| Command | Request | Response |
|---|---|---|
| device ready | axis_id, FF | 01 (ready, guiding) or 00 (slewing) |
| read encoder | axis_id, F1 + byte number [0..3] (must start with F4, as it copies the value in the 4 byte buffer for subsequent requests) | the requested byte from the int32 value |
| stop slewing (interrupts the positioning loop) | axis_id, F0 | 06 (ACK) or nothing if not in slewing mode |