zaber-motion 7.13.0__py3-none-win_amd64.whl → 7.14.0__py3-none-win_amd64.whl

zaber_motion/ascii/lockstep.py

@@ -1,1184 +1,1184 @@
-# ===== THIS FILE IS GENERATED FROM A TEMPLATE ===== #
-# ============== DO NOT EDIT DIRECTLY ============== #
-from typing import TYPE_CHECKING, List
-from ..dto import requests as dto
-from ..units import Units, LengthUnits, VelocityUnits, AccelerationUnits, TimeUnits
-from ..call import call, call_async, call_sync
-from ..dto.ascii.lockstep_axes import LockstepAxes
-
-if TYPE_CHECKING:
-    from .device import Device
-
-
-class Lockstep:
-    """
-    Represents a lockstep group with this ID on a device.
-    A lockstep group is a movement synchronized pair of axes on a device.
-    Requires at least Firmware 6.15 or 7.11.
-    """
-
-    @property
-    def device(self) -> 'Device':
-        """
-        Device that controls this lockstep group.
-        """
-        return self._device
-
-    @property
-    def lockstep_group_id(self) -> int:
-        """
-        The number that identifies the lockstep group on the device.
-        """
-        return self._lockstep_group_id
-
-    def __init__(self, device: 'Device', lockstep_group_id: int):
-        self._device: 'Device' = device
-        self._lockstep_group_id: int = lockstep_group_id
-
-    def enable(
-            self,
-            *axes: int
-    ) -> None:
-        """
-        Activate the lockstep group on the axes specified.
-
-        Args:
-            axes: The numbers of axes in the lockstep group.
-        """
-        request = dto.LockstepEnableRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            lockstep_group_id=self.lockstep_group_id,
-            axes=list(axes),
-        )
-        call("device/lockstep_enable", request)
-
-    async def enable_async(
-            self,
-            *axes: int
-    ) -> None:
-        """
-        Activate the lockstep group on the axes specified.
-
-        Args:
-            axes: The numbers of axes in the lockstep group.
-        """
-        request = dto.LockstepEnableRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            lockstep_group_id=self.lockstep_group_id,
-            axes=list(axes),
-        )
-        await call_async("device/lockstep_enable", request)
-
-    def disable(
-            self
-    ) -> None:
-        """
-        Disable the lockstep group.
-        """
-        request = dto.LockstepDisableRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            lockstep_group_id=self.lockstep_group_id,
-        )
-        call("device/lockstep_disable", request)
-
-    async def disable_async(
-            self
-    ) -> None:
-        """
-        Disable the lockstep group.
-        """
-        request = dto.LockstepDisableRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            lockstep_group_id=self.lockstep_group_id,
-        )
-        await call_async("device/lockstep_disable", request)
-
-    def stop(
-            self,
-            wait_until_idle: bool = True
-    ) -> None:
-        """
-        Stops ongoing lockstep group movement. Decelerates until zero speed.
-
-        Args:
-            wait_until_idle: Determines whether function should return after the movement is finished or just started.
-        """
-        request = dto.LockstepStopRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            lockstep_group_id=self.lockstep_group_id,
-            wait_until_idle=wait_until_idle,
-        )
-        call("device/lockstep_stop", request)
-
-    async def stop_async(
-            self,
-            wait_until_idle: bool = True
-    ) -> None:
-        """
-        Stops ongoing lockstep group movement. Decelerates until zero speed.
-
-        Args:
-            wait_until_idle: Determines whether function should return after the movement is finished or just started.
-        """
-        request = dto.LockstepStopRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            lockstep_group_id=self.lockstep_group_id,
-            wait_until_idle=wait_until_idle,
-        )
-        await call_async("device/lockstep_stop", request)
-
-    def home(
-            self,
-            wait_until_idle: bool = True
-    ) -> None:
-        """
-        Retracts the axes of the lockstep group until a home associated with an individual axis is detected.
-
-        Args:
-            wait_until_idle: Determines whether function should return after the movement is finished or just started.
-        """
-        request = dto.LockstepHomeRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            lockstep_group_id=self.lockstep_group_id,
-            wait_until_idle=wait_until_idle,
-        )
-        call("device/lockstep_home", request)
-
-    async def home_async(
-            self,
-            wait_until_idle: bool = True
-    ) -> None:
-        """
-        Retracts the axes of the lockstep group until a home associated with an individual axis is detected.
-
-        Args:
-            wait_until_idle: Determines whether function should return after the movement is finished or just started.
-        """
-        request = dto.LockstepHomeRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            lockstep_group_id=self.lockstep_group_id,
-            wait_until_idle=wait_until_idle,
-        )
-        await call_async("device/lockstep_home", request)
-
-    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 the first axis of the lockstep group to an absolute position.
-        The other axes in the lockstep group maintain their offsets throughout movement.
-
-        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.LockstepMoveRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            lockstep_group_id=self.lockstep_group_id,
-            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/lockstep_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 the first axis of the lockstep group to an absolute position.
-        The other axes in the lockstep group maintain their offsets throughout movement.
-
-        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.LockstepMoveRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            lockstep_group_id=self.lockstep_group_id,
-            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/lockstep_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 the first axis of the lockstep group to a position relative to its current position.
-        The other axes in the lockstep group maintain their offsets throughout movement.
-
-        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.LockstepMoveRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            lockstep_group_id=self.lockstep_group_id,
-            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/lockstep_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 the first axis of the lockstep group to a position relative to its current position.
-        The other axes in the lockstep group maintain their offsets throughout movement.
-
-        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.LockstepMoveRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            lockstep_group_id=self.lockstep_group_id,
-            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/lockstep_move", request)
-
-    def move_velocity(
-            self,
-            velocity: float,
-            unit: VelocityUnits = Units.NATIVE,
-            acceleration: float = 0,
-            acceleration_unit: AccelerationUnits = Units.NATIVE
-    ) -> None:
-        """
-        Moves the first axis of the lockstep group at the specified speed.
