MC-Basic:element.POSITIONCOMMANDHISTORY

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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.

<element>.PositionErrorDelay  = <NUM>

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

<element>.PositionCommandHistory[<NUM>]   → PCMD(t-<NUM>) </br>

	NOTE

Querying on position history where t=0 should return the same value of querying on PCMD. This is true only in case of querying from event or recording. From terminal/user task it can’t be promised.

Short form

<element>.PCmