Difference between revisions of "AXY:MC-Basic:axis.POSITIONCOMMANDHISTORY"
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<''axis''>.PositionCommandHistory[<''num''>] → PCMD(t-<''num''>) | <''axis''>.PositionCommandHistory[<''num''>] → PCMD(t-<''num''>) | ||
| − | <font="red"> | + | <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> | 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. | It might not return a valid result if the query is from a terminal or user task. | ||
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>)
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.
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