-        The other axes in the lockstep group maintain their offsets throughout movement.
-
-        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.LockstepMoveRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            lockstep_group_id=self.lockstep_group_id,
-            type=dto.AxisMoveType.VEL,
-            arg=velocity,
-            unit=unit,
-            acceleration=acceleration,
-            acceleration_unit=acceleration_unit,
-        )
-        call("device/lockstep_move", request)
-
-    async def move_velocity_async(
-            self,
-            velocity: float,
-            unit: VelocityUnits = Units.NATIVE,
-            acceleration: float = 0,
-            acceleration_unit: AccelerationUnits = Units.NATIVE
-    ) -> None:
-        """
-        Moves the first axis of the lockstep group at the specified speed.
-        The other axes in the lockstep group maintain their offsets throughout movement.
-
-        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.LockstepMoveRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            lockstep_group_id=self.lockstep_group_id,
-            type=dto.AxisMoveType.VEL,
-            arg=velocity,
-            unit=unit,
-            acceleration=acceleration,
-            acceleration_unit=acceleration_unit,
-        )
-        await call_async("device/lockstep_move", 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 first axis of the lockstep group in a sinusoidal trajectory.
-        The other axes in the lockstep group maintain their offsets throughout movement.
-
-        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.LockstepMoveSinRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            lockstep_group_id=self.lockstep_group_id,
-            amplitude=amplitude,
-            amplitude_units=amplitude_units,
-            period=period,
-            period_units=period_units,
-            count=count,
-            wait_until_idle=wait_until_idle,
-        )
-        call("device/lockstep_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 first axis of the lockstep group in a sinusoidal trajectory.
-        The other axes in the lockstep group maintain their offsets throughout movement.
-
-        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.LockstepMoveSinRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            lockstep_group_id=self.lockstep_group_id,
-            amplitude=amplitude,
-            amplitude_units=amplitude_units,
-            period=period,
-            period_units=period_units,
-            count=count,
-            wait_until_idle=wait_until_idle,
-        )
-        await call_async("device/lockstep_move_sin", request)
-
-    def move_sin_stop(
-            self,
-            wait_until_idle: bool = True
-    ) -> None:
-        """
-        Stops the lockstep group at the end of the sinusoidal trajectory for the first axis.
-        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.LockstepStopRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            lockstep_group_id=self.lockstep_group_id,
-            wait_until_idle=wait_until_idle,
-        )
-        call("device/lockstep_move_sin_stop", request)
-
-    async def move_sin_stop_async(
-            self,
-            wait_until_idle: bool = True
-    ) -> None:
-        """
-        Stops the lockstep group at the end of the sinusoidal trajectory for the first axis.
-        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.LockstepStopRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            lockstep_group_id=self.lockstep_group_id,
-            wait_until_idle=wait_until_idle,
-        )
-        await call_async("device/lockstep_move_sin_stop", 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 axes to the maximum valid position.
-        The axes in the lockstep group maintain their offsets throughout movement.
-        Respects lim.max for all axes in the group.
-
-        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.LockstepMoveRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            lockstep_group_id=self.lockstep_group_id,
-            type=dto.AxisMoveType.MAX,
-            wait_until_idle=wait_until_idle,
-            velocity=velocity,
-            velocity_unit=velocity_unit,
-            acceleration=acceleration,
-            acceleration_unit=acceleration_unit,
-        )
-        call("device/lockstep_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 axes to the maximum valid position.
-        The axes in the lockstep group maintain their offsets throughout movement.
-        Respects lim.max for all axes in the group.
-
-        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.LockstepMoveRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            lockstep_group_id=self.lockstep_group_id,
-            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/lockstep_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 axes to the minimum valid position.
-        The axes in the lockstep group maintain their offsets throughout movement.
-        Respects lim.min for all axes in the group.
-
-        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.LockstepMoveRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            lockstep_group_id=self.lockstep_group_id,
-            type=dto.AxisMoveType.MIN,
-            wait_until_idle=wait_until_idle,
-            velocity=velocity,
-            velocity_unit=velocity_unit,
-            acceleration=acceleration,
-            acceleration_unit=acceleration_unit,
-        )
-        call("device/lockstep_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 axes to the minimum valid position.
-        The axes in the lockstep group maintain their offsets throughout movement.
-        Respects lim.min for all axes in the group.
-
-        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.LockstepMoveRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            lockstep_group_id=self.lockstep_group_id,
-            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/lockstep_move", request)
-
-    def wait_until_idle(
-            self,
-            throw_error_on_fault: bool = True
-    ) -> None:
-        """
-        Waits until the lockstep group stops moving.
-
-        Args:
-            throw_error_on_fault: Determines whether to throw error when fault is observed.
-        """
-        request = dto.LockstepWaitUntilIdleRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            lockstep_group_id=self.lockstep_group_id,
-            throw_error_on_fault=throw_error_on_fault,
-        )
-        call("device/lockstep_wait_until_idle", request)
-
-    async def wait_until_idle_async(
-            self,
-            throw_error_on_fault: bool = True
-    ) -> None:
-        """
-        Waits until the lockstep group stops moving.
-
-        Args:
-            throw_error_on_fault: Determines whether to throw error when fault is observed.
-        """
-        request = dto.LockstepWaitUntilIdleRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            lockstep_group_id=self.lockstep_group_id,
-            throw_error_on_fault=throw_error_on_fault,
-        )
-        await call_async("device/lockstep_wait_until_idle", request)
-
-    def is_busy(
-            self
-    ) -> bool:
-        """
-        Returns bool indicating whether the lockstep group is executing a motion command.
