Difference between revisions of "AXY:MC-Basic:axis.POSITIONCOMMANDHISTORY"
| Line 18: | Line 18: | ||
<''axis''>.PositionCommandHistory[<''num''>] → PCMD(t-<''num''>) | <''axis''>.PositionCommandHistory[<''num''>] → PCMD(t-<''num''>) | ||
| − | Querying | + | <font="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= | ||
Revision as of 07:21, 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>)
<font="red">
Querying the position history where t=0 returns the value of PCMD, provided the query is from an event or a recording.
It might not return a valid result if the query is from a terminal or user task.
</font>
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