zaber-motion 7.12.0__py3-none-win_amd64.whl → 7.14.0__py3-none-win_amd64.whl

zaber_motion/ascii/axis.py

@@ -1,1666 +1,1673 @@
-# ===== THIS FILE IS GENERATED FROM A TEMPLATE ===== #
-# ============== DO NOT EDIT DIRECTLY ============== #
-
-from typing import TYPE_CHECKING, List, Optional
-from ..call import call, call_async, call_sync
-
-from ..dto import requests as dto
-from ..units import Units, LengthUnits, VelocityUnits, AccelerationUnits, TimeUnits
-from .warnings import Warnings
-from .axis_settings import AxisSettings
-from ..dto.ascii.axis_identity import AxisIdentity
-from .storage import AxisStorage
-from ..dto.ascii.axis_type import AxisType
-from ..dto.ascii.response import Response
-from ..dto.measurement import Measurement
-from ..dto.ascii.set_state_axis_response import SetStateAxisResponse
-from ..dto.firmware_version import FirmwareVersion
-
-if TYPE_CHECKING:
-    from .device import Device
-
-
-class Axis:
-    """
-    Represents an axis of motion associated with a device.
-    """
-
-    @property
-    def device(self) -> 'Device':
-        """
-        Device that controls this axis.
-        """
-        return self._device
-
-    @property
-    def axis_number(self) -> int:
-        """
-        The axis number identifies the axis on the device.
-        The first axis has the number one.
-        """
-        return self._axis_number
-
-    @property
-    def settings(self) -> AxisSettings:
-        """
-        Settings and properties of this axis.
-        """
-        return self._settings
-
-    @property
-    def storage(self) -> AxisStorage:
-        """
-        Key-value storage of this axis.
-        Requires at least Firmware 7.30.
-        """
-        return self._storage
-
-    @property
-    def warnings(self) -> Warnings:
-        """
-        Warnings and faults of this axis.
-        """
-        return self._warnings
-
-    @property
-    def identity(self) -> AxisIdentity:
-        """
-        Identity of the axis.
-        """
-        return self.__retrieve_identity()
-
-    @property
-    def peripheral_id(self) -> int:
-        """
-        Unique ID of the peripheral hardware.
-        """
-        return self.identity.peripheral_id
-
-    @property
-    def peripheral_name(self) -> str:
-        """
-        Name of the peripheral.
-        """
-        return self.identity.peripheral_name
-
-    @property
-    def peripheral_serial_number(self) -> int:
-        """
-        Serial number of the peripheral, or 0 when not applicable.
-        """
-        return self.identity.peripheral_serial_number
-
-    @property
-    def is_peripheral(self) -> bool:
-        """
-        Indicates whether the axis is a peripheral or part of an integrated device.
-        """
-        return self.identity.is_peripheral
-
-    @property
-    def axis_type(self) -> AxisType:
-        """
-        Determines the type of an axis and units it accepts.
-        """
-        return self.identity.axis_type
-
-    @property
-    def label(self) -> str:
-        """
-        User-assigned label of the peripheral.
-        """
-        return self.__retrieve_label()
-
-    def __init__(self, device: 'Device', axis_number: int):
-        self._device: 'Device' = device
-        self._axis_number: int = axis_number
-        self._settings: AxisSettings = AxisSettings(self)
-        self._storage: AxisStorage = AxisStorage(self)
-        self._warnings: Warnings = Warnings(device, axis_number)
-
-    def home(
-            self,
-            wait_until_idle: bool = True
-    ) -> None:
-        """
-        Homes axis. Axis returns to its homing position.
-
-        Args:
-            wait_until_idle: Determines whether function should return after the movement is finished or just started.
-        """
-        request = dto.DeviceHomeRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-            wait_until_idle=wait_until_idle,
-        )
-        call("device/home", request)
-
-    async def home_async(
-            self,
-            wait_until_idle: bool = True
-    ) -> None:
-        """
-        Homes axis. Axis returns to its homing position.
-
-        Args:
-            wait_until_idle: Determines whether function should return after the movement is finished or just started.
-        """
-        request = dto.DeviceHomeRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-            wait_until_idle=wait_until_idle,
-        )
-        await call_async("device/home", request)
-
-    def stop(
-            self,
-            wait_until_idle: bool = True
-    ) -> None:
-        """
-        Stops ongoing axis movement. Decelerates until zero speed.
-
-        Args:
-            wait_until_idle: Determines whether function should return after the movement is finished or just started.
-        """
-        request = dto.DeviceStopRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-            wait_until_idle=wait_until_idle,
-        )
-        call("device/stop", request)
-
-    async def stop_async(
-            self,
-            wait_until_idle: bool = True
-    ) -> None:
-        """
-        Stops ongoing axis movement. Decelerates until zero speed.
-
-        Args:
-            wait_until_idle: Determines whether function should return after the movement is finished or just started.
-        """
-        request = dto.DeviceStopRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-            wait_until_idle=wait_until_idle,
-        )
-        await call_async("device/stop", request)
-
-    def park(
-            self
-    ) -> None:
-        """
-        Parks the axis in anticipation of turning the power off.
-        It can later be powered on, unparked, and moved without first having to home it.
-        """
-        request = dto.AxisEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-        )
-        call("device/park", request)
-
-    async def park_async(
-            self
-    ) -> None:
-        """
-        Parks the axis in anticipation of turning the power off.
-        It can later be powered on, unparked, and moved without first having to home it.
-        """
-        request = dto.AxisEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-        )
-        await call_async("device/park", request)
-
-    def unpark(
-            self
-    ) -> None:
-        """
-        Unparks axis. Axis will now be able to move.
-        """
-        request = dto.AxisEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-        )
-        call("device/unpark", request)
-
-    async def unpark_async(
-            self
-    ) -> None:
-        """
-        Unparks axis. Axis will now be able to move.
-        """
-        request = dto.AxisEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-        )
-        await call_async("device/unpark", request)
-
-    def is_parked(
-            self
-    ) -> bool:
-        """
-        Returns bool indicating whether the axis is parked or not.
-
-        Returns:
-            True if the axis is currently parked. False otherwise.
-        """
-        request = dto.AxisEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-        )
-        response = call(
-            "device/is_parked",
-            request,
-            dto.BoolResponse.from_binary)
-        return response.value
-
-    async def is_parked_async(
-            self
-    ) -> bool:
-        """
-        Returns bool indicating whether the axis is parked or not.
-
-        Returns:
-            True if the axis is currently parked. False otherwise.
-        """
-        request = dto.AxisEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-        )
-        response = await call_async(
-            "device/is_parked",
-            request,
-            dto.BoolResponse.from_binary)
-        return response.value
-
-    def wait_until_idle(
-            self,
-            throw_error_on_fault: bool = True
-    ) -> None:
-        """
-        Waits until axis stops moving.
-
-        Args:
-            throw_error_on_fault: Determines whether to throw error when fault is observed.
-        """
-        request = dto.DeviceWaitUntilIdleRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-            throw_error_on_fault=throw_error_on_fault,
-        )
-        call("device/wait_until_idle", request)
-
-    async def wait_until_idle_async(
-            self,
-            throw_error_on_fault: bool = True
-    ) -> None:
-        """
-        Waits until axis stops moving.
-
-        Args:
-            throw_error_on_fault: Determines whether to throw error when fault is observed.
-        """
-        request = dto.DeviceWaitUntilIdleRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-            throw_error_on_fault=throw_error_on_fault,
-        )
-        await call_async("device/wait_until_idle", request)
-
-    def is_busy(
-            self
-    ) -> bool:
-        """
-        Returns bool indicating whether the axis is executing a motion command.
-
-        Returns:
-            True if the axis is currently executing a motion command.
-        """
-        request = dto.AxisEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-        )
-        response = call(
-            "device/is_busy",
-            request,
-            dto.BoolResponse.from_binary)
-        return response.value
-
-    async def is_busy_async(
-            self
-    ) -> bool:
-        """
-        Returns bool indicating whether the axis is executing a motion command.
-
-        Returns:
-            True if the axis is currently executing a motion command.
-        """
-        request = dto.AxisEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-        )
-        response = await call_async(
-            "device/is_busy",
-            request,
-            dto.BoolResponse.from_binary)
-        return response.value
-
-    def is_homed(
-            self
-    ) -> bool:
-        """
-        Returns bool indicating whether the axis has position reference and was homed.
-
-        Returns:
-            True if the axis has position reference and was homed.
-        """
-        request = dto.AxisEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-        )
-        response = call(
-            "device/is_homed",
-            request,
-            dto.BoolResponse.from_binary)
-        return response.value
-
-    async def is_homed_async(
-            self
-    ) -> bool:
-        """
-        Returns bool indicating whether the axis has position reference and was homed.
-
-        Returns:
-            True if the axis has position reference and was homed.
-        """
-        request = dto.AxisEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-        )
-        response = await call_async(
-            "device/is_homed",
-            request,
-            dto.BoolResponse.from_binary)
-        return response.value
-
-    def move_absolute(
-            self,
-            position: float,
-            unit: LengthUnits = Units.NATIVE,
-            wait_until_idle: bool = True,
-            velocity: float = 0,
-            velocity_unit: VelocityUnits = Units.NATIVE,
-            acceleration: float = 0,
-            acceleration_unit: AccelerationUnits = Units.NATIVE
-    ) -> None:
-        """
-        Move axis to absolute position.
-
-        Args:
-            position: Absolute position.
-            unit: Units of position.
-            wait_until_idle: Determines whether function should return after the movement is finished or just started.
-            velocity: Movement velocity.
-                Default value of 0 indicates that the maxspeed setting is used instead.
-                Requires at least Firmware 7.25.
-            velocity_unit: Units of velocity.
-            acceleration: Movement acceleration.
-                Default value of 0 indicates that the accel setting is used instead.
-                Requires at least Firmware 7.25.
-            acceleration_unit: Units of acceleration.
-        """
-        request = dto.DeviceMoveRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-            type=dto.AxisMoveType.ABS,
-            arg=position,
-            unit=unit,
-            wait_until_idle=wait_until_idle,
-            velocity=velocity,
-            velocity_unit=velocity_unit,
-            acceleration=acceleration,
-            acceleration_unit=acceleration_unit,
-        )
-        call("device/move", request)
-
-    async def move_absolute_async(
-            self,
-            position: float,
-            unit: LengthUnits = Units.NATIVE,
-            wait_until_idle: bool = True,
-            velocity: float = 0,
-            velocity_unit: VelocityUnits = Units.NATIVE,
-            acceleration: float = 0,
-            acceleration_unit: AccelerationUnits = Units.NATIVE
-    ) -> None:
-        """
-        Move axis to absolute position.
-
-        Args:
-            position: Absolute position.
-            unit: Units of position.
-            wait_until_idle: Determines whether function should return after the movement is finished or just started.
-            velocity: Movement velocity.
-                Default value of 0 indicates that the maxspeed setting is used instead.
-                Requires at least Firmware 7.25.
-            velocity_unit: Units of velocity.
-            acceleration: Movement acceleration.
-                Default value of 0 indicates that the accel setting is used instead.
-                Requires at least Firmware 7.25.
-            acceleration_unit: Units of acceleration.
-        """
-        request = dto.DeviceMoveRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-            type=dto.AxisMoveType.ABS,
-            arg=position,
-            unit=unit,
-            wait_until_idle=wait_until_idle,
-            velocity=velocity,
-            velocity_unit=velocity_unit,
-            acceleration=acceleration,
-            acceleration_unit=acceleration_unit,
-        )
-        await call_async("device/move", request)
-
-    def move_max(
-            self,
-            wait_until_idle: bool = True,
-            velocity: float = 0,
-            velocity_unit: VelocityUnits = Units.NATIVE,
-            acceleration: float = 0,
-            acceleration_unit: AccelerationUnits = Units.NATIVE
-    ) -> None:
-        """
-        Moves the axis to the maximum position as specified by limit.max.
-
-        Args:
-            wait_until_idle: Determines whether function should return after the movement is finished or just started.
-            velocity: Movement velocity.
-                Default value of 0 indicates that the maxspeed setting is used instead.
-                Requires at least Firmware 7.25.
-            velocity_unit: Units of velocity.
-            acceleration: Movement acceleration.
-                Default value of 0 indicates that the accel setting is used instead.
-                Requires at least Firmware 7.25.
-            acceleration_unit: Units of acceleration.
-        """
-        request = dto.DeviceMoveRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-            type=dto.AxisMoveType.MAX,
-            wait_until_idle=wait_until_idle,
-            velocity=velocity,
-            velocity_unit=velocity_unit,
-            acceleration=acceleration,
-            acceleration_unit=acceleration_unit,
-        )
-        call("device/move", request)
-
-    async def move_max_async(
-            self,
-            wait_until_idle: bool = True,
-            velocity: float = 0,
-            velocity_unit: VelocityUnits = Units.NATIVE,
-            acceleration: float = 0,
-            acceleration_unit: AccelerationUnits = Units.NATIVE
-    ) -> None:
-        """
-        Moves the axis to the maximum position as specified by limit.max.
-
-        Args:
-            wait_until_idle: Determines whether function should return after the movement is finished or just started.
-            velocity: Movement velocity.
-                Default value of 0 indicates that the maxspeed setting is used instead.
-                Requires at least Firmware 7.25.
-            velocity_unit: Units of velocity.
-            acceleration: Movement acceleration.
-                Default value of 0 indicates that the accel setting is used instead.
-                Requires at least Firmware 7.25.
-            acceleration_unit: Units of acceleration.
-        """
-        request = dto.DeviceMoveRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-            type=dto.AxisMoveType.MAX,
-            wait_until_idle=wait_until_idle,
-            velocity=velocity,
-            velocity_unit=velocity_unit,
-            acceleration=acceleration,
-            acceleration_unit=acceleration_unit,
-        )
-        await call_async("device/move", request)
-
-    def move_min(
-            self,
-            wait_until_idle: bool = True,
-            velocity: float = 0,
-            velocity_unit: VelocityUnits = Units.NATIVE,
-            acceleration: float = 0,
-            acceleration_unit: AccelerationUnits = Units.NATIVE
-    ) -> None:
-        """
-        Moves the axis to the minimum position as specified by limit.min.
-
-        Args:
-            wait_until_idle: Determines whether function should return after the movement is finished or just started.
-            velocity: Movement velocity.
-                Default value of 0 indicates that the maxspeed setting is used instead.
-                Requires at least Firmware 7.25.
-            velocity_unit: Units of velocity.
-            acceleration: Movement acceleration.
-                Default value of 0 indicates that the accel setting is used instead.
-                Requires at least Firmware 7.25.
-            acceleration_unit: Units of acceleration.
-        """
-        request = dto.DeviceMoveRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-            type=dto.AxisMoveType.MIN,
-            wait_until_idle=wait_until_idle,
-            velocity=velocity,
-            velocity_unit=velocity_unit,
-            acceleration=acceleration,
-            acceleration_unit=acceleration_unit,
-        )
-        call("device/move", request)
-
-    async def move_min_async(
-            self,
-            wait_until_idle: bool = True,
-            velocity: float = 0,
-            velocity_unit: VelocityUnits = Units.NATIVE,
-            acceleration: float = 0,
-            acceleration_unit: AccelerationUnits = Units.NATIVE
-    ) -> None:
-        """
-        Moves the axis to the minimum position as specified by limit.min.
-
-        Args:
-            wait_until_idle: Determines whether function should return after the movement is finished or just started.
-            velocity: Movement velocity.
-                Default value of 0 indicates that the maxspeed setting is used instead.
-                Requires at least Firmware 7.25.
-            velocity_unit: Units of velocity.
-            acceleration: Movement acceleration.
-                Default value of 0 indicates that the accel setting is used instead.
-                Requires at least Firmware 7.25.
-            acceleration_unit: Units of acceleration.
-        """
-        request = dto.DeviceMoveRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-            type=dto.AxisMoveType.MIN,
-            wait_until_idle=wait_until_idle,
-            velocity=velocity,
-            velocity_unit=velocity_unit,
-            acceleration=acceleration,
-            acceleration_unit=acceleration_unit,
-        )
-        await call_async("device/move", request)
-
-    def move_relative(
-            self,
-            position: float,
-            unit: LengthUnits = Units.NATIVE,
-            wait_until_idle: bool = True,
-            velocity: float = 0,
-            velocity_unit: VelocityUnits = Units.NATIVE,
-            acceleration: float = 0,
-            acceleration_unit: AccelerationUnits = Units.NATIVE
-    ) -> None:
-        """
-        Move axis to position relative to current position.
-
-        Args:
-            position: Relative position.
-            unit: Units of position.
-            wait_until_idle: Determines whether function should return after the movement is finished or just started.
-            velocity: Movement velocity.
-                Default value of 0 indicates that the maxspeed setting is used instead.
-                Requires at least Firmware 7.25.
-            velocity_unit: Units of velocity.
-            acceleration: Movement acceleration.
-                Default value of 0 indicates that the accel setting is used instead.
-                Requires at least Firmware 7.25.
-            acceleration_unit: Units of acceleration.
-        """
-        request = dto.DeviceMoveRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-            type=dto.AxisMoveType.REL,
-            arg=position,
-            unit=unit,
-            wait_until_idle=wait_until_idle,
-            velocity=velocity,
-            velocity_unit=velocity_unit,
-            acceleration=acceleration,
-            acceleration_unit=acceleration_unit,
-        )
-        call("device/move", request)
-
-    async def move_relative_async(
-            self,
-            position: float,
-            unit: LengthUnits = Units.NATIVE,
-            wait_until_idle: bool = True,
-            velocity: float = 0,
-            velocity_unit: VelocityUnits = Units.NATIVE,
-            acceleration: float = 0,
-            acceleration_unit: AccelerationUnits = Units.NATIVE
-    ) -> None:
-        """
-        Move axis to position relative to current position.
-
-        Args:
-            position: Relative position.
-            unit: Units of position.
-            wait_until_idle: Determines whether function should return after the movement is finished or just started.
-            velocity: Movement velocity.
-                Default value of 0 indicates that the maxspeed setting is used instead.
-                Requires at least Firmware 7.25.
-            velocity_unit: Units of velocity.
-            acceleration: Movement acceleration.
-                Default value of 0 indicates that the accel setting is used instead.
-                Requires at least Firmware 7.25.
-            acceleration_unit: Units of acceleration.
-        """
-        request = dto.DeviceMoveRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-            type=dto.AxisMoveType.REL,
-            arg=position,
-            unit=unit,
-            wait_until_idle=wait_until_idle,
-            velocity=velocity,
-            velocity_unit=velocity_unit,
-            acceleration=acceleration,
-            acceleration_unit=acceleration_unit,
-        )
-        await call_async("device/move", request)
-
-    def move_velocity(
-            self,
-            velocity: float,
-            unit: VelocityUnits = Units.NATIVE,
-            acceleration: float = 0,
-            acceleration_unit: AccelerationUnits = Units.NATIVE
-    ) -> None:
-        """
-        Begins to move axis at specified speed.
-
-        Args:
-            velocity: Movement velocity.
-            unit: Units of velocity.
-            acceleration: Movement acceleration.
-                Default value of 0 indicates that the accel setting is used instead.
-                Requires at least Firmware 7.25.
-            acceleration_unit: Units of acceleration.
-        """
-        request = dto.DeviceMoveRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-            type=dto.AxisMoveType.VEL,
-            arg=velocity,
-            unit=unit,
-            acceleration=acceleration,
-            acceleration_unit=acceleration_unit,
-        )
-        call("device/move", request)
-
-    async def move_velocity_async(
-            self,
-            velocity: float,
-            unit: VelocityUnits = Units.NATIVE,
-            acceleration: float = 0,
-            acceleration_unit: AccelerationUnits = Units.NATIVE
-    ) -> None:
-        """
-        Begins to move axis at specified speed.
-
-        Args:
-            velocity: Movement velocity.
-            unit: Units of velocity.
-            acceleration: Movement acceleration.
-                Default value of 0 indicates that the accel setting is used instead.
-                Requires at least Firmware 7.25.
-            acceleration_unit: Units of acceleration.
-        """
-        request = dto.DeviceMoveRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-            type=dto.AxisMoveType.VEL,
-            arg=velocity,
-            unit=unit,
-            acceleration=acceleration,
-            acceleration_unit=acceleration_unit,
-        )
-        await call_async("device/move", request)
-
-    def get_position(
-            self,
-            unit: LengthUnits = Units.NATIVE
-    ) -> float:
-        """
-        Returns current axis position.
