You are able to connect Zoom R16/24 to Axoloti USB host.
Have a look at chapter "Audio-Interface/Controller-Oberfläche . . 110" found in D_R24_0.pdf. (download @ ZOOM webpage)
I think ZOOM uses Mackie Control as 'protocol'.
In order to do so, you have to compile the Axoloti firmware as described here and use my branch ZOOM R16/24 from github.