-
-        Returns:
-            True if the axes are currently executing a motion command.
-        """
-        request = dto.LockstepEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            lockstep_group_id=self.lockstep_group_id,
-        )
-        response = call(
-            "device/lockstep_is_busy",
-            request,
-            dto.BoolResponse.from_binary)
-        return response.value
-
-    async def is_busy_async(
-            self
-    ) -> bool:
-        """
-        Returns bool indicating whether the lockstep group is executing a motion command.
-
-        Returns:
-            True if the axes are currently executing a motion command.
-        """
-        request = dto.LockstepEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            lockstep_group_id=self.lockstep_group_id,
-        )
-        response = await call_async(
-            "device/lockstep_is_busy",
-            request,
-            dto.BoolResponse.from_binary)
-        return response.value
-
-    def get_axes(
-            self
-    ) -> LockstepAxes:
-        """
-        Deprecated: Use GetAxisNumbers instead.
-
-        Gets the axes of the lockstep group.
-
-        Returns:
-            LockstepAxes instance which contains the axes numbers of the lockstep group.
-        """
-        request = dto.LockstepEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            lockstep_group_id=self.lockstep_group_id,
-        )
-        response = call(
-            "device/lockstep_get_axes",
-            request,
-            LockstepAxes.from_binary)
-        return response
-
-    async def get_axes_async(
-            self
-    ) -> LockstepAxes:
-        """
-        Deprecated: Use GetAxisNumbers instead.
-
-        Gets the axes of the lockstep group.
-
-        Returns:
-            LockstepAxes instance which contains the axes numbers of the lockstep group.
-        """
-        request = dto.LockstepEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            lockstep_group_id=self.lockstep_group_id,
-        )
-        response = await call_async(
-            "device/lockstep_get_axes",
-            request,
-            LockstepAxes.from_binary)
-        return response
-
-    def get_axis_numbers(
-            self
-    ) -> List[int]:
-        """
-        Gets the axis numbers of the lockstep group.
-
-        Returns:
-            Axis numbers in order specified when enabling lockstep.
-        """
-        request = dto.LockstepEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            lockstep_group_id=self.lockstep_group_id,
-        )
-        response = call(
-            "device/lockstep_get_axis_numbers",
-            request,
-            dto.LockstepGetAxisNumbersResponse.from_binary)
-        return response.axes
-
-    async def get_axis_numbers_async(
-            self
-    ) -> List[int]:
-        """
-        Gets the axis numbers of the lockstep group.
-
-        Returns:
-            Axis numbers in order specified when enabling lockstep.
-        """
-        request = dto.LockstepEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            lockstep_group_id=self.lockstep_group_id,
-        )
-        response = await call_async(
-            "device/lockstep_get_axis_numbers",
-            request,
-            dto.LockstepGetAxisNumbersResponse.from_binary)
-        return response.axes
-
-    def get_offsets(
-            self,
-            unit: LengthUnits = Units.NATIVE
-    ) -> List[float]:
-        """
-        Gets the initial offsets of secondary axes of an enabled lockstep group.
-
-        Args:
-            unit: Units of position.
-                Uses primary axis unit conversion.
-
-        Returns:
-            Initial offset for each axis of the lockstep group.
-        """
-        request = dto.LockstepGetRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            lockstep_group_id=self.lockstep_group_id,
-            unit=unit,
-        )
-        response = call(
-            "device/lockstep_get_offsets",
-            request,
-            dto.DoubleArrayResponse.from_binary)
-        return response.values
-
-    async def get_offsets_async(
-            self,
-            unit: LengthUnits = Units.NATIVE
-    ) -> List[float]:
-        """
-        Gets the initial offsets of secondary axes of an enabled lockstep group.
-
-        Args:
-            unit: Units of position.
-                Uses primary axis unit conversion.
-
-        Returns:
-            Initial offset for each axis of the lockstep group.
-        """
-        request = dto.LockstepGetRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            lockstep_group_id=self.lockstep_group_id,
-            unit=unit,
-        )
-        response = await call_async(
-            "device/lockstep_get_offsets",
-            request,
-            dto.DoubleArrayResponse.from_binary)
-        return response.values
-
-    def get_twists(
-            self,
-            unit: LengthUnits = Units.NATIVE
-    ) -> List[float]:
-        """
-        Gets the twists of secondary axes of an enabled lockstep group.
-
-        Args:
-            unit: Units of position.
-                Uses primary axis unit conversion.
-
-        Returns:
-            Difference between the initial offset and the actual offset for each axis of the lockstep group.
-        """
-        request = dto.LockstepGetRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            lockstep_group_id=self.lockstep_group_id,
-            unit=unit,
-        )
-        response = call(
-            "device/lockstep_get_twists",
-            request,
-            dto.DoubleArrayResponse.from_binary)
-        return response.values
-
-    async def get_twists_async(
-            self,
-            unit: LengthUnits = Units.NATIVE
-    ) -> List[float]:
-        """
-        Gets the twists of secondary axes of an enabled lockstep group.
-
-        Args:
-            unit: Units of position.
-                Uses primary axis unit conversion.
-
-        Returns:
-            Difference between the initial offset and the actual offset for each axis of the lockstep group.
-        """
-        request = dto.LockstepGetRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            lockstep_group_id=self.lockstep_group_id,
-            unit=unit,
-        )
-        response = await call_async(
-            "device/lockstep_get_twists",
-            request,
-            dto.DoubleArrayResponse.from_binary)
-        return response.values
-
-    def get_position(
-            self,
-            unit: LengthUnits = Units.NATIVE
-    ) -> float:
-        """
-        Returns current position of the primary axis.
-
-        Args:
-            unit: Units of the position.
-
-        Returns:
-            Primary axis position.