-
-        Args:
-            unit: Units of position.
-
-        Returns:
-            Axis position.
-        """
-        request = dto.DeviceGetSettingRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-            setting="pos",
-            unit=unit,
-        )
-        response = call(
-            "device/get_setting",
-            request,
-            dto.DoubleResponse.from_binary)
-        return response.value
-
-    async def get_position_async(
-            self,
-            unit: LengthUnits = Units.NATIVE
-    ) -> float:
-        """
-        Returns current axis position.
-
-        Args:
-            unit: Units of position.
-
-        Returns:
-            Axis position.
-        """
-        request = dto.DeviceGetSettingRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-            setting="pos",
-            unit=unit,
-        )
-        response = await call_async(
-            "device/get_setting",
-            request,
-            dto.DoubleResponse.from_binary)
-        return response.value
-
-    def get_number_of_index_positions(
-            self
-    ) -> int:
-        """
-        Gets number of index positions of the axis.
-
-        Returns:
-            Number of index positions.
-        """
-        request = dto.AxisEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-        )
-        response = call(
-            "device/get_index_count",
-            request,
-            dto.IntResponse.from_binary)
-        return response.value
-
-    async def get_number_of_index_positions_async(
-            self
-    ) -> int:
-        """
-        Gets number of index positions of the axis.
-
-        Returns:
-            Number of index positions.
-        """
-        request = dto.AxisEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-        )
-        response = await call_async(
-            "device/get_index_count",
-            request,
-            dto.IntResponse.from_binary)
-        return response.value
-
-    def get_index_position(
-            self
-    ) -> int:
-        """
-        Returns current axis index position.
-
-        Returns:
-            Index position starting from 1 or 0 if the position is not an index position.
-        """
-        request = dto.AxisEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-        )
-        response = call(
-            "device/get_index_position",
-            request,
-            dto.IntResponse.from_binary)
-        return response.value
-
-    async def get_index_position_async(
-            self
-    ) -> int:
-        """
-        Returns current axis index position.
-
-        Returns:
-            Index position starting from 1 or 0 if the position is not an index position.
-        """
-        request = dto.AxisEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-        )
-        response = await call_async(
-            "device/get_index_position",
-            request,
-            dto.IntResponse.from_binary)
-        return response.value
-
-    def move_index(
-            self,
-            index: int,
-            wait_until_idle: bool = True,
-            velocity: float = 0,
-            velocity_unit: VelocityUnits = Units.NATIVE,
-            acceleration: float = 0,
-            acceleration_unit: AccelerationUnits = Units.NATIVE
-    ) -> None:
-        """
-        Moves the axis to index position.
-
-        Args:
-            index: Index position. Index positions are numbered from 1.
-            wait_until_idle: Determines whether function should return after the movement is finished or just started.
-            velocity: Movement velocity.
-                Default value of 0 indicates that the maxspeed setting is used instead.
-                Requires at least Firmware 7.25.
-            velocity_unit: Units of velocity.
-            acceleration: Movement acceleration.
-                Default value of 0 indicates that the accel setting is used instead.
-                Requires at least Firmware 7.25.
-            acceleration_unit: Units of acceleration.
-        """
-        request = dto.DeviceMoveRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-            type=dto.AxisMoveType.INDEX,
-            arg_int=index,
-            wait_until_idle=wait_until_idle,
-            velocity=velocity,
-            velocity_unit=velocity_unit,
-            acceleration=acceleration,
-            acceleration_unit=acceleration_unit,
-        )
-        call("device/move", request)
-
-    async def move_index_async(
-            self,
-            index: int,
-            wait_until_idle: bool = True,
-            velocity: float = 0,
-            velocity_unit: VelocityUnits = Units.NATIVE,
-            acceleration: float = 0,
-            acceleration_unit: AccelerationUnits = Units.NATIVE
-    ) -> None:
-        """
-        Moves the axis to index position.
-
-        Args:
-            index: Index position. Index positions are numbered from 1.
-            wait_until_idle: Determines whether function should return after the movement is finished or just started.
-            velocity: Movement velocity.
-                Default value of 0 indicates that the maxspeed setting is used instead.
-                Requires at least Firmware 7.25.
-            velocity_unit: Units of velocity.
-            acceleration: Movement acceleration.
-                Default value of 0 indicates that the accel setting is used instead.
-                Requires at least Firmware 7.25.
-            acceleration_unit: Units of acceleration.
-        """
-        request = dto.DeviceMoveRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-            type=dto.AxisMoveType.INDEX,
-            arg_int=index,
-            wait_until_idle=wait_until_idle,
-            velocity=velocity,
-            velocity_unit=velocity_unit,
-            acceleration=acceleration,
-            acceleration_unit=acceleration_unit,
-        )
-        await call_async("device/move", request)
-
-    def generic_command(
-            self,
-            command: str,
-            check_errors: bool = True,
-            timeout: int = 0
-    ) -> Response:
-        """
-        Sends a generic ASCII command to this axis.
-        For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).
-
-        Args:
-            command: Command and its parameters.
-            check_errors: Controls whether to throw an exception when the device rejects the command.
-            timeout: The timeout, in milliseconds, for a device to respond to the command.
-                Overrides the connection default request timeout.
-
-        Returns:
-            A response to the command.
-        """
-        request = dto.GenericCommandRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-            command=command,
-            check_errors=check_errors,
-            timeout=timeout,
-        )
-        response = call(
-            "interface/generic_command",
-            request,
-            Response.from_binary)
-        return response
-
-    async def generic_command_async(
-            self,
-            command: str,
-            check_errors: bool = True,
-            timeout: int = 0
-    ) -> Response:
-        """
-        Sends a generic ASCII command to this axis.
-        For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).
-
-        Args:
-            command: Command and its parameters.
-            check_errors: Controls whether to throw an exception when the device rejects the command.
-            timeout: The timeout, in milliseconds, for a device to respond to the command.
-                Overrides the connection default request timeout.
-
-        Returns:
-            A response to the command.
-        """
-        request = dto.GenericCommandRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-            command=command,
-            check_errors=check_errors,
-            timeout=timeout,
-        )
-        response = await call_async(
-            "interface/generic_command",
-            request,
-            Response.from_binary)
-        return response
-
-    def generic_command_multi_response(
-            self,
-            command: str,
-            check_errors: bool = True,
-            timeout: int = 0
-    ) -> List[Response]:
-        """
-        Sends a generic ASCII command to this axis and expect multiple responses.
-        Responses are returned in order of arrival.
-        For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).
-
-        Args:
-            command: Command and its parameters.
-            check_errors: Controls whether to throw an exception when a device rejects the command.
-            timeout: The timeout, in milliseconds, for a device to respond to the command.
-                Overrides the connection default request timeout.
-
-        Returns:
-            All responses to the command.
-        """
-        request = dto.GenericCommandRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-            command=command,
-            check_errors=check_errors,
-            timeout=timeout,
-        )
-        response = call(
-            "interface/generic_command_multi_response",
-            request,
-            dto.GenericCommandResponseCollection.from_binary)
-        return response.responses
-
-    async def generic_command_multi_response_async(
-            self,
-            command: str,
-            check_errors: bool = True,
-            timeout: int = 0
-    ) -> List[Response]:
-        """
-        Sends a generic ASCII command to this axis and expect multiple responses.
-        Responses are returned in order of arrival.
-        For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).
-
-        Args:
-            command: Command and its parameters.
-            check_errors: Controls whether to throw an exception when a device rejects the command.
-            timeout: The timeout, in milliseconds, for a device to respond to the command.
-                Overrides the connection default request timeout.
-
-        Returns:
-            All responses to the command.
-        """
-        request = dto.GenericCommandRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-            command=command,
-            check_errors=check_errors,
-            timeout=timeout,
-        )
-        response = await call_async(
-            "interface/generic_command_multi_response",
-            request,
-            dto.GenericCommandResponseCollection.from_binary)
-        return response.responses
-
-    def generic_command_no_response(
-            self,
-            command: str
-    ) -> None:
-        """
-        Sends a generic ASCII command to this axis without expecting a response and without adding a message ID
-        For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).
-
-        Args:
-            command: Command and its parameters.
-        """
-        request = dto.GenericCommandRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-            command=command,
-        )
-        call("interface/generic_command_no_response", request)
-
-    async def generic_command_no_response_async(
-            self,
-            command: str
-    ) -> None:
-        """
-        Sends a generic ASCII command to this axis without expecting a response and without adding a message ID
-        For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).
-
-        Args:
-            command: Command and its parameters.
-        """
-        request = dto.GenericCommandRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-            command=command,
-        )
-        await call_async("interface/generic_command_no_response", request)
-
-    def prepare_command(
-            self,
-            command_template: str,
-            *parameters: Measurement
-    ) -> str:
-        """
-        Formats parameters into a command and performs unit conversions.
-        Parameters in the command template are denoted by a question mark.
-        Command returned is only valid for this axis and this device.
-        For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).
-
-        Args:
-            command_template: Template of a command to prepare. Parameters are denoted by question marks.
-            parameters: Variable number of command parameters.
-
-        Returns:
-            Command with converted parameters.
-        """
-        request = dto.PrepareCommandRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-            command_template=command_template,
-            parameters=list(parameters),
-        )
-        response = call_sync(
-            "device/prepare_command",
-            request,
-            dto.StringResponse.from_binary)
-        return response.value
-
-    def set_label(
-            self,
-            label: str
-    ) -> None:
-        """
-        Sets the user-assigned peripheral label.
-        The label is stored on the controller and recognized by other software.
-
-        Args:
-            label: Label to set.
-        """
-        request = dto.DeviceSetStorageRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-            value=label,
-        )
-        call("device/set_label", request)
-
-    async def set_label_async(
-            self,
-            label: str
-    ) -> None:
-        """
-        Sets the user-assigned peripheral label.
-        The label is stored on the controller and recognized by other software.
-
-        Args:
-            label: Label to set.
-        """
-        request = dto.DeviceSetStorageRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-            value=label,
-        )
-        await call_async("device/set_label", request)
-
-    def __retrieve_label(
-            self
-    ) -> str:
-        """
-        Gets the peripheral name.
-
-        Returns:
-            The label.
