I believe all motors are are supposed to be set to the same ppr, although, I’m not sure why Z and A would need to be the same. Did you already have your other motors at 800?
I actually had it at 9600 at first. I thought that was correct, but I noticed that with that setting, the machine was making two revolutions when it should only make one, so I cut it in half. I must not have initially accounted for 800 ppr on the motor.