There's nothing as comprehensive as the ZMQ guide for documentation, but here[1] is a good place to get started. It seems fairly stable API wise at this point.
I haven't used it much, since there's no way to switch from ZMQ without losing wire-protocol compatibility, and I haven't started any new projects that need IPC recently.
1: http://tim.dysinger.net/posts/2013-09-16-getting-started-wit...