-        """
-        request = dto.AxisEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-        )
-        response = call_sync(
-            "device/get_label",
-            request,
-            dto.StringResponse.from_binary)
-        return response.value
-
-    def __repr__(
-            self
-    ) -> str:
-        """
-        Returns a string that represents the axis.
-
-        Returns:
-            A string that represents the axis.
-        """
-        request = dto.AxisToStringRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-        )
-        response = call_sync(
-            "device/axis_to_string",
-            request,
-            dto.StringResponse.from_binary)
-        return response.value
-
-    def get_state(
-            self
-    ) -> str:
-        """
-        Returns a serialization of the current axis state that can be saved and reapplied.
-
-        Returns:
-            A serialization of the current state of the axis.
-        """
-        request = dto.AxisEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-        )
-        response = call(
-            "device/get_state",
-            request,
-            dto.StringResponse.from_binary)
-        return response.value
-
-    async def get_state_async(
-            self
-    ) -> str:
-        """
-        Returns a serialization of the current axis state that can be saved and reapplied.
-
-        Returns:
-            A serialization of the current state of the axis.
-        """
-        request = dto.AxisEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-        )
-        response = await call_async(
-            "device/get_state",
-            request,
-            dto.StringResponse.from_binary)
-        return response.value
-
-    def set_state(
-            self,
-            state: str
-    ) -> SetStateAxisResponse:
-        """
-        Applies a saved state to this axis.
-
-        Args:
-            state: The state object to apply to this axis.
-
-        Returns:
-            Reports of any issues that were handled, but caused the state to not be exactly restored.
-        """
-        request = dto.SetStateRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-            state=state,
-        )
-        response = call(
-            "device/set_axis_state",
-            request,
-            SetStateAxisResponse.from_binary)
-        return response
-
-    async def set_state_async(
-            self,
-            state: str
-    ) -> SetStateAxisResponse:
-        """
-        Applies a saved state to this axis.
-
-        Args:
-            state: The state object to apply to this axis.
-
-        Returns:
-            Reports of any issues that were handled, but caused the state to not be exactly restored.
-        """
-        request = dto.SetStateRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-            state=state,
-        )
-        response = await call_async(
-            "device/set_axis_state",
-            request,
-            SetStateAxisResponse.from_binary)
-        return response
-
-    def can_set_state(
-            self,
-            state: str,
-            firmware_version: Optional[FirmwareVersion] = None
-    ) -> Optional[str]:
-        """
-        Checks if a state can be applied to this axis.
-        This only covers exceptions that can be determined statically such as mismatches of ID or version,
-        the process of applying the state can still fail when running.
-
-        Args:
-            state: The state object to check against.
-            firmware_version: The firmware version of the device to apply the state to.
-                Use this to ensure the state will still be compatible after an update.
-
-        Returns:
-            An explanation of why this state cannot be set to this axis.
-        """
-        request = dto.CanSetStateRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-            state=state,
-            firmware_version=firmware_version,
-        )
-        response = call(
-            "device/can_set_axis_state",
-            request,
-            dto.CanSetStateAxisResponse.from_binary)
-        return response.error
-
-    async def can_set_state_async(
-            self,
-            state: str,
-            firmware_version: Optional[FirmwareVersion] = None
-    ) -> Optional[str]:
-        """
-        Checks if a state can be applied to this axis.
-        This only covers exceptions that can be determined statically such as mismatches of ID or version,
-        the process of applying the state can still fail when running.
-
-        Args:
-            state: The state object to check against.
-            firmware_version: The firmware version of the device to apply the state to.
-                Use this to ensure the state will still be compatible after an update.
-
-        Returns:
-            An explanation of why this state cannot be set to this axis.
-        """
-        request = dto.CanSetStateRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-            state=state,
-            firmware_version=firmware_version,
-        )
-        response = await call_async(
-            "device/can_set_axis_state",
-            request,
-            dto.CanSetStateAxisResponse.from_binary)
-        return response.error
-
-    def __retrieve_identity(
-            self
-    ) -> AxisIdentity:
-        """
-        Returns identity.
-
-        Returns:
-            Axis identity.
-        """
-        request = dto.AxisEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-        )
-        response = call_sync(
-            "device/get_axis_identity",
-            request,
-            AxisIdentity.from_binary)
-        return response
-
-    def driver_disable(
-            self
-    ) -> None:
-        """
-        Disables the driver, which prevents current from being sent to the motor or load.
-        If the driver is already disabled, the driver remains disabled.
-        """
-        request = dto.AxisEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-        )
-        call("device/driver_disable", request)
-
-    async def driver_disable_async(
-            self
-    ) -> None:
-        """
-        Disables the driver, which prevents current from being sent to the motor or load.
-        If the driver is already disabled, the driver remains disabled.
-        """
-        request = dto.AxisEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-        )
-        await call_async("device/driver_disable", request)
-
-    def driver_enable(
-            self,
-            timeout: float = 10
-    ) -> None:
-        """
-        Attempts to enable the driver repeatedly for the specified timeout.
-        If the driver is already enabled, the driver remains enabled.
-
-        Args:
-            timeout: Timeout in seconds. Specify 0 to attempt to enable the driver once.
-        """
-        request = dto.DriverEnableRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-            timeout=timeout,
-        )
-        call("device/driver_enable", request)
-
-    async def driver_enable_async(
-            self,
-            timeout: float = 10
-    ) -> None:
-        """
-        Attempts to enable the driver repeatedly for the specified timeout.
-        If the driver is already enabled, the driver remains enabled.
-
-        Args:
-            timeout: Timeout in seconds. Specify 0 to attempt to enable the driver once.
-        """
-        request = dto.DriverEnableRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-            timeout=timeout,
-        )
-        await call_async("device/driver_enable", request)
-
-    def activate(
-            self
-    ) -> None:
-        """
-        Activates a peripheral on this axis.
-        Removes all identity information for the device.
-        Run the identify method on the device after activating to refresh the information.
-        """
-        request = dto.AxisEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-        )
-        call("device/activate", request)
-
-    async def activate_async(
-            self
-    ) -> None:
-        """
-        Activates a peripheral on this axis.
-        Removes all identity information for the device.
-        Run the identify method on the device after activating to refresh the information.
-        """
-        request = dto.AxisEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-        )
-        await call_async("device/activate", request)
-
-    def restore(
-            self
-    ) -> None:
-        """
-        Restores all axis settings to their default values.
-        Deletes all zaber axis storage keys.
-        Disables lockstep if the axis is part of one. Unparks the axis.
-        Preserves storage.
-        The device needs to be identified again after the restore.
-        """
-        request = dto.DeviceRestoreRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-        )
-        call("device/restore", request)
-
-    async def restore_async(
-            self
-    ) -> None:
-        """
-        Restores all axis settings to their default values.
-        Deletes all zaber axis storage keys.
-        Disables lockstep if the axis is part of one. Unparks the axis.
-        Preserves storage.
-        The device needs to be identified again after the restore.
-        """
-        request = dto.DeviceRestoreRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-        )
-        await call_async("device/restore", request)
-
-    def move_sin(
-            self,
-            amplitude: float,
-            amplitude_units: LengthUnits,
-            period: float,
-            period_units: TimeUnits,
-            count: float = 0,
-            wait_until_idle: bool = True
-    ) -> None:
-        """
-        Moves the axis in a sinusoidal trajectory.
-
-        Args:
-            amplitude: Amplitude of the sinusoidal motion (half of the motion's peak-to-peak range).
-            amplitude_units: Units of position.
-            period: Period of the sinusoidal motion in milliseconds.
-            period_units: Units of time.
-            count: Number of sinusoidal cycles to complete.
-                Must be a multiple of 0.5
-                If count is not specified or set to 0, the axis will move indefinitely.
-            wait_until_idle: Determines whether function should return after the movement is finished or just started.
-        """
-        request = dto.DeviceMoveSinRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-            amplitude=amplitude,
-            amplitude_units=amplitude_units,
-            period=period,
-            period_units=period_units,
-            count=count,
-            wait_until_idle=wait_until_idle,
-        )
-        call("device/move_sin", request)
-
-    async def move_sin_async(
-            self,
-            amplitude: float,
-            amplitude_units: LengthUnits,
-            period: float,
-            period_units: TimeUnits,
-            count: float = 0,
-            wait_until_idle: bool = True
-    ) -> None:
-        """
-        Moves the axis in a sinusoidal trajectory.
-
-        Args:
-            amplitude: Amplitude of the sinusoidal motion (half of the motion's peak-to-peak range).
-            amplitude_units: Units of position.
-            period: Period of the sinusoidal motion in milliseconds.
-            period_units: Units of time.
-            count: Number of sinusoidal cycles to complete.
-                Must be a multiple of 0.5
-                If count is not specified or set to 0, the axis will move indefinitely.
-            wait_until_idle: Determines whether function should return after the movement is finished or just started.
-        """
-        request = dto.DeviceMoveSinRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-            amplitude=amplitude,
-            amplitude_units=amplitude_units,
-            period=period,
-            period_units=period_units,
-            count=count,
-            wait_until_idle=wait_until_idle,
-        )
-        await call_async("device/move_sin", request)
-
-    def move_sin_stop(
-            self,
-            wait_until_idle: bool = True
-    ) -> None:
-        """
-        Stops the axis at the end of the sinusoidal trajectory.
-        If the sinusoidal motion was started with an integer-plus-half cycle count,
-        the motion ends at the half-way point of the sinusoidal trajectory.
-
-        Args:
-            wait_until_idle: Determines whether function should return after the movement is finished.
-        """
-        request = dto.DeviceStopRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-            wait_until_idle=wait_until_idle,
-        )
-        call("device/move_sin_stop", request)
-
-    async def move_sin_stop_async(
-            self,
-            wait_until_idle: bool = True
-    ) -> None:
-        """
-        Stops the axis at the end of the sinusoidal trajectory.
-        If the sinusoidal motion was started with an integer-plus-half cycle count,
-        the motion ends at the half-way point of the sinusoidal trajectory.
-
-        Args:
-            wait_until_idle: Determines whether function should return after the movement is finished.
