Using the Hand Tool, you can move the canvas in all directions.
You can zoom in and out by holding the control key (Apple on the Mac) and dragging the hand. Alternatively, you can drag with the right button of your mouse.
Rotating the drawing area is done by alt+ hand tool.
To go back to the original view, double-click with the hand tool in canvas, or click the hand tool button.
You can also use the control key (Apple on the Mac) and the up or down arrows to manually zoom in increments.
The keyboard shortcut for the Hand Tool is: H