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Yes, from the ZAM manager, find the appropriate collection server and right click it. Create a portable collector and save it to a USB key or portable media.
if you want to edit the results, open the CPS.INI file and make sure the line
Editor=1
is written. edit with notepad as needed.

take created portable collector to disconnected device and stop any Zenworks asset management collection client services or TSCensus collection client services that may be running.
run collect.bat
when collection (and optional editing) is complete, take resulting .WIF file back to a workstation or server with the ZAM manager installed.
locate the same collection server in the manager, right click and load the portable collector.
If it fails to load, it's because the workstation is already in the database. delete the workstation record from database and reload the portable collection to resolve the problem.

This only only works for windows computers. MAC and UNIX based servers or workstations cannot use it.