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| State | DEV_VOID | DEV_STATE | OPERATOR | This command gets the device state (stored in its device_state data member) and returns it to the caller. |
| Status | DEV_VOID | CONST_DEV_STRING | OPERATOR | This command gets the device status (stored in its device_status data member) and returns it to the caller. |
| CheckMove | DEV_VOID | DEV_LONG | OPERATOR | the function returns 1, if the motor is moving |
| CompleteMove | DEV_VOID | DEV_LONG | OPERATOR | waits for the move to be finished, does the backlash, if FlagBacklash |
| GetRegister | DEV_VOID | DEV_LONG | OPERATOR | returns the stepper controller register contents, hardware |
| GetPosition | DEV_VOID | DEV_DOUBLE | OPERATOR | None. |
| SetRegister | DEV_LONG | DEV_LONG | OPERATOR | loads the motor register with a value, the hardware |
| SetupStepMove | DEV_LONG | DEV_LONG | OPERATOR | prepares a move, takes backlash into account, sets FlagMotorReady |
| SetupUnitMove | DEV_DOUBLE | DEV_LONG | OPERATOR | prepares a move, calulates the new step position from the argument, the calibration value and the conversion factor, takes backlash into account, sets FlagMotorReady |
| StartMove | DEV_VOID | DEV_LONG | OPERATOR | a motor with FlagMotorReady is started, the function returns immediately |
| StopMove | DEV_VOID | DEV_LONG | OPERATOR | stop a movement, return immediately, don`t wait for de-acceleation, don`t do backlash |
| Move | DEV_DOUBLE | DEV_LONG | OPERATOR | Setup motor, start move, complete move. |
| GetStepPosition | DEV_VOID | DEV_LONG | OPERATOR | Returns the motor position in steps in case the internal and the controller stored positions agree. In other case it gives an error. |
| SetStepPosition | DEV_LONG | DEV_LONG | OPERATOR | If StepPositonInternal != StepPositionController, an exception is thrown |
| ResetMotor | DEV_VOID | DEV_LONG | OPERATOR | Reset the motor |
| Calibrate | DEV_DOUBLE | DEV_LONG | OPERATOR | Calibrate the motor: current position is calibrated to be the value given as an argument |
| UserCalibrate | DEV_DOUBLE | DEV_LONG | OPERATOR | User an user calibration for calibrating the motor keeping the general one. |
| SetStepRegister | DEV_LONG | DEV_LONG | OPERATOR | This command changes the internal value and the controller. The unit position remains unchanged |
| MoveHome | DEV_VOID | DEV_LONG | OPERATOR | executes the encoder homing procedure |
| CalibrateEncoder | DEV_VOID | DEV_VOID | OPERATOR | Uses the current motor unit position and the encoder home position to load the encoder raw position. |
| WriteRead | DEV_STRING | DEV_STRING | OPERATOR | Sends a command to the controller and returns the answer. The axis specification is automatically added to the command. |
| MoveToCwLimit | DEV_VOID | DEV_LONG | OPERATOR | Moves the motor until the CW limit is reached (positive step direction, MA214700000). Software limits are ignored. StopMove works. |
| MoveToCcwLimit | DEV_VOID | DEV_LONG | OPERATOR | Moves the motor until the CCW limit is reached (negative step direction, MA-214700000). Software limits are ignored. StopMove works. |
| ThreadAction | DEV_VOID | DEV_VOID | OPERATOR | Allows threads to execute preselected actions in the main thread |
| movevvc | DEVVAR_STRINGARRAY | DEV_LONG | OPERATOR | executes a move using the variable velocity feature - the end positions of the segments have to be ordered - the current position has to comply with the order of the segments - no backlash is executed - the motor must not be in a limit - the motor must not be in closed loop - at the end of the last segment, the motor is decelerated to base - the collision check is done for the end position of the last segment |
| MoveLoop | DEV_STRING | DEV_LONG | OPERATOR | The input string is sent to a MaxV card, the state() is set to MOVING and the MoveThread takes control. |