-        """
-        request = dto.LockstepGetRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            lockstep_group_id=self.lockstep_group_id,
-            unit=unit,
-        )
-        response = call(
-            "device/lockstep_get_pos",
-            request,
-            dto.DoubleResponse.from_binary)
-        return response.value
-
-    async def get_position_async(
-            self,
-            unit: LengthUnits = Units.NATIVE
-    ) -> float:
-        """
-        Returns current position of the primary axis.
-
-        Args:
-            unit: Units of the position.
-
-        Returns:
-            Primary axis position.
-        """
-        request = dto.LockstepGetRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            lockstep_group_id=self.lockstep_group_id,
-            unit=unit,
-        )
-        response = await call_async(
-            "device/lockstep_get_pos",
-            request,
-            dto.DoubleResponse.from_binary)
-        return response.value
-
-    def set_tolerance(
-            self,
-            tolerance: float,
-            unit: LengthUnits = Units.NATIVE,
-            axis_index: int = 0
-    ) -> None:
-        """
-        Sets lockstep twist tolerance.
-        Twist tolerances that do not match the system configuration can reduce performance or damage the system.
-
-        Args:
-            tolerance: Twist tolerance.
-            unit: Units of the tolerance.
-                Uses primary axis unit conversion when setting to all axes,
-                otherwise uses specified secondary axis unit conversion.
-            axis_index: Optional index of a secondary axis to set the tolerance for.
-                If left empty or set to 0, the tolerance is set to all the secondary axes.
-        """
-        request = dto.LockstepSetRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            lockstep_group_id=self.lockstep_group_id,
-            value=tolerance,
-            unit=unit,
-            axis_index=axis_index,
-        )
-        call("device/lockstep_set_tolerance", request)
-
-    async def set_tolerance_async(
-            self,
-            tolerance: float,
-            unit: LengthUnits = Units.NATIVE,
-            axis_index: int = 0
-    ) -> None:
-        """
-        Sets lockstep twist tolerance.
-        Twist tolerances that do not match the system configuration can reduce performance or damage the system.
-
-        Args:
-            tolerance: Twist tolerance.
-            unit: Units of the tolerance.
-                Uses primary axis unit conversion when setting to all axes,
-                otherwise uses specified secondary axis unit conversion.
-            axis_index: Optional index of a secondary axis to set the tolerance for.
-                If left empty or set to 0, the tolerance is set to all the secondary axes.
-        """
-        request = dto.LockstepSetRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            lockstep_group_id=self.lockstep_group_id,
-            value=tolerance,
-            unit=unit,
-            axis_index=axis_index,
-        )
-        await call_async("device/lockstep_set_tolerance", request)
-
-    def is_enabled(
-            self
-    ) -> bool:
-        """
-        Checks if the lockstep group is currently enabled on the device.
-
-        Returns:
-            True if a lockstep group with this ID is enabled on the device.
-        """
-        request = dto.LockstepEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            lockstep_group_id=self.lockstep_group_id,
-        )
-        response = call(
-            "device/lockstep_is_enabled",
-            request,
-            dto.BoolResponse.from_binary)
-        return response.value
-
-    async def is_enabled_async(
-            self
-    ) -> bool:
-        """
-        Checks if the lockstep group is currently enabled on the device.
-
-        Returns:
-            True if a lockstep group with this ID is enabled on the device.
-        """
-        request = dto.LockstepEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            lockstep_group_id=self.lockstep_group_id,
-        )
-        response = await call_async(
-            "device/lockstep_is_enabled",
-            request,
-            dto.BoolResponse.from_binary)
-        return response.value
-
-    def __repr__(
-            self
-    ) -> str:
-        """
-        Returns a string which represents the enabled lockstep group.
-
-        Returns:
-            String which represents the enabled lockstep group.
-        """
-        request = dto.LockstepEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            lockstep_group_id=self.lockstep_group_id,
-        )
-        response = call_sync(
-            "device/lockstep_to_string",
-            request,
-            dto.StringResponse.from_binary)
-        return response.value
-
-    def park(
-            self
-    ) -> None:
-        """
-        Parks lockstep group in anticipation of turning the power off.
-        It can later be powered on, unparked, and moved without first having to home it.
-        """
-        request = dto.LockstepEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            lockstep_group_id=self.lockstep_group_id,
-        )
-        call("device/lockstep_park", request)
-
-    async def park_async(
-            self
-    ) -> None:
-        """
-        Parks lockstep group in anticipation of turning the power off.
-        It can later be powered on, unparked, and moved without first having to home it.
-        """
-        request = dto.LockstepEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            lockstep_group_id=self.lockstep_group_id,
-        )
-        await call_async("device/lockstep_park", request)
-
-    def unpark(
-            self
-    ) -> None:
-        """
-        Unparks lockstep group. Lockstep group will now be able to move.
-        """
-        request = dto.LockstepEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            lockstep_group_id=self.lockstep_group_id,
-        )
-        call("device/lockstep_unpark", request)
-
-    async def unpark_async(
-            self
-    ) -> None:
-        """
-        Unparks lockstep group. Lockstep group will now be able to move.
-        """
-        request = dto.LockstepEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            lockstep_group_id=self.lockstep_group_id,
-        )
-        await call_async("device/lockstep_unpark", request)
-
-    def is_parked(
-            self
-    ) -> bool:
-        """
-        Returns bool indicating whether the axis is parked or not.
-
-        Returns:
-            True if lockstep group is parked.
-        """
-        request = dto.LockstepEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            lockstep_group_id=self.lockstep_group_id,
-        )
-        response = call(
-            "device/lockstep_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 lockstep group is parked.
