Sets the state of the Automatic Client Update feature of the ZY.
When turned on, ACU automatically sends any changes of state to the
connected client, allowing the client to keep up with the ZY's state
without any polling overhead.
Mnemonic:
Automatic Client Update.
Syntax:
ACU [s]
s: The automatic client update flag. 0 turns automatic
updating off, non-zero values turn it on.
Return values:
Success:
ACU 1, s
Failure:
No failure mode.
s: The newly changed or current automatic update flag
value.
Remarks:
When the ACU flag is set to a non-zero value, the ZY will automatically
update the client if any of the following values changes on the ZY:
ZY status word. Any change in status (scanning, tracking,
manual/auto mode) can be immediately seen by the client.
LM628 Actual Position value for either axis. This allows
the client to keep track of the servos if necessary.
LM628 Desired Position value for either axis. Used in
conjunction with the Actual Position, this can be very helpful
in evaluating the performance of the servo system.
LM628 Index Position value for either axis. Obsolete, may
be removed in the future.
LM628 Integral Sum value for either axis. This value is
also useful in evaluating the performance of the servo system,
as the integral sum is proportional to the static load on the
system.
LM628 status word for either axis. Any changes in the axis
controller status can be immediately detected by the client
(motor shut down, command errors, etc).
The ZY will check all of these parameters for change every 0.5 seconds,
and if any of them do change, will generate the appropriate message.
Although the legal values for the ACU flag are 0 to turn off the
ACU and non-zero to turn it on, clients should use 0 and 1 to accomplish
this, to allow for any future changes.
Example:
send: ACU 1
receive: ACU 1, 1
send: ACU
receive: ACU 1, 1
