Reference

Machine Units (bit-packed number)
The amount of machine units (millivolts or lines) corresponding to the specified amount in your units.
Home
Homes a channel.
Channels that require homing will ignore Move commands until they have homed.
Command Format
The command number for Home is 34. Its data is:
Channel Name (1 byte)
Flags (1 byte)
0 for no options.
64 if a sequence code is used.
Sequence Code (optional, 1 byte)
Move
Tells the controller to do a motion.
Command Format
The command number for Move is 36. Its data is:
Channel Name (1 byte)
Flags (1 byte)
0 for no options.
8 to not apply the speed limit and speed ramping source settings. By default, the speed limit comes
from Kangaroo's potentiometers.
32 to use raw units. For analog, raw units are millivolts. For quadrature, 4 raw units equal 1 line.
64 if a sequence code is used.
Add these to combine options.
Sequence Code (optional, 1 byte)
Motion Parameter(s)
Use one or multiple motion parameters.
Type (1 byte)
1 for Position.
2 for Speed, if no Position parameter is included. If a Position parameter is included, it
becomes a Speed Limit.
3 for Speed Ramping. This does not affect Position Control.
Add 64 to make the command incremental (relative to the current position and speed).
10