-        """
-        request = dto.LockstepEmptyRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            lockstep_group_id=self.lockstep_group_id,
-        )
-        response = await call_async(
-            "device/lockstep_is_parked",
-            request,
-            dto.BoolResponse.from_binary)
-        return response.value
+# ===== THIS FILE IS GENERATED FROM A TEMPLATE ===== #
+# ============== DO NOT EDIT DIRECTLY ============== #
+from typing import TYPE_CHECKING, List
+from ..dto import requests as dto
+from ..units import Units, LengthUnits, VelocityUnits, AccelerationUnits, TimeUnits
+from ..call import call, call_async, call_sync
+from ..dto.ascii.lockstep_axes import LockstepAxes
+
+if TYPE_CHECKING:
+    from .device import Device
+
+
+class Lockstep:
+    """
+    Represents a lockstep group with this ID on a device.
+    A lockstep group is a movement synchronized pair of axes on a device.
+    Requires at least Firmware 6.15 or 7.11.
+    """
+
+    @property
+    def device(self) -> 'Device':
+        """
+        Device that controls this lockstep group.
+        """
+        return self._device
+
+    @property
+    def lockstep_group_id(self) -> int:
+        """
+        The number that identifies the lockstep group on the device.
+        """
+        return self._lockstep_group_id
+
+    def __init__(self, device: 'Device', lockstep_group_id: int):
+        self._device: 'Device' = device
+        self._lockstep_group_id: int = lockstep_group_id
+
+    def enable(
+            self,
+            *axes: int
+    ) -> None:
+        """
+        Activate the lockstep group on the axes specified.
+
+        Args:
+            axes: The numbers of axes in the lockstep group.
+        """
+        request = dto.LockstepEnableRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            lockstep_group_id=self.lockstep_group_id,
+            axes=list(axes),
+        )
+        call("device/lockstep_enable", request)
+
+    async def enable_async(
+            self,
+            *axes: int
+    ) -> None:
+        """
+        Activate the lockstep group on the axes specified.
+
+        Args:
+            axes: The numbers of axes in the lockstep group.
+        """
+        request = dto.LockstepEnableRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            lockstep_group_id=self.lockstep_group_id,
+            axes=list(axes),
+        )
+        await call_async("device/lockstep_enable", request)
+
+    def disable(
+            self
+    ) -> None:
+        """
+        Disable the lockstep group.
+        """
+        request = dto.LockstepDisableRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            lockstep_group_id=self.lockstep_group_id,
+        )
+        call("device/lockstep_disable", request)
+
+    async def disable_async(
+            self
+    ) -> None:
+        """
+        Disable the lockstep group.
+        """
+        request = dto.LockstepDisableRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            lockstep_group_id=self.lockstep_group_id,
+        )
+        await call_async("device/lockstep_disable", request)
+
+    def stop(
+            self,
+            wait_until_idle: bool = True
+    ) -> None:
+        """
+        Stops ongoing lockstep group movement. Decelerates until zero speed.
+
+        Args:
+            wait_until_idle: Determines whether function should return after the movement is finished or just started.
+        """
+        request = dto.LockstepStopRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            lockstep_group_id=self.lockstep_group_id,
+            wait_until_idle=wait_until_idle,
+        )
+        call("device/lockstep_stop", request)
+
+    async def stop_async(
+            self,
+            wait_until_idle: bool = True
+    ) -> None:
+        """
+        Stops ongoing lockstep group movement. Decelerates until zero speed.
+
+        Args:
+            wait_until_idle: Determines whether function should return after the movement is finished or just started.
+        """
+        request = dto.LockstepStopRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            lockstep_group_id=self.lockstep_group_id,
+            wait_until_idle=wait_until_idle,
+        )
+        await call_async("device/lockstep_stop", request)
+
+    def home(
+            self,
+            wait_until_idle: bool = True
+    ) -> None:
+        """
+        Retracts the axes of the lockstep group until a home associated with an individual axis is detected.
+
+        Args:
+            wait_until_idle: Determines whether function should return after the movement is finished or just started.
+        """
+        request = dto.LockstepHomeRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            lockstep_group_id=self.lockstep_group_id,
+            wait_until_idle=wait_until_idle,
+        )
+        call("device/lockstep_home", request)
+
+    async def home_async(
+            self,
+            wait_until_idle: bool = True
+    ) -> None:
+        """
+        Retracts the axes of the lockstep group until a home associated with an individual axis is detected.
+
+        Args:
+            wait_until_idle: Determines whether function should return after the movement is finished or just started.
+        """
+        request = dto.LockstepHomeRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            lockstep_group_id=self.lockstep_group_id,
+            wait_until_idle=wait_until_idle,
+        )
+        await call_async("device/lockstep_home", request)
+
+    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 the first axis of the lockstep group to an absolute position.
+        The other axes in the lockstep group maintain their offsets throughout movement.
+
+        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.LockstepMoveRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            lockstep_group_id=self.lockstep_group_id,
+            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/lockstep_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 the first axis of the lockstep group to an absolute position.
+        The other axes in the lockstep group maintain their offsets throughout movement.
+
+        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.LockstepMoveRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            lockstep_group_id=self.lockstep_group_id,
+            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/lockstep_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 the first axis of the lockstep group to a position relative to its current position.
+        The other axes in the lockstep group maintain their offsets throughout movement.
+
+        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.LockstepMoveRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            lockstep_group_id=self.lockstep_group_id,
+            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/lockstep_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 the first axis of the lockstep group to a position relative to its current position.
+        The other axes in the lockstep group maintain their offsets throughout movement.
+
+        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.LockstepMoveRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            lockstep_group_id=self.lockstep_group_id,
+            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/lockstep_move", request)
+
+    def move_velocity(
+            self,
+            velocity: float,
+            unit: VelocityUnits = Units.NATIVE,
+            acceleration: float = 0,
+            acceleration_unit: AccelerationUnits = Units.NATIVE
+    ) -> None:
+        """
+        Moves the first axis of the lockstep group at the specified speed.
