AXY:MC-Basic:group.POSITIONCOMMANDHISTORY

This property returns the history of  position command generated by the motion profiler. It can return position history buffer as a function of position error delay value.

<group>.PositionErrorDelay     = NUM

<group>.PositionCommandHistory[1]  -> PCMD(t-1)

<group>.PositionCommandHistory[<NUM>]   -> PCMD(t-<NUM>)

Querying on position history where t=0 should return the same 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

<Group>.PCmdH

Syntax

?<group>.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

See Also

• axis.FOLLOWINGMODEPOSITIONCOMMAND
• group.POSITIONERRORDELAYbr