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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

CommandCodeenum

Module: zaber_motion.binary

Named constants for all Zaber Binary protocol commands.

To use this type, add from zaber_motion.binary import CommandCode to the top of your source code.

NameValue
CommandCode.RESET0
CommandCode.HOME1
CommandCode.RENUMBER2
CommandCode.STORE_CURRENT_POSITION16
CommandCode.RETURN_STORED_POSITION17
CommandCode.MOVE_TO_STORED_POSITION18
CommandCode.MOVE_ABSOLUTE20
CommandCode.MOVE_RELATIVE21
CommandCode.MOVE_AT_CONSTANT_SPEED22
CommandCode.STOP23
CommandCode.SET_ACTIVE_AXIS25
CommandCode.SET_AXIS_DEVICE_NUMBER26
CommandCode.SET_AXIS_INVERSION27
CommandCode.SET_AXIS_VELOCITY_PROFILE28
CommandCode.SET_AXIS_VELOCITY_SCALE29
CommandCode.LOAD_EVENT_INSTRUCTION30
CommandCode.RETURN_EVENT_INSTRUCTION31
CommandCode.SET_CALIBRATION_MODE33
CommandCode.SET_JOYSTICK_CALIBRATION_MODE33
CommandCode.READ_OR_WRITE_MEMORY35
CommandCode.RESTORE_SETTINGS36
CommandCode.SET_MICROSTEP_RESOLUTION37
CommandCode.SET_RUNNING_CURRENT38
CommandCode.SET_HOLD_CURRENT39
CommandCode.SET_DEVICE_MODE40
CommandCode.SET_HOME_SPEED41
CommandCode.SET_START_SPEED41
CommandCode.SET_TARGET_SPEED42
CommandCode.SET_ACCELERATION43
CommandCode.SET_MAXIMUM_POSITION44
CommandCode.SET_CURRENT_POSITION45
CommandCode.SET_MAXIMUM_RELATIVE_MOVE46
CommandCode.SET_HOME_OFFSET47
CommandCode.SET_ALIAS_NUMBER48
CommandCode.SET_LOCK_STATE49
CommandCode.RETURN_DEVICE_ID50
CommandCode.RETURN_FIRMWARE_VERSION51
CommandCode.RETURN_POWER_SUPPLY_VOLTAGE52
CommandCode.RETURN_SETTING53
CommandCode.RETURN_STATUS54
CommandCode.ECHO_DATA55
CommandCode.RETURN_FIRMWARE_BUILD56
CommandCode.RETURN_CURRENT_POSITION60
CommandCode.RETURN_SERIAL_NUMBER63
CommandCode.SET_PARK_STATE65
CommandCode.SET_PERIPHERAL_ID66
CommandCode.RETURN_DIGITAL_INPUT_COUNT67
CommandCode.READ_DIGITAL_INPUT68
CommandCode.READ_ALL_DIGITAL_INPUTS69
CommandCode.RETURN_DIGITAL_OUTPUT_COUNT70
CommandCode.READ_DIGITAL_OUTPUT71
CommandCode.READ_ALL_DIGITAL_OUTPUTS72
CommandCode.WRITE_DIGITAL_OUTPUT73
CommandCode.WRITE_ALL_DIGITAL_OUTPUTS74
CommandCode.RETURN_ANALOG_INPUT_COUNT75
CommandCode.READ_ANALOG_INPUT76
CommandCode.RETURN_ANALOG_OUTPUT_COUNT77
CommandCode.MOVE_INDEX78
CommandCode.SET_INDEX_DISTANCE79
CommandCode.SET_CYCLE_DISTANCE80
CommandCode.SET_FILTER_HOLDER_ID81
CommandCode.RETURN_ENCODER_COUNT82
CommandCode.RETURN_CALIBRATED_ENCODER_COUNT83
CommandCode.RETURN_CALIBRATION_TYPE84
CommandCode.RETURN_CALIBRATION_ERROR85
CommandCode.RETURN_PERIPHERAL_SERIAL_NUMBER86
CommandCode.SET_PERIPHERAL_SERIAL_NUMBER86
CommandCode.FORCE_ABSOLUTE87
CommandCode.FORCE_OFF88
CommandCode.RETURN_ENCODER_POSITION89
CommandCode.RETURN_PERIPHERAL_ID_PENDING91
CommandCode.RETURN_PERIPHERAL_SERIAL_PENDING92
CommandCode.ACTIVATE93
CommandCode.SET_AUTO_REPLY_DISABLED_MODE101
CommandCode.SET_MESSAGE_ID_MODE102
CommandCode.SET_HOME_STATUS103
CommandCode.SET_HOME_SENSOR_TYPE104
CommandCode.SET_AUTO_HOME_DISABLED_MODE105
CommandCode.SET_MINIMUM_POSITION106
CommandCode.SET_KNOB_DISABLED_MODE107
CommandCode.SET_KNOB_DIRECTION108
CommandCode.SET_KNOB_MOVEMENT_MODE109
CommandCode.SET_KNOB_JOG_SIZE110
CommandCode.SET_KNOB_VELOCITY_SCALE111
CommandCode.SET_KNOB_VELOCITY_PROFILE112
CommandCode.SET_ACCELERATION_ONLY113
CommandCode.SET_DECELERATION_ONLY114
CommandCode.SET_MOVE_TRACKING_MODE115
CommandCode.SET_MANUAL_MOVE_TRACKING_DISABLED_MODE116
CommandCode.SET_MOVE_TRACKING_PERIOD117
CommandCode.SET_CLOSED_LOOP_MODE118
CommandCode.SET_SLIP_TRACKING_PERIOD119
CommandCode.SET_STALL_TIMEOUT120
CommandCode.SET_DEVICE_DIRECTION121
CommandCode.SET_BAUD_RATE122
CommandCode.SET_PROTOCOL123
CommandCode.CONVERT_TO_ASCII124
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