+        The other axes in the lockstep group maintain their offsets throughout movement.
+
+        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.LockstepMoveRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            lockstep_group_id=self.lockstep_group_id,
+            type=dto.AxisMoveType.VEL,
+            arg=velocity,
+            unit=unit,
+            acceleration=acceleration,
+            acceleration_unit=acceleration_unit,
+        )
+        call("device/lockstep_move", request)
+
+    async def move_velocity_async(
+            self,
+            velocity: float,
+            unit: VelocityUnits = Units.NATIVE,
+            acceleration: float = 0,
+            acceleration_unit: AccelerationUnits = Units.NATIVE
+    ) -> None:
+        """
+        Moves the first axis of the lockstep group at the specified speed.
+        The other axes in the lockstep group maintain their offsets throughout movement.
+
+        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.LockstepMoveRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            lockstep_group_id=self.lockstep_group_id,
+            type=dto.AxisMoveType.VEL,
+            arg=velocity,
+            unit=unit,
+            acceleration=acceleration,
+            acceleration_unit=acceleration_unit,
+        )
+        await call_async("device/lockstep_move", 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 first axis of the lockstep group in a sinusoidal trajectory.
+        The other axes in the lockstep group maintain their offsets throughout movement.
+
+        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.LockstepMoveSinRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            lockstep_group_id=self.lockstep_group_id,
+            amplitude=amplitude,
+            amplitude_units=amplitude_units,
+            period=period,
+            period_units=period_units,
+            count=count,
+            wait_until_idle=wait_until_idle,
+        )
+        call("device/lockstep_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 first axis of the lockstep group in a sinusoidal trajectory.
+        The other axes in the lockstep group maintain their offsets throughout movement.
+
+        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.LockstepMoveSinRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            lockstep_group_id=self.lockstep_group_id,
+            amplitude=amplitude,
+            amplitude_units=amplitude_units,
+            period=period,
+            period_units=period_units,
+            count=count,
+            wait_until_idle=wait_until_idle,
+        )
+        await call_async("device/lockstep_move_sin", request)
+
+    def move_sin_stop(
+            self,
+            wait_until_idle: bool = True
+    ) -> None:
+        """
+        Stops the lockstep group at the end of the sinusoidal trajectory for the first axis.
+        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.LockstepStopRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            lockstep_group_id=self.lockstep_group_id,
+            wait_until_idle=wait_until_idle,
+        )
+        call("device/lockstep_move_sin_stop", request)
+
+    async def move_sin_stop_async(
+            self,
+            wait_until_idle: bool = True
+    ) -> None:
+        """
+        Stops the lockstep group at the end of the sinusoidal trajectory for the first axis.
+        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.LockstepStopRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            lockstep_group_id=self.lockstep_group_id,
+            wait_until_idle=wait_until_idle,
+        )
+        await call_async("device/lockstep_move_sin_stop", 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 axes to the maximum valid position.
+        The axes in the lockstep group maintain their offsets throughout movement.
+        Respects lim.max for all axes in the group.
+
+        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.LockstepMoveRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            lockstep_group_id=self.lockstep_group_id,
+            type=dto.AxisMoveType.MAX,
+            wait_until_idle=wait_until_idle,
+            velocity=velocity,
+            velocity_unit=velocity_unit,
+            acceleration=acceleration,
+            acceleration_unit=acceleration_unit,
+        )
+        call("device/lockstep_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 axes to the maximum valid position.
+        The axes in the lockstep group maintain their offsets throughout movement.
+        Respects lim.max for all axes in the group.
+
+        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.LockstepMoveRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            lockstep_group_id=self.lockstep_group_id,
+            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/lockstep_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 axes to the minimum valid position.
+        The axes in the lockstep group maintain their offsets throughout movement.
+        Respects lim.min for all axes in the group.
+
+        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.LockstepMoveRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            lockstep_group_id=self.lockstep_group_id,
+            type=dto.AxisMoveType.MIN,
+            wait_until_idle=wait_until_idle,
+            velocity=velocity,
+            velocity_unit=velocity_unit,
+            acceleration=acceleration,
+            acceleration_unit=acceleration_unit,
+        )
+        call("device/lockstep_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 axes to the minimum valid position.
+        The axes in the lockstep group maintain their offsets throughout movement.
+        Respects lim.min for all axes in the group.
+
+        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.LockstepMoveRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            lockstep_group_id=self.lockstep_group_id,
+            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/lockstep_move", request)
+
+    def wait_until_idle(
+            self,
+            throw_error_on_fault: bool = True
+    ) -> None:
+        """
+        Waits until the lockstep group stops moving.
+
+        Args:
+            throw_error_on_fault: Determines whether to throw error when fault is observed.
+        """
+        request = dto.LockstepWaitUntilIdleRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            lockstep_group_id=self.lockstep_group_id,
+            throw_error_on_fault=throw_error_on_fault,
+        )
+        call("device/lockstep_wait_until_idle", request)
+
+    async def wait_until_idle_async(
+            self,
+            throw_error_on_fault: bool = True
+    ) -> None:
+        """
+        Waits until the lockstep group stops moving.
+
+        Args:
+            throw_error_on_fault: Determines whether to throw error when fault is observed.
+        """
+        request = dto.LockstepWaitUntilIdleRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            lockstep_group_id=self.lockstep_group_id,
+            throw_error_on_fault=throw_error_on_fault,
+        )
+        await call_async("device/lockstep_wait_until_idle", request)
+
+    def is_busy(
+            self
+    ) -> bool:
+        """
+        Returns bool indicating whether the lockstep group is executing a motion command.
+
+        Returns:
+            True if the axes are currently executing a motion command.
