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