-        """
-        request = dto.DeviceStopRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            axis=self.axis_number,
-            wait_until_idle=wait_until_idle,
-        )
-        await call_async("device/move_sin_stop", request)
+# ===== THIS FILE IS GENERATED FROM A TEMPLATE ===== #
+# ============== DO NOT EDIT DIRECTLY ============== #
+
+from typing import TYPE_CHECKING, List, Optional
+from ..call import call, call_async, call_sync
+
+from ..dto import requests as dto
+from ..units import Units, LengthUnits, VelocityUnits, AccelerationUnits, TimeUnits
+from .warnings import Warnings
+from .axis_settings import AxisSettings
+from ..dto.ascii.axis_identity import AxisIdentity
+from .storage import AxisStorage
+from ..dto.ascii.axis_type import AxisType
+from ..dto.ascii.response import Response
+from ..dto.measurement import Measurement
+from ..dto.ascii.set_state_axis_response import SetStateAxisResponse
+from ..dto.firmware_version import FirmwareVersion
+
+if TYPE_CHECKING:
+    from .device import Device
+
+
+class Axis:
+    """
+    Represents an axis of motion associated with a device.
+    """
+
+    @property
+    def device(self) -> 'Device':
+        """
+        Device that controls this axis.
+        """
+        return self._device
+
+    @property
+    def axis_number(self) -> int:
+        """
+        The axis number identifies the axis on the device.
+        The first axis has the number one.
+        """
+        return self._axis_number
+
+    @property
+    def settings(self) -> AxisSettings:
+        """
+        Settings and properties of this axis.
+        """
+        return self._settings
+
+    @property
+    def storage(self) -> AxisStorage:
+        """
+        Key-value storage of this axis.
+        Requires at least Firmware 7.30.
+        """
+        return self._storage
+
+    @property
+    def warnings(self) -> Warnings:
+        """
+        Warnings and faults of this axis.
+        """
+        return self._warnings
+
+    @property
+    def identity(self) -> AxisIdentity:
+        """
+        Identity of the axis.
+        """
+        return self.__retrieve_identity()
+
+    @property
+    def peripheral_id(self) -> int:
+        """
+        Unique ID of the peripheral hardware.
+        """
+        return self.identity.peripheral_id
+
+    @property
+    def peripheral_name(self) -> str:
+        """
+        Name of the peripheral.
+        """
+        return self.identity.peripheral_name
+
+    @property
+    def peripheral_serial_number(self) -> int:
+        """
+        Serial number of the peripheral, or 0 when not applicable.
+        """
+        return self.identity.peripheral_serial_number
+
+    @property
+    def is_peripheral(self) -> bool:
+        """
+        Indicates whether the axis is a peripheral or part of an integrated device.
+        """
+        return self.identity.is_peripheral
+
+    @property
+    def axis_type(self) -> AxisType:
+        """
+        Determines the type of an axis and units it accepts.
+        """
+        return self.identity.axis_type
+
+    @property
+    def resolution(self) -> int:
+        """
+        The number of microsteps per full step for motion axes. Always equal to 0 for non-motion axes.
+        """
+        return self.identity.resolution
+
+    @property
+    def label(self) -> str:
+        """
+        User-assigned label of the peripheral.
+        """
+        return self.__retrieve_label()
+
+    def __init__(self, device: 'Device', axis_number: int):
+        self._device: 'Device' = device
+        self._axis_number: int = axis_number
+        self._settings: AxisSettings = AxisSettings(self)
+        self._storage: AxisStorage = AxisStorage(self)
+        self._warnings: Warnings = Warnings(device, axis_number)
+
+    def home(
+            self,
+            wait_until_idle: bool = True
+    ) -> None:
+        """
+        Homes axis. Axis returns to its homing position.
+
+        Args:
+            wait_until_idle: Determines whether function should return after the movement is finished or just started.
+        """
+        request = dto.DeviceHomeRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+            wait_until_idle=wait_until_idle,
+        )
+        call("device/home", request)
+
+    async def home_async(
+            self,
+            wait_until_idle: bool = True
+    ) -> None:
+        """
+        Homes axis. Axis returns to its homing position.
+
+        Args:
+            wait_until_idle: Determines whether function should return after the movement is finished or just started.
+        """
+        request = dto.DeviceHomeRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+            wait_until_idle=wait_until_idle,
+        )
+        await call_async("device/home", request)
+
+    def stop(
+            self,
+            wait_until_idle: bool = True
+    ) -> None:
+        """
+        Stops ongoing axis movement. Decelerates until zero speed.
+
+        Args:
+            wait_until_idle: Determines whether function should return after the movement is finished or just started.
+        """
+        request = dto.DeviceStopRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+            wait_until_idle=wait_until_idle,
+        )
+        call("device/stop", request)
+
+    async def stop_async(
+            self,
+            wait_until_idle: bool = True
+    ) -> None:
+        """
+        Stops ongoing axis movement. Decelerates until zero speed.
+
+        Args:
+            wait_until_idle: Determines whether function should return after the movement is finished or just started.
+        """
+        request = dto.DeviceStopRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+            wait_until_idle=wait_until_idle,
+        )
+        await call_async("device/stop", request)
+
+    def park(
+            self
+    ) -> None:
+        """
+        Parks the axis in anticipation of turning the power off.
+        It can later be powered on, unparked, and moved without first having to home it.
+        """
+        request = dto.AxisEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+        )
+        call("device/park", request)
+
+    async def park_async(
+            self
+    ) -> None:
+        """
+        Parks the axis in anticipation of turning the power off.
+        It can later be powered on, unparked, and moved without first having to home it.
+        """
+        request = dto.AxisEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+        )
+        await call_async("device/park", request)
+
+    def unpark(
+            self
+    ) -> None:
+        """
+        Unparks axis. Axis will now be able to move.
+        """
+        request = dto.AxisEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+        )
+        call("device/unpark", request)
+
+    async def unpark_async(
+            self
+    ) -> None:
+        """
+        Unparks axis. Axis will now be able to move.
+        """
+        request = dto.AxisEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+        )
+        await call_async("device/unpark", request)
+
+    def is_parked(
+            self
+    ) -> bool:
+        """
+        Returns bool indicating whether the axis is parked or not.
+
+        Returns:
+            True if the axis is currently parked. False otherwise.
+        """
+        request = dto.AxisEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+        )
+        response = call(
+            "device/is_parked",
+            request,
+            dto.BoolResponse.from_binary)
+        return response.value
+
+    async def is_parked_async(
+            self
+    ) -> bool:
+        """
+        Returns bool indicating whether the axis is parked or not.
+
+        Returns:
+            True if the axis is currently parked. False otherwise.
+        """
+        request = dto.AxisEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+        )
+        response = await call_async(
+            "device/is_parked",
+            request,
+            dto.BoolResponse.from_binary)
+        return response.value
+
+    def wait_until_idle(
+            self,
+            throw_error_on_fault: bool = True
+    ) -> None:
+        """
+        Waits until axis stops moving.
+
+        Args:
+            throw_error_on_fault: Determines whether to throw error when fault is observed.
+        """
+        request = dto.DeviceWaitUntilIdleRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+            throw_error_on_fault=throw_error_on_fault,
+        )
+        call("device/wait_until_idle", request)
+
+    async def wait_until_idle_async(
+            self,
+            throw_error_on_fault: bool = True
+    ) -> None:
+        """
+        Waits until axis stops moving.
+
+        Args:
+            throw_error_on_fault: Determines whether to throw error when fault is observed.
+        """
+        request = dto.DeviceWaitUntilIdleRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+            throw_error_on_fault=throw_error_on_fault,
+        )
+        await call_async("device/wait_until_idle", request)
+
+    def is_busy(
+            self
+    ) -> bool:
+        """
+        Returns bool indicating whether the axis is executing a motion command.
+
+        Returns:
+            True if the axis is currently executing a motion command.
+        """
+        request = dto.AxisEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+        )
+        response = call(
+            "device/is_busy",
+            request,
+            dto.BoolResponse.from_binary)
+        return response.value
+
+    async def is_busy_async(
+            self
+    ) -> bool:
+        """
+        Returns bool indicating whether the axis is executing a motion command.
+
+        Returns:
+            True if the axis is currently executing a motion command.
+        """
+        request = dto.AxisEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+        )
+        response = await call_async(
+            "device/is_busy",
+            request,
+            dto.BoolResponse.from_binary)
+        return response.value
+
+    def is_homed(
+            self
+    ) -> bool:
+        """
+        Returns bool indicating whether the axis has position reference and was homed.
+
+        Returns:
+            True if the axis has position reference and was homed.
+        """
+        request = dto.AxisEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+        )
+        response = call(
+            "device/is_homed",
+            request,
+            dto.BoolResponse.from_binary)
+        return response.value
+
+    async def is_homed_async(
+            self
+    ) -> bool:
+        """
+        Returns bool indicating whether the axis has position reference and was homed.
+
+        Returns:
+            True if the axis has position reference and was homed.
+        """
+        request = dto.AxisEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+        )
+        response = await call_async(
+            "device/is_homed",
+            request,
+            dto.BoolResponse.from_binary)
+        return response.value
+
+    def move_absolute(
+            self,
+            position: float,
+            unit: LengthUnits = Units.NATIVE,
+            wait_until_idle: bool = True,
+            velocity: float = 0,
+            velocity_unit: VelocityUnits = Units.NATIVE,
+            acceleration: float = 0,
+            acceleration_unit: AccelerationUnits = Units.NATIVE
+    ) -> None:
+        """
+        Move axis to absolute position.
+
+        Args:
+            position: Absolute position.
+            unit: Units of position.
+            wait_until_idle: Determines whether function should return after the movement is finished or just started.
+            velocity: Movement velocity.
+                Default value of 0 indicates that the maxspeed setting is used instead.
+                Requires at least Firmware 7.25.
+            velocity_unit: Units of velocity.
+            acceleration: Movement acceleration.
+                Default value of 0 indicates that the accel setting is used instead.
+                Requires at least Firmware 7.25.
+            acceleration_unit: Units of acceleration.
+        """
+        request = dto.DeviceMoveRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+            type=dto.AxisMoveType.ABS,
+            arg=position,
+            unit=unit,
+            wait_until_idle=wait_until_idle,
+            velocity=velocity,
+            velocity_unit=velocity_unit,
+            acceleration=acceleration,
+            acceleration_unit=acceleration_unit,
+        )
+        call("device/move", request)
+
+    async def move_absolute_async(
+            self,
+            position: float,
+            unit: LengthUnits = Units.NATIVE,
+            wait_until_idle: bool = True,
+            velocity: float = 0,
+            velocity_unit: VelocityUnits = Units.NATIVE,
+            acceleration: float = 0,
+            acceleration_unit: AccelerationUnits = Units.NATIVE
+    ) -> None:
+        """
+        Move axis to absolute position.
