Difference between revisions of "AXY:MC-Basic:axis.POSITIONCOMMANDHISTORY"
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|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] -> PCMD(t-1) | + | <''axis''>.PositionCommandHistory[1] -> PCMD(t-1) |
| − | <axis>.PositionCommandHistory[< | + | <''axis''>.PositionCommandHistory[<''num''>] -> PCMD(t-<''num''>) |
Querying on position history where t=0 should return the value of querying on pcmd. This is true onlyin case of querying from event or recording. From terminal/user taks it can’t be promised. | Querying on position history where t=0 should return the value of querying on pcmd. This is true onlyin case of querying from event or recording. From terminal/user taks it can’t be promised. | ||
Revision as of 07:12, 19 March 2014
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>.PositionErrorDelay = <num>
<axis>.PositionCommandHistory[1] -> PCMD(t-1)
<axis>.PositionCommandHistory[<num>] -> PCMD(t-<num>)
Querying on position history where t=0 should return the value of querying on pcmd. This is true onlyin case of querying from event or recording. From terminal/user taks it can’t be promised.
Short form
<axis>.PCmdH
Syntax
?<axis>.PositionCommandHistory[t]
Availability
4.5.32
Type
Double
Range
± MaxDouble
Units
User axis position units, as given by <axis>.POSITIONFACTOR.
Scope
Configuration, Task or Terminal
Limitations
Read only
Examples
?Xaxis.PCmdH