Z Code has a new jam detection circuit that allows the HALO to determine when an internal jam occurs out of round paint for example. It then initiates a jam clearing sequence which attempts to clear the jam three times before changing to a fail safe mode which protects the motor and circuitry for being damaged. This new technology allows for the increase of the rotational forcespeed of the HALO without risk of damage. Z Code still includes all of the features of past software updates.