max
    • get.settings.max
    • ictrl
      • ictrl.advance.a
      • ictrl.advance.offset
      • ictrl.afcff.inductance
      • ictrl.afcff.ke
      • ictrl.afcff.ki
      • ictrl.afcff.max
      • ictrl.afcff.ss
      • ictrl.afcff.ss.max
      • ictrl.delay
      • ictrl.ff.kd
      • ictrl.ff.kp
      • ictrl.gain.coldmult
      • ictrl.period
      • ictrl.pi.ki
      • ictrl.pi.kp
      • ictrl.type
    • io
      • io.ai.1.fc
      • io.ai.2.fc
      • io.ai.3.fc
      • io.ai.4.fc
      • io.di.port
      • io.do.port
    • knob
      • knob.dir
      • knob.distance
      • knob.enable
      • knob.force
      • knob.forceprofile
      • knob.maxspeed
      • knob.mode
      • knob.speedprofile
    • lamp
      • lamp.current
      • lamp.current.max
      • lamp.flux
      • lamp.flux.max
      • lamp.status
      • lamp.temperature
      • lamp.wavelength.fwhm
      • lamp.wavelength.peak
    • limit
      • limit.approach.maxspeed
      • limit.away.action
      • limit.away.edge
      • limit.away.offset
      • limit.away.posupdate
      • limit.away.preset
      • limit.away.source
      • limit.away.state
      • limit.away.triggered
      • limit.away.tune
      • limit.away.type
      • limit.away.width
      • limit.c.action
      • limit.c.edge
      • limit.c.offset
      • limit.c.pos
      • limit.c.posupdate
      • limit.c.preset
      • limit.c.source
      • limit.c.state
      • limit.c.triggered
      • limit.c.tune
      • limit.c.type
      • limit.c.width
      • limit.cycle.dist
      • limit.cycle.mode
      • limit.detect.decelonly
      • limit.detect.maxspeed
      • limit.hardstop.retraction
      • limit.home.action
      • limit.home.bidirectional
      • limit.home.edge
      • limit.home.offset
      • limit.home.posupdate
      • limit.home.preset
      • limit.home.source
      • limit.home.state
      • limit.home.triggered
      • limit.home.tune
      • limit.home.type
      • limit.home.width
      • limit.max
      • limit.min
      • limit.range.mode
      • limit.ref.phase
      • limit.ref.phase.measured
      • limit.start.pos
    • lockstep.numgroups
    • maxspeed
      • maxspeed
      • maxspeed.max
    • motion
      • motion.accelonly
      • motion.accel.ramptime
      • motion.busy
      • motion.decelonly
      • motion.index.dist
      • motion.index.num
      • motion.tracking.ai
      • motion.tracking.dir
      • motion.tracking.ki
      • motion.tracking.kp
      • motion.tracking.limit.max
      • motion.tracking.limit.min
      • motion.tracking.mode
      • motion.tracking.scan.dir
      • motion.tracking.scan.maxspeed
      • motion.tracking.scan.offset
      • motion.tracking.scan.period
      • motion.tracking.scan.signal.valid.delay
      • motion.tracking.scan.tolerance
      • motion.tracking.setpoint
      • motion.tracking.settled
      • motion.tracking.settle.mode
      • motion.tracking.settle.period
      • motion.tracking.settle.tolerance
      • motion.tracking.settle.tolerance.met
      • motion.tracking.signal.valid.di
    • motor
      • motor.current.continuous.max
      • motor.current.max
      • motor.current.overdrive.duration
      • motor.current.overdrive.max
      • motor.i2t.measured
      • motor.inductance
      • motor.ke
      • motor.phase
      • motor.phase.ratio.div1
      • motor.phase.ratio.div2
      • motor.phase.ratio.mult
      • motor.resistance
      • motor.temperature
    • parking.state
    • peripheral
      • peripheral.hw.modified
      • peripheral.id
      • peripheral.id.pending
      • peripheral.serial
      • peripheral.serial.pending
    • pos
    • pos.cycles
    • process
      • process.control.dir
      • process.control.hysteresis.temperature
      • process.control.hysteresis.voltage
      • process.control.mode
      • process.control.setpoint.temperature
      • process.control.setpoint.temperature.filtered
      • process.control.setpoint.tf
      • process.control.setpoint.voltage
      • process.control.setpoint.voltage.filtered
      • process.control.source
      • process.control.voltage.max
      • process.control.voltage.min
      • process.current
      • process.current.max
      • process.pid.kd
      • process.pid.ki
      • process.pid.kp
      • process.pid.offset
      • process.startup.mode
      • process.state
      • process.voltage
      • process.voltage.on
      • process.voltage.start
      • process.voltage.start.duration
      • process.voltage.tf
    • pvt
      • pvt.numseqs
    • resolution
    • scope
      • scope.delay
      • scope.timebase
      • scope.numchannels
      • scope.channel.size
      • scope.channel.size.max
    • sensor
      • sensor.temperature.1
      • sensor.temperature.2
    • stream
      • stream.numbufs
      • stream.numstreams
    • system
      • system.access
      • system.axiscount
      • system.current.max
      • system.led.enable
      • system.serial
      • system.temperature
      • system.uptime
      • system.voltage
    • trigger
      • trigger.numactions
      • trigger.numtriggers
    • user
      • user.data.0
      • user.data.1
      • user.data.2
      • user.data.3
      • user.data.4
      • user.data.5
      • user.data.6
      • user.data.7
      • user.data.8
      • user.data.9
      • user.data.10
      • user.data.11
      • user.data.12
      • user.data.13
      • user.data.14
      • user.data.15
      • user.vdata.0
      • user.vdata.1
      • user.vdata.2
      • user.vdata.3
    • vel
    • version
      • version
      • version.build
  • Advanced Features
    • Checksums
      • Example Checksum Code
    • Message IDs
    • Line Continuation
    • Firmware Upgrades
  • Appendix A: Available Serial Ports
    • Windows
    • Linux
    • macOS