Manual

3-6 Detailed Descriptions of ACL Commands
The Arrow buttons cannot move the Z motor outside the range 0 through <mod> - 1 motor
counts, where <mod> is the Z axis modulus as specified by the CZ command. In other
words, there is no position counter wraparound as with the MZ ("Move Z Axis") command.
In this respect the Arrow buttons are more like the AZ ("Absolute Z Axis Move") command.
You can teach the Z axis position to the host computer in the same way that the OT ("Output
Taught Point") command teaches X and Y. There are two techniques. In the first one, the
host computer sends an AM 1; then the user adjusts the Z position with the Arrows, then
he strikes a key on the host computer's keyboard. The host sends AM 0; OZ ("Output Z
Position") and records the result as the taught Z point.
The second technique is similar: the host sends AM 1; OT. The user adjusts the Z position
and presses the TEACH button. The host reads and discards the OT coordinates, then sends
AM 0; OZ to get the Z position and restore normal XY Arrows.
AP [<flag>] Auxiliary Digital Port Select
The AP command is used to select an auxiliary I/O port for subsequent digital inputs and
outputs. The auxiliary port has two input bits (5 and 6) and two output bits (3 and 4)
available for additional functions. AP1; is used to select the auxiliary port and then each
CD, OD, ON, XI, XU, XW and VC followed by ON will operate on the bits of the auxiliary
port. At power up, and on receipt of an AP; AP0; or IN; command the AP mode will be
reset. Fluidmove and Easymove can use normal digital outputs and inputs after the AP
mode is set to utilize the extra I/O bits. Inputs from the auxiliary port will include internal
machine bits such as the PS-10 BCD thumbwheel. However, outputs to the auxiliary port
are masked in such a way that internal machine functions on the other bits cannot be
affected.
AR <dx center>, <dy center>, <angle> Arc Relative
This command is identical to the AA (Arc Absolute) command in all respects, except that the
arc center location is specified as a relative offset from the current Commanded Position
instead of as an absolute position.
<dx center> and <dy center> are in Calibrated Units in the range -32700.0000 through
32700.0000. The System adds them to the current Commanded Position, then multiplies by
the calibration factors and applies linearity correction to give the location of the arc center.
The intermediate and final results must all be in the range -32768.0000 through 32767.9999,
and the arc radius must not exceed 32700 microsteps. If the arc is part of a BC...EC
sequence the circumference (i.e. total distance traveled) must not exceed 65535 microsteps.
The arc begins at the current carriage position and proceeds for <angle> degrees in the
counterclockwise direction. If <angle> is negative the arc sweeps clockwise. <angle>
must be in the range -360.0000 through 360.0000.
For information about acceleration, step rate, travel limits, Digital Outputs changes,
microstep skipping, and Emergency Stop, see the AA command.