Manual

3-24 Detailed Descriptions of ACL Commands
CZ [<rate> [, <mod> [, <halfflag> [, <accel> ]]]] Configure Z Axis
This command configures the Z axis speed, position range, step size, and acceleration to be
used with the AZ and MZ commands. The step size also affects the FZ command and Z
arrow motion; see the AM ("Arrow Mode") command.
<rate> becomes the Z axis slew step rate, in steps per second. Usable values are in the
range 1 through 10000. Values above 10000 are treated as 10000. Zero is treated as 1. At
power up and IN, and when no parameters are specified, <rate> defaults to 100 steps per
second. See <halfflag>, below.
In AZ and MZ moves, the step rate increases smoothly from zero to the specified value, at an
acceleration rate determined by the <accel> parameter. For short moves the speed may
never reach the slew rate.
<mod> is optional; it may only be specified if <rate> is specified. <mod> sets the Z axis
modulus. This number is one greater than the maximum value which will ever appear in the
Z axis position counter. The allowable range for <mod> is 0 through 32767.
<mod> acts as a travel limit to the AZ command and to Z axis Arrow button motion. Where
the MZ command is concerned, <mod> acts as a wraparound modulus.
For example, if the modulus is set to 1000, the Z axis counter will always be in the range 0
through 999. If the Z axis position counter is 900 and an MZ 200; command ("Move Z
+200 counts") is received, the Z axis motor takes 200 steps in the positive direction and the
position counter is 100. (In other words, an OZ command would give the value 100.)
On the other hand, suppose that instead of the MZ 200; you send AZ 1100; . A Position
Overflow error is logged and the Z motor takes 99 steps in the positive direction. The
position counter is 999.
If your system has infinite Z axis travel (for example, a conveyer belt) you can use the
modulus to specify the number of steps per motor revolution, so that the counter always has
the same value at a given point in the revolution. In this case you should use MZ, not AZ.
In a system with finite (i.e. limited) Z axis travel you can use <mod> as a travel limit to
prevent physical damage due to programming errors or out-of-range data points. In this case
you should use AZ, not MZ.
<mod> defaults to 32767 if it is omitted, and also at IN and power up.
<halfflag> is also optional, and may only be specified if <rate> and <mod> are specified.
If <halfflag> is nonzero, the Z axis motor will be half-stepped; if zero, full-stepped. (In
half- stepping, intermediate positions occur where only one phase receives power.) A half
step and a full step both change the Z axis position counter by one count, although a full step
causes twice as much physical motion.
Note that full stepping can be done with power applied to either one phase at a time or two.
The Automove System uses two-phase full stepping.
<halfflag> defaults to 1 (i.e. half step mode) if it is omitted, and also at IN and power up.