Difference between revisions of "AXY:MC-Basic:axis.POSITIONCOMMANDHISTORY"
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| + | <!-- {{Languages|MC-Basic:axis.POSITIONCOMMANDHISTORY}} | ||
{{MC-Basic | {{MC-Basic | ||
|SHORT FORM= | |SHORT FORM= | ||
| − | '' | + | <''axis''>.PCmdH |
|SYNTAX= | |SYNTAX= | ||
| − | ?'' | + | ?<''axis''>.PositionCommandHistory[t] |
|AVAILABILITY= | |AVAILABILITY= | ||
| Line 10: | Line 11: | ||
|DESCRIPTION= | |DESCRIPTION= | ||
| − | This property returns the history of | + | This property returns the history of the position command generated by the motion profiler. It can return the position history buffer as a function of position error delay value. |
| − | <axis>. | + | <''axis''>.PositionErrorDelay = <''num''> |
| − | <axis>.PositionCommandHistory[1] | + | <''axis''>.PositionCommandHistory[1] → PCMD(t-1) |
| − | <axis>.PositionCommandHistory[< | + | <''axis''>.PositionCommandHistory[<''num''>] → PCMD(t-<''num''>) |
| + | |||
| + | <font color="red"> | ||
| + | Querying the position history where t=0 returns the value of PCMD, provided the query is from an event or a recording. <br> | ||
| + | It might not return a valid result if the query is from a terminal or user task. | ||
| + | </font> | ||
| − | |||
|TYPE= | |TYPE= | ||
| Line 24: | Line 29: | ||
|RANGE= | |RANGE= | ||
| − | + | ± MaxDouble | |
|UNITS= | |UNITS= | ||
| − | User axis position units, as given by '' | + | User axis position units, as given by <''axis''>.POSITIONFACTOR. |
|DEFAULT= | |DEFAULT= | ||
| Line 36: | Line 41: | ||
|LIMITATIONS= | |LIMITATIONS= | ||
| − | Read | + | Read only |
|EXAMPLE= | |EXAMPLE= | ||
| Line 42: | Line 47: | ||
|SEE ALSO= | |SEE ALSO= | ||
| − | * [[ | + | * [[MC-Basic:axis.POSITIONCOMMAND|axis.POSITIONCOMMAND]] |
| − | * [[ | + | * [[MC-Basic:axis.POSITIONERRORDELAY|axis.POSITIONERRORDELAY]] |
}} | }} | ||
| + | --> | ||