+        """
+        request = dto.LockstepEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            lockstep_group_id=self.lockstep_group_id,
+        )
+        response = call(
+            "device/lockstep_is_busy",
+            request,
+            dto.BoolResponse.from_binary)
+        return response.value
+
+    async def is_busy_async(
+            self
+    ) -> bool:
+        """
+        Returns bool indicating whether the lockstep group is executing a motion command.
+
+        Returns:
+            True if the axes are currently executing a motion command.
+        """
+        request = dto.LockstepEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            lockstep_group_id=self.lockstep_group_id,
+        )
+        response = await call_async(
+            "device/lockstep_is_busy",
+            request,
+            dto.BoolResponse.from_binary)
+        return response.value
+
+    def get_axes(
+            self
+    ) -> LockstepAxes:
+        """
+        Deprecated: Use GetAxisNumbers instead.
+
+        Gets the axes of the lockstep group.
+
+        Returns:
+            LockstepAxes instance which contains the axes numbers of the lockstep group.
+        """
+        request = dto.LockstepEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            lockstep_group_id=self.lockstep_group_id,
+        )
+        response = call(
+            "device/lockstep_get_axes",
+            request,
+            LockstepAxes.from_binary)
+        return response
+
+    async def get_axes_async(
+            self
+    ) -> LockstepAxes:
+        """
+        Deprecated: Use GetAxisNumbers instead.
+
+        Gets the axes of the lockstep group.
+
+        Returns:
+            LockstepAxes instance which contains the axes numbers of the lockstep group.
+        """
+        request = dto.LockstepEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            lockstep_group_id=self.lockstep_group_id,
+        )
+        response = await call_async(
+            "device/lockstep_get_axes",
+            request,
+            LockstepAxes.from_binary)
+        return response
+
+    def get_axis_numbers(
+            self
+    ) -> List[int]:
+        """
+        Gets the axis numbers of the lockstep group.
+
+        Returns:
+            Axis numbers in order specified when enabling lockstep.
+        """
+        request = dto.LockstepEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            lockstep_group_id=self.lockstep_group_id,
+        )
+        response = call(
+            "device/lockstep_get_axis_numbers",
+            request,
+            dto.LockstepGetAxisNumbersResponse.from_binary)
+        return response.axes
+
+    async def get_axis_numbers_async(
+            self
+    ) -> List[int]:
+        """
+        Gets the axis numbers of the lockstep group.
+
+        Returns:
+            Axis numbers in order specified when enabling lockstep.
+        """
+        request = dto.LockstepEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            lockstep_group_id=self.lockstep_group_id,
+        )
+        response = await call_async(
+            "device/lockstep_get_axis_numbers",
+            request,
+            dto.LockstepGetAxisNumbersResponse.from_binary)
+        return response.axes
+
+    def get_offsets(
+            self,
+            unit: LengthUnits = Units.NATIVE
+    ) -> List[float]:
+        """
+        Gets the initial offsets of secondary axes of an enabled lockstep group.
+
+        Args:
+            unit: Units of position.
+                Uses primary axis unit conversion.
+
+        Returns:
+            Initial offset for each axis of the lockstep group.
+        """
+        request = dto.LockstepGetRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            lockstep_group_id=self.lockstep_group_id,
+            unit=unit,
+        )
+        response = call(
+            "device/lockstep_get_offsets",
+            request,
+            dto.DoubleArrayResponse.from_binary)
+        return response.values
+
+    async def get_offsets_async(
+            self,
+            unit: LengthUnits = Units.NATIVE
+    ) -> List[float]:
+        """
+        Gets the initial offsets of secondary axes of an enabled lockstep group.
+
+        Args:
+            unit: Units of position.
+                Uses primary axis unit conversion.
+
+        Returns:
+            Initial offset for each axis of the lockstep group.
+        """
+        request = dto.LockstepGetRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            lockstep_group_id=self.lockstep_group_id,
+            unit=unit,
+        )
+        response = await call_async(
+            "device/lockstep_get_offsets",
+            request,
+            dto.DoubleArrayResponse.from_binary)
+        return response.values
+
+    def get_twists(
+            self,
+            unit: LengthUnits = Units.NATIVE
+    ) -> List[float]:
+        """
+        Gets the twists of secondary axes of an enabled lockstep group.
+
+        Args:
+            unit: Units of position.
+                Uses primary axis unit conversion.
+
+        Returns:
+            Difference between the initial offset and the actual offset for each axis of the lockstep group.
+        """
+        request = dto.LockstepGetRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            lockstep_group_id=self.lockstep_group_id,
+            unit=unit,
+        )
+        response = call(
+            "device/lockstep_get_twists",
+            request,
+            dto.DoubleArrayResponse.from_binary)
+        return response.values
+
+    async def get_twists_async(
+            self,
+            unit: LengthUnits = Units.NATIVE
+    ) -> List[float]:
+        """
+        Gets the twists of secondary axes of an enabled lockstep group.
+
+        Args:
+            unit: Units of position.
+                Uses primary axis unit conversion.
+
+        Returns:
+            Difference between the initial offset and the actual offset for each axis of the lockstep group.
+        """
+        request = dto.LockstepGetRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            lockstep_group_id=self.lockstep_group_id,
+            unit=unit,
+        )
+        response = await call_async(
+            "device/lockstep_get_twists",
+            request,
+            dto.DoubleArrayResponse.from_binary)
+        return response.values
+
+    def get_position(
+            self,
+            unit: LengthUnits = Units.NATIVE
+    ) -> float:
+        """
+        Returns current position of the primary axis.
+
+        Args:
+            unit: Units of the position.
+
+        Returns:
+            Primary axis position.