+
+        Args:
+            position: Absolute position.
+            unit: Units of position.
+            wait_until_idle: Determines whether function should return after the movement is finished or just started.
+            velocity: Movement velocity.
+                Default value of 0 indicates that the maxspeed setting is used instead.
+                Requires at least Firmware 7.25.
+            velocity_unit: Units of velocity.
+            acceleration: Movement acceleration.
+                Default value of 0 indicates that the accel setting is used instead.
+                Requires at least Firmware 7.25.
+            acceleration_unit: Units of acceleration.
+        """
+        request = dto.DeviceMoveRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+            type=dto.AxisMoveType.ABS,
+            arg=position,
+            unit=unit,
+            wait_until_idle=wait_until_idle,
+            velocity=velocity,
+            velocity_unit=velocity_unit,
+            acceleration=acceleration,
+            acceleration_unit=acceleration_unit,
+        )
+        await call_async("device/move", request)
+
+    def move_max(
+            self,
+            wait_until_idle: bool = True,
+            velocity: float = 0,
+            velocity_unit: VelocityUnits = Units.NATIVE,
+            acceleration: float = 0,
+            acceleration_unit: AccelerationUnits = Units.NATIVE
+    ) -> None:
+        """
+        Moves the axis to the maximum position as specified by limit.max.
+
+        Args:
+            wait_until_idle: Determines whether function should return after the movement is finished or just started.
+            velocity: Movement velocity.
+                Default value of 0 indicates that the maxspeed setting is used instead.
+                Requires at least Firmware 7.25.
+            velocity_unit: Units of velocity.
+            acceleration: Movement acceleration.
+                Default value of 0 indicates that the accel setting is used instead.
+                Requires at least Firmware 7.25.
+            acceleration_unit: Units of acceleration.
+        """
+        request = dto.DeviceMoveRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+            type=dto.AxisMoveType.MAX,
+            wait_until_idle=wait_until_idle,
+            velocity=velocity,
+            velocity_unit=velocity_unit,
+            acceleration=acceleration,
+            acceleration_unit=acceleration_unit,
+        )
+        call("device/move", request)
+
+    async def move_max_async(
+            self,
+            wait_until_idle: bool = True,
+            velocity: float = 0,
+            velocity_unit: VelocityUnits = Units.NATIVE,
+            acceleration: float = 0,
+            acceleration_unit: AccelerationUnits = Units.NATIVE
+    ) -> None:
+        """
+        Moves the axis to the maximum position as specified by limit.max.
+
+        Args:
+            wait_until_idle: Determines whether function should return after the movement is finished or just started.
+            velocity: Movement velocity.
+                Default value of 0 indicates that the maxspeed setting is used instead.
+                Requires at least Firmware 7.25.
+            velocity_unit: Units of velocity.
+            acceleration: Movement acceleration.
+                Default value of 0 indicates that the accel setting is used instead.
+                Requires at least Firmware 7.25.
+            acceleration_unit: Units of acceleration.
+        """
+        request = dto.DeviceMoveRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+            type=dto.AxisMoveType.MAX,
+            wait_until_idle=wait_until_idle,
+            velocity=velocity,
+            velocity_unit=velocity_unit,
+            acceleration=acceleration,
+            acceleration_unit=acceleration_unit,
+        )
+        await call_async("device/move", request)
+
+    def move_min(
+            self,
+            wait_until_idle: bool = True,
+            velocity: float = 0,
+            velocity_unit: VelocityUnits = Units.NATIVE,
+            acceleration: float = 0,
+            acceleration_unit: AccelerationUnits = Units.NATIVE
+    ) -> None:
+        """
+        Moves the axis to the minimum position as specified by limit.min.
+
+        Args:
+            wait_until_idle: Determines whether function should return after the movement is finished or just started.
+            velocity: Movement velocity.
+                Default value of 0 indicates that the maxspeed setting is used instead.
+                Requires at least Firmware 7.25.
+            velocity_unit: Units of velocity.
+            acceleration: Movement acceleration.
+                Default value of 0 indicates that the accel setting is used instead.
+                Requires at least Firmware 7.25.
+            acceleration_unit: Units of acceleration.
+        """
+        request = dto.DeviceMoveRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+            type=dto.AxisMoveType.MIN,
+            wait_until_idle=wait_until_idle,
+            velocity=velocity,
+            velocity_unit=velocity_unit,
+            acceleration=acceleration,
+            acceleration_unit=acceleration_unit,
+        )
+        call("device/move", request)
+
+    async def move_min_async(
+            self,
+            wait_until_idle: bool = True,
+            velocity: float = 0,
+            velocity_unit: VelocityUnits = Units.NATIVE,
+            acceleration: float = 0,
+            acceleration_unit: AccelerationUnits = Units.NATIVE
+    ) -> None:
+        """
+        Moves the axis to the minimum position as specified by limit.min.
+
+        Args:
+            wait_until_idle: Determines whether function should return after the movement is finished or just started.
+            velocity: Movement velocity.
+                Default value of 0 indicates that the maxspeed setting is used instead.
+                Requires at least Firmware 7.25.
+            velocity_unit: Units of velocity.
+            acceleration: Movement acceleration.
+                Default value of 0 indicates that the accel setting is used instead.
+                Requires at least Firmware 7.25.
+            acceleration_unit: Units of acceleration.
+        """
+        request = dto.DeviceMoveRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+            type=dto.AxisMoveType.MIN,
+            wait_until_idle=wait_until_idle,
+            velocity=velocity,
+            velocity_unit=velocity_unit,
+            acceleration=acceleration,
+            acceleration_unit=acceleration_unit,
+        )
+        await call_async("device/move", request)
+
+    def move_relative(
+            self,
+            position: float,
+            unit: LengthUnits = Units.NATIVE,
+            wait_until_idle: bool = True,
+            velocity: float = 0,
+            velocity_unit: VelocityUnits = Units.NATIVE,
+            acceleration: float = 0,
+            acceleration_unit: AccelerationUnits = Units.NATIVE
+    ) -> None:
+        """
+        Move axis to position relative to current position.
+
+        Args:
+            position: Relative position.
+            unit: Units of position.
+            wait_until_idle: Determines whether function should return after the movement is finished or just started.
+            velocity: Movement velocity.
+                Default value of 0 indicates that the maxspeed setting is used instead.
+                Requires at least Firmware 7.25.
+            velocity_unit: Units of velocity.
+            acceleration: Movement acceleration.
+                Default value of 0 indicates that the accel setting is used instead.
+                Requires at least Firmware 7.25.
+            acceleration_unit: Units of acceleration.
+        """
+        request = dto.DeviceMoveRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+            type=dto.AxisMoveType.REL,
+            arg=position,
+            unit=unit,
+            wait_until_idle=wait_until_idle,
+            velocity=velocity,
+            velocity_unit=velocity_unit,
+            acceleration=acceleration,
+            acceleration_unit=acceleration_unit,
+        )
+        call("device/move", request)
+
+    async def move_relative_async(
+            self,
+            position: float,
+            unit: LengthUnits = Units.NATIVE,
+            wait_until_idle: bool = True,
+            velocity: float = 0,
+            velocity_unit: VelocityUnits = Units.NATIVE,
+            acceleration: float = 0,
+            acceleration_unit: AccelerationUnits = Units.NATIVE
+    ) -> None:
+        """
+        Move axis to position relative to current position.
+
+        Args:
+            position: Relative position.
+            unit: Units of position.
+            wait_until_idle: Determines whether function should return after the movement is finished or just started.
+            velocity: Movement velocity.
+                Default value of 0 indicates that the maxspeed setting is used instead.
+                Requires at least Firmware 7.25.
+            velocity_unit: Units of velocity.
+            acceleration: Movement acceleration.
+                Default value of 0 indicates that the accel setting is used instead.
+                Requires at least Firmware 7.25.
+            acceleration_unit: Units of acceleration.
+        """
+        request = dto.DeviceMoveRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+            type=dto.AxisMoveType.REL,
+            arg=position,
+            unit=unit,
+            wait_until_idle=wait_until_idle,
+            velocity=velocity,
+            velocity_unit=velocity_unit,
+            acceleration=acceleration,
+            acceleration_unit=acceleration_unit,
+        )
+        await call_async("device/move", request)
+
+    def move_velocity(
+            self,
+            velocity: float,
+            unit: VelocityUnits = Units.NATIVE,
+            acceleration: float = 0,
+            acceleration_unit: AccelerationUnits = Units.NATIVE
+    ) -> None:
+        """
+        Begins to move axis at specified speed.
+
+        Args:
+            velocity: Movement velocity.
+            unit: Units of velocity.
+            acceleration: Movement acceleration.
+                Default value of 0 indicates that the accel setting is used instead.
+                Requires at least Firmware 7.25.
+            acceleration_unit: Units of acceleration.
+        """
+        request = dto.DeviceMoveRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+            type=dto.AxisMoveType.VEL,
+            arg=velocity,
+            unit=unit,
+            acceleration=acceleration,
+            acceleration_unit=acceleration_unit,
+        )
+        call("device/move", request)
+
+    async def move_velocity_async(
+            self,
+            velocity: float,
+            unit: VelocityUnits = Units.NATIVE,
+            acceleration: float = 0,
+            acceleration_unit: AccelerationUnits = Units.NATIVE
+    ) -> None:
+        """
+        Begins to move axis at specified speed.
+
+        Args:
+            velocity: Movement velocity.
+            unit: Units of velocity.
+            acceleration: Movement acceleration.
+                Default value of 0 indicates that the accel setting is used instead.
+                Requires at least Firmware 7.25.
+            acceleration_unit: Units of acceleration.
+        """
+        request = dto.DeviceMoveRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+            type=dto.AxisMoveType.VEL,
+            arg=velocity,
+            unit=unit,
+            acceleration=acceleration,
+            acceleration_unit=acceleration_unit,
+        )
+        await call_async("device/move", request)
+
+    def get_position(
+            self,
+            unit: LengthUnits = Units.NATIVE
+    ) -> float:
+        """
+        Returns current axis position.
