| Command | Description |
| ABA | Sets/returns the absolute acceleration |
| ABP | Sets a target position for a subsequent move |
| ABV | Sets/returns the absolute velocity |
| ACP | Returns the current encoder position |
| AXIS | Enable/Disable specified axis servo amplifier |
| AXS | Returns the axis status word |
| DSP | Returns the desired encoder position |
| ERL | Sets/returns the position error limit |
| FHM | Finds home |
| FIL | Sets/returns PID filter integration limit |
| FKD | Sets/returns PID filter derivative constant |
| FKI | Sets/returns PID filter integration constant |
| FKP | Sets/returns PID filter proportional constant |
| FLT | Sets/returns all PID filter constants |
| FSI | Sets/returns PID filter derivative sampling interval |
| IDX | Returns current index position |
| LIMIT | Sets/returns 'software stops' for the servo motor |
| RDS | Returns the integration sum |
| STT | Starts the motor on a move |
| VHM | Verify home position |
| WAI | Wait for move to complete |
| WCNT | Sets/returns the 'wait count' parameter |
| WMD | Sets/returns the 'wait mode' parameter |
| WTMO | Sets/returns the 'wait time out' parameter |
| WTOL | Sets/returns the 'wait tolerance' parameter |