+        """
+        request = dto.LockstepGetRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            lockstep_group_id=self.lockstep_group_id,
+            unit=unit,
+        )
+        response = call(
+            "device/lockstep_get_pos",
+            request,
+            dto.DoubleResponse.from_binary)
+        return response.value
+
+    async def get_position_async(
+            self,
+            unit: LengthUnits = Units.NATIVE
+    ) -> float:
+        """
+        Returns current position of the primary axis.
+
+        Args:
+            unit: Units of the position.
+
+        Returns:
+            Primary axis position.
+        """
+        request = dto.LockstepGetRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            lockstep_group_id=self.lockstep_group_id,
+            unit=unit,
+        )
+        response = await call_async(
+            "device/lockstep_get_pos",
+            request,
+            dto.DoubleResponse.from_binary)
+        return response.value
+
+    def set_tolerance(
+            self,
+            tolerance: float,
+            unit: LengthUnits = Units.NATIVE,
+            axis_index: int = 0
+    ) -> None:
+        """
+        Sets lockstep twist tolerance.
+        Twist tolerances that do not match the system configuration can reduce performance or damage the system.
+
+        Args:
+            tolerance: Twist tolerance.
+            unit: Units of the tolerance.
+                Uses primary axis unit conversion when setting to all axes,
+                otherwise uses specified secondary axis unit conversion.
+            axis_index: Optional index of a secondary axis to set the tolerance for.
+                If left empty or set to 0, the tolerance is set to all the secondary axes.
+        """
+        request = dto.LockstepSetRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            lockstep_group_id=self.lockstep_group_id,
+            value=tolerance,
+            unit=unit,
+            axis_index=axis_index,
+        )
+        call("device/lockstep_set_tolerance", request)
+
+    async def set_tolerance_async(
+            self,
+            tolerance: float,
+            unit: LengthUnits = Units.NATIVE,
+            axis_index: int = 0
+    ) -> None:
+        """
+        Sets lockstep twist tolerance.
+        Twist tolerances that do not match the system configuration can reduce performance or damage the system.
+
+        Args:
+            tolerance: Twist tolerance.
+            unit: Units of the tolerance.
+                Uses primary axis unit conversion when setting to all axes,
+                otherwise uses specified secondary axis unit conversion.
+            axis_index: Optional index of a secondary axis to set the tolerance for.
+                If left empty or set to 0, the tolerance is set to all the secondary axes.
+        """
+        request = dto.LockstepSetRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            lockstep_group_id=self.lockstep_group_id,
+            value=tolerance,
+            unit=unit,
+            axis_index=axis_index,
+        )
+        await call_async("device/lockstep_set_tolerance", request)
+
+    def is_enabled(
+            self
+    ) -> bool:
+        """
+        Checks if the lockstep group is currently enabled on the device.
+
+        Returns:
+            True if a lockstep group with this ID is enabled on the device.
+        """
+        request = dto.LockstepEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            lockstep_group_id=self.lockstep_group_id,
+        )
+        response = call(
+            "device/lockstep_is_enabled",
+            request,
+            dto.BoolResponse.from_binary)
+        return response.value
+
+    async def is_enabled_async(
+            self
+    ) -> bool:
+        """
+        Checks if the lockstep group is currently enabled on the device.
+
+        Returns:
+            True if a lockstep group with this ID is enabled on the device.
+        """
+        request = dto.LockstepEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            lockstep_group_id=self.lockstep_group_id,
+        )
+        response = await call_async(
+            "device/lockstep_is_enabled",
+            request,
+            dto.BoolResponse.from_binary)
+        return response.value
+
+    def __repr__(
+            self
+    ) -> str:
+        """
+        Returns a string which represents the enabled lockstep group.
+
+        Returns:
+            String which represents the enabled lockstep group.
+        """
+        request = dto.LockstepEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            lockstep_group_id=self.lockstep_group_id,
+        )
+        response = call_sync(
+            "device/lockstep_to_string",
+            request,
+            dto.StringResponse.from_binary)
+        return response.value
+
+    def park(
+            self
+    ) -> None:
+        """
+        Parks lockstep group in anticipation of turning the power off.
+        It can later be powered on, unparked, and moved without first having to home it.
+        """
+        request = dto.LockstepEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            lockstep_group_id=self.lockstep_group_id,
+        )
+        call("device/lockstep_park", request)
+
+    async def park_async(
+            self
+    ) -> None:
+        """
+        Parks lockstep group in anticipation of turning the power off.
+        It can later be powered on, unparked, and moved without first having to home it.
+        """
+        request = dto.LockstepEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            lockstep_group_id=self.lockstep_group_id,
+        )
+        await call_async("device/lockstep_park", request)
+
+    def unpark(
+            self
+    ) -> None:
+        """
+        Unparks lockstep group. Lockstep group will now be able to move.
+        """
+        request = dto.LockstepEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            lockstep_group_id=self.lockstep_group_id,
+        )
+        call("device/lockstep_unpark", request)
+
+    async def unpark_async(
+            self
+    ) -> None:
+        """
+        Unparks lockstep group. Lockstep group will now be able to move.
+        """
+        request = dto.LockstepEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            lockstep_group_id=self.lockstep_group_id,
+        )
+        await call_async("device/lockstep_unpark", request)
+
+    def is_parked(
+            self
+    ) -> bool:
+        """
+        Returns bool indicating whether the axis is parked or not.
+
+        Returns:
+            True if lockstep group is parked.
+        """
+        request = dto.LockstepEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            lockstep_group_id=self.lockstep_group_id,
+        )
+        response = call(
+            "device/lockstep_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 lockstep group is parked.
+        """
+        request = dto.LockstepEmptyRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            lockstep_group_id=self.lockstep_group_id,
+        )
+        response = await call_async(
+            "device/lockstep_is_parked",
+            request,
+            dto.BoolResponse.from_binary)
+        return response.value