+
+        Args:
+            unit: Units of position.
+
+        Returns:
+            Axis position.
+        """
+        request = dto.DeviceGetSettingRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+            setting="pos",
+            unit=unit,
+        )
+        response = call(
+            "device/get_setting",
+            request,
+            dto.DoubleResponse.from_binary)
+        return response.value
+
+    async def get_position_async(
+            self,
+            unit: LengthUnits = Units.NATIVE
+    ) -> float:
+        """
+        Returns current axis position.
+
+        Args:
+            unit: Units of position.
+
+        Returns:
+            Axis position.
+        """
+        request = dto.DeviceGetSettingRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+            setting="pos",
+            unit=unit,
+        )
+        response = await call_async(
+            "device/get_setting",
+            request,
+            dto.DoubleResponse.from_binary)
+        return response.value
+
+    def get_number_of_index_positions(
+            self
+    ) -> int:
+        """
+        Gets number of index positions of the axis.
+
+        Returns:
+            Number of index positions.
+        """
+        request = dto.AxisEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+        )
+        response = call(
+            "device/get_index_count",
+            request,
+            dto.IntResponse.from_binary)
+        return response.value
+
+    async def get_number_of_index_positions_async(
+            self
+    ) -> int:
+        """
+        Gets number of index positions of the axis.
+
+        Returns:
+            Number of index positions.
+        """
+        request = dto.AxisEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+        )
+        response = await call_async(
+            "device/get_index_count",
+            request,
+            dto.IntResponse.from_binary)
+        return response.value
+
+    def get_index_position(
+            self
+    ) -> int:
+        """
+        Returns current axis index position.
+
+        Returns:
+            Index position starting from 1 or 0 if the position is not an index position.
+        """
+        request = dto.AxisEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+        )
+        response = call(
+            "device/get_index_position",
+            request,
+            dto.IntResponse.from_binary)
+        return response.value
+
+    async def get_index_position_async(
+            self
+    ) -> int:
+        """
+        Returns current axis index position.
+
+        Returns:
+            Index position starting from 1 or 0 if the position is not an index position.
+        """
+        request = dto.AxisEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+        )
+        response = await call_async(
+            "device/get_index_position",
+            request,
+            dto.IntResponse.from_binary)
+        return response.value
+
+    def move_index(
+            self,
+            index: int,
+            wait_until_idle: bool = True,
+            velocity: float = 0,
+            velocity_unit: VelocityUnits = Units.NATIVE,
+            acceleration: float = 0,
+            acceleration_unit: AccelerationUnits = Units.NATIVE
+    ) -> None:
+        """
+        Moves the axis to index position.
+
+        Args:
+            index: Index position. Index positions are numbered from 1.
+            wait_until_idle: Determines whether function should return after the movement is finished or just started.
+            velocity: Movement velocity.
+                Default value of 0 indicates that the maxspeed setting is used instead.
+                Requires at least Firmware 7.25.
+            velocity_unit: Units of velocity.
+            acceleration: Movement acceleration.
+                Default value of 0 indicates that the accel setting is used instead.
+                Requires at least Firmware 7.25.
+            acceleration_unit: Units of acceleration.
+        """
+        request = dto.DeviceMoveRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+            type=dto.AxisMoveType.INDEX,
+            arg_int=index,
+            wait_until_idle=wait_until_idle,
+            velocity=velocity,
+            velocity_unit=velocity_unit,
+            acceleration=acceleration,
+            acceleration_unit=acceleration_unit,
+        )
+        call("device/move", request)
+
+    async def move_index_async(
+            self,
+            index: int,
+            wait_until_idle: bool = True,
+            velocity: float = 0,
+            velocity_unit: VelocityUnits = Units.NATIVE,
+            acceleration: float = 0,
+            acceleration_unit: AccelerationUnits = Units.NATIVE
+    ) -> None:
+        """
+        Moves the axis to index position.
+
+        Args:
+            index: Index position. Index positions are numbered from 1.
+            wait_until_idle: Determines whether function should return after the movement is finished or just started.
+            velocity: Movement velocity.
+                Default value of 0 indicates that the maxspeed setting is used instead.
+                Requires at least Firmware 7.25.
+            velocity_unit: Units of velocity.
+            acceleration: Movement acceleration.
+                Default value of 0 indicates that the accel setting is used instead.
+                Requires at least Firmware 7.25.
+            acceleration_unit: Units of acceleration.
+        """
+        request = dto.DeviceMoveRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+            type=dto.AxisMoveType.INDEX,
+            arg_int=index,
+            wait_until_idle=wait_until_idle,
+            velocity=velocity,
+            velocity_unit=velocity_unit,
+            acceleration=acceleration,
+            acceleration_unit=acceleration_unit,
+        )
+        await call_async("device/move", request)
+
+    def generic_command(
+            self,
+            command: str,
+            check_errors: bool = True,
+            timeout: int = 0
+    ) -> Response:
+        """
+        Sends a generic ASCII command to this axis.
+        For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).
+
+        Args:
+            command: Command and its parameters.
+            check_errors: Controls whether to throw an exception when the device rejects the command.
+            timeout: The timeout, in milliseconds, for a device to respond to the command.
+                Overrides the connection default request timeout.
+
+        Returns:
+            A response to the command.
+        """
+        request = dto.GenericCommandRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+            command=command,
+            check_errors=check_errors,
+            timeout=timeout,
+        )
+        response = call(
+            "interface/generic_command",
+            request,
+            Response.from_binary)
+        return response
+
+    async def generic_command_async(
+            self,
+            command: str,
+            check_errors: bool = True,
+            timeout: int = 0
+    ) -> Response:
+        """
+        Sends a generic ASCII command to this axis.
+        For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).
+
+        Args:
+            command: Command and its parameters.
+            check_errors: Controls whether to throw an exception when the device rejects the command.
+            timeout: The timeout, in milliseconds, for a device to respond to the command.
+                Overrides the connection default request timeout.
+
+        Returns:
+            A response to the command.
+        """
+        request = dto.GenericCommandRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+            command=command,
+            check_errors=check_errors,
+            timeout=timeout,
+        )
+        response = await call_async(
+            "interface/generic_command",
+            request,
+            Response.from_binary)
+        return response
+
+    def generic_command_multi_response(
+            self,
+            command: str,
+            check_errors: bool = True,
+            timeout: int = 0
+    ) -> List[Response]:
+        """
+        Sends a generic ASCII command to this axis and expect multiple responses.
+        Responses are returned in order of arrival.
+        For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).
+
+        Args:
+            command: Command and its parameters.
+            check_errors: Controls whether to throw an exception when a device rejects the command.
+            timeout: The timeout, in milliseconds, for a device to respond to the command.
+                Overrides the connection default request timeout.
+
+        Returns:
+            All responses to the command.
+        """
+        request = dto.GenericCommandRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+            command=command,
+            check_errors=check_errors,
+            timeout=timeout,
+        )
+        response = call(
+            "interface/generic_command_multi_response",
+            request,
+            dto.GenericCommandResponseCollection.from_binary)
+        return response.responses
+
+    async def generic_command_multi_response_async(
+            self,
+            command: str,
+            check_errors: bool = True,
+            timeout: int = 0
+    ) -> List[Response]:
+        """
+        Sends a generic ASCII command to this axis and expect multiple responses.
+        Responses are returned in order of arrival.
+        For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).
+
+        Args:
+            command: Command and its parameters.
+            check_errors: Controls whether to throw an exception when a device rejects the command.
+            timeout: The timeout, in milliseconds, for a device to respond to the command.
+                Overrides the connection default request timeout.
+
+        Returns:
+            All responses to the command.
+        """
+        request = dto.GenericCommandRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+            command=command,
+            check_errors=check_errors,
+            timeout=timeout,
+        )
+        response = await call_async(
+            "interface/generic_command_multi_response",
+            request,
+            dto.GenericCommandResponseCollection.from_binary)
+        return response.responses
+
+    def generic_command_no_response(
+            self,
+            command: str
+    ) -> None:
+        """
+        Sends a generic ASCII command to this axis without expecting a response and without adding a message ID
+        For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).
+
+        Args:
+            command: Command and its parameters.
+        """
+        request = dto.GenericCommandRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+            command=command,
+        )
+        call("interface/generic_command_no_response", request)
+
+    async def generic_command_no_response_async(
+            self,
+            command: str
+    ) -> None:
+        """
+        Sends a generic ASCII command to this axis without expecting a response and without adding a message ID
+        For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).
+
+        Args:
+            command: Command and its parameters.
+        """
+        request = dto.GenericCommandRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+            command=command,
+        )
+        await call_async("interface/generic_command_no_response", request)
+
+    def prepare_command(
+            self,
+            command_template: str,
+            *parameters: Measurement
+    ) -> str:
+        """
+        Formats parameters into a command and performs unit conversions.
+        Parameters in the command template are denoted by a question mark.
+        Command returned is only valid for this axis and this device.
+        For more information refer to: [ASCII Protocol Manual](https://www.zaber.com/protocol-manual#topic_commands).
+
+        Args:
+            command_template: Template of a command to prepare. Parameters are denoted by question marks.
+            parameters: Variable number of command parameters.
+
+        Returns:
+            Command with converted parameters.
+        """
+        request = dto.PrepareCommandRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+            command_template=command_template,
+            parameters=list(parameters),
+        )
+        response = call_sync(
+            "device/prepare_command",
+            request,
+            dto.StringResponse.from_binary)
+        return response.value
+
+    def set_label(
+            self,
+            label: str
+    ) -> None:
+        """
+        Sets the user-assigned peripheral label.
+        The label is stored on the controller and recognized by other software.
+
+        Args:
+            label: Label to set.
+        """
+        request = dto.DeviceSetStorageRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+            value=label,
+        )
+        call("device/set_label", request)
+
+    async def set_label_async(
+            self,
+            label: str
+    ) -> None:
+        """
+        Sets the user-assigned peripheral label.
+        The label is stored on the controller and recognized by other software.
+
+        Args:
+            label: Label to set.
+        """
+        request = dto.DeviceSetStorageRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+            value=label,
+        )
+        await call_async("device/set_label", request)
+
+    def __retrieve_label(
+            self
+    ) -> str:
+        """
+        Gets the peripheral name.
+
+        Returns:
+            The label.
+        """
+        request = dto.AxisEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+        )
+        response = call_sync(
+            "device/get_label",
+            request,
+            dto.StringResponse.from_binary)
+        return response.value
+
+    def __repr__(
+            self
+    ) -> str:
+        """
+        Returns a string that represents the axis.
+
+        Returns:
+            A string that represents the axis.
+        """
+        request = dto.AxisToStringRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+        )
+        response = call_sync(
+            "device/axis_to_string",
+            request,
+            dto.StringResponse.from_binary)
+        return response.value
+
+    def get_state(
+            self
+    ) -> str:
+        """
+        Returns a serialization of the current axis state that can be saved and reapplied.
+
+        Returns:
+            A serialization of the current state of the axis.
+        """
+        request = dto.AxisEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+        )
+        response = call(
+            "device/get_state",
+            request,
+            dto.StringResponse.from_binary)
+        return response.value
+
+    async def get_state_async(
+            self
+    ) -> str:
+        """
+        Returns a serialization of the current axis state that can be saved and reapplied.
+
+        Returns:
+            A serialization of the current state of the axis.
+        """
+        request = dto.AxisEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+        )
+        response = await call_async(
+            "device/get_state",
+            request,
+            dto.StringResponse.from_binary)
+        return response.value
+
+    def set_state(
+            self,
+            state: str
+    ) -> SetStateAxisResponse:
+        """
+        Applies a saved state to this axis.
+
+        Args:
+            state: The state object to apply to this axis.
+
+        Returns:
+            Reports of any issues that were handled, but caused the state to not be exactly restored.
+        """
+        request = dto.SetStateRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+            state=state,
+        )
+        response = call(
+            "device/set_axis_state",
+            request,
+            SetStateAxisResponse.from_binary)
+        return response
+
+    async def set_state_async(
+            self,
+            state: str
+    ) -> SetStateAxisResponse:
+        """
+        Applies a saved state to this axis.
+
+        Args:
+            state: The state object to apply to this axis.
+
+        Returns:
+            Reports of any issues that were handled, but caused the state to not be exactly restored.
+        """
+        request = dto.SetStateRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+            state=state,
+        )
+        response = await call_async(
+            "device/set_axis_state",
+            request,
+            SetStateAxisResponse.from_binary)
+        return response
+
+    def can_set_state(
+            self,
+            state: str,
+            firmware_version: Optional[FirmwareVersion] = None
+    ) -> Optional[str]:
+        """
+        Checks if a state can be applied to this axis.
+        This only covers exceptions that can be determined statically such as mismatches of ID or version,
+        the process of applying the state can still fail when running.
+
+        Args:
+            state: The state object to check against.
+            firmware_version: The firmware version of the device to apply the state to.
+                Use this to ensure the state will still be compatible after an update.
+
+        Returns:
+            An explanation of why this state cannot be set to this axis.
+        """
+        request = dto.CanSetStateRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+            state=state,
+            firmware_version=firmware_version,
+        )
+        response = call(
+            "device/can_set_axis_state",
+            request,
+            dto.CanSetStateAxisResponse.from_binary)
+        return response.error
+
+    async def can_set_state_async(
+            self,
+            state: str,
+            firmware_version: Optional[FirmwareVersion] = None
+    ) -> Optional[str]:
+        """
+        Checks if a state can be applied to this axis.
+        This only covers exceptions that can be determined statically such as mismatches of ID or version,
+        the process of applying the state can still fail when running.
+
+        Args:
+            state: The state object to check against.
+            firmware_version: The firmware version of the device to apply the state to.
+                Use this to ensure the state will still be compatible after an update.
+
+        Returns:
+            An explanation of why this state cannot be set to this axis.
+        """
+        request = dto.CanSetStateRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+            state=state,
+            firmware_version=firmware_version,
+        )
+        response = await call_async(
+            "device/can_set_axis_state",
+            request,
+            dto.CanSetStateAxisResponse.from_binary)
+        return response.error
+
+    def __retrieve_identity(
+            self
+    ) -> AxisIdentity:
+        """
+        Returns identity.
+
+        Returns:
+            Axis identity.
+        """
+        request = dto.AxisEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+        )
+        response = call_sync(
+            "device/get_axis_identity",
+            request,
+            AxisIdentity.from_binary)
+        return response
+
+    def driver_disable(
+            self
+    ) -> None:
+        """
+        Disables the driver, which prevents current from being sent to the motor or load.
+        If the driver is already disabled, the driver remains disabled.
+        """
+        request = dto.AxisEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+        )
+        call("device/driver_disable", request)
+
+    async def driver_disable_async(
+            self
+    ) -> None:
+        """
+        Disables the driver, which prevents current from being sent to the motor or load.
+        If the driver is already disabled, the driver remains disabled.
+        """
+        request = dto.AxisEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+        )
+        await call_async("device/driver_disable", request)
+
+    def driver_enable(
+            self,
+            timeout: float = 10
+    ) -> None:
+        """
+        Attempts to enable the driver repeatedly for the specified timeout.
+        If the driver is already enabled, the driver remains enabled.
+
+        Args:
+            timeout: Timeout in seconds. Specify 0 to attempt to enable the driver once.
+        """
+        request = dto.DriverEnableRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+            timeout=timeout,
+        )
+        call("device/driver_enable", request)
+
+    async def driver_enable_async(
+            self,
+            timeout: float = 10
+    ) -> None:
+        """
+        Attempts to enable the driver repeatedly for the specified timeout.
+        If the driver is already enabled, the driver remains enabled.
+
+        Args:
+            timeout: Timeout in seconds. Specify 0 to attempt to enable the driver once.
+        """
+        request = dto.DriverEnableRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+            timeout=timeout,
+        )
+        await call_async("device/driver_enable", request)
+
+    def activate(
+            self
+    ) -> None:
+        """
+        Activates a peripheral on this axis.
+        Removes all identity information for the device.
+        Run the identify method on the device after activating to refresh the information.
+        """
+        request = dto.AxisEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+        )
+        call("device/activate", request)
+
+    async def activate_async(
+            self
+    ) -> None:
+        """
+        Activates a peripheral on this axis.
+        Removes all identity information for the device.
+        Run the identify method on the device after activating to refresh the information.
+        """
+        request = dto.AxisEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+        )
+        await call_async("device/activate", request)
+
+    def restore(
+            self
+    ) -> None:
+        """
+        Restores all axis settings to their default values.
+        Deletes all zaber axis storage keys.
+        Disables lockstep if the axis is part of one. Unparks the axis.
+        Preserves storage.
+        The device needs to be identified again after the restore.
+        """
+        request = dto.DeviceRestoreRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+        )
+        call("device/restore", request)
+
+    async def restore_async(
+            self
+    ) -> None:
+        """
+        Restores all axis settings to their default values.
+        Deletes all zaber axis storage keys.
+        Disables lockstep if the axis is part of one. Unparks the axis.
+        Preserves storage.
+        The device needs to be identified again after the restore.
+        """
+        request = dto.DeviceRestoreRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+        )
+        await call_async("device/restore", request)
+
+    def move_sin(
+            self,
+            amplitude: float,
+            amplitude_units: LengthUnits,
+            period: float,
+            period_units: TimeUnits,
+            count: float = 0,
+            wait_until_idle: bool = True
+    ) -> None:
+        """
+        Moves the axis in a sinusoidal trajectory.
+
+        Args:
+            amplitude: Amplitude of the sinusoidal motion (half of the motion's peak-to-peak range).
+            amplitude_units: Units of position.
+            period: Period of the sinusoidal motion in milliseconds.
+            period_units: Units of time.
+            count: Number of sinusoidal cycles to complete.
+                Must be a multiple of 0.5
+                If count is not specified or set to 0, the axis will move indefinitely.
+            wait_until_idle: Determines whether function should return after the movement is finished or just started.
+        """
+        request = dto.DeviceMoveSinRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+            amplitude=amplitude,
+            amplitude_units=amplitude_units,
+            period=period,
+            period_units=period_units,
+            count=count,
+            wait_until_idle=wait_until_idle,
+        )
+        call("device/move_sin", request)
+
+    async def move_sin_async(
+            self,
+            amplitude: float,
+            amplitude_units: LengthUnits,
+            period: float,
+            period_units: TimeUnits,
+            count: float = 0,
+            wait_until_idle: bool = True
+    ) -> None:
+        """
+        Moves the axis in a sinusoidal trajectory.
+
+        Args:
+            amplitude: Amplitude of the sinusoidal motion (half of the motion's peak-to-peak range).
+            amplitude_units: Units of position.
+            period: Period of the sinusoidal motion in milliseconds.
+            period_units: Units of time.
+            count: Number of sinusoidal cycles to complete.
+                Must be a multiple of 0.5
+                If count is not specified or set to 0, the axis will move indefinitely.
+            wait_until_idle: Determines whether function should return after the movement is finished or just started.
+        """
+        request = dto.DeviceMoveSinRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+            amplitude=amplitude,
+            amplitude_units=amplitude_units,
+            period=period,
+            period_units=period_units,
+            count=count,
+            wait_until_idle=wait_until_idle,
+        )
+        await call_async("device/move_sin", request)
+
+    def move_sin_stop(
+            self,
+            wait_until_idle: bool = True
+    ) -> None:
+        """
+        Stops the axis at the end of the sinusoidal trajectory.
+        If the sinusoidal motion was started with an integer-plus-half cycle count,
+        the motion ends at the half-way point of the sinusoidal trajectory.
+
+        Args:
+            wait_until_idle: Determines whether function should return after the movement is finished.
+        """
+        request = dto.DeviceStopRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+            wait_until_idle=wait_until_idle,
+        )
+        call("device/move_sin_stop", request)
+
+    async def move_sin_stop_async(
+            self,
+            wait_until_idle: bool = True
+    ) -> None:
+        """
+        Stops the axis at the end of the sinusoidal trajectory.
+        If the sinusoidal motion was started with an integer-plus-half cycle count,
+        the motion ends at the half-way point of the sinusoidal trajectory.
+
+        Args:
+            wait_until_idle: Determines whether function should return after the movement is finished.
+        """
+        request = dto.DeviceStopRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            axis=self.axis_number,
+            wait_until_idle=wait_until_idle,
+        )
+        await call_async("device/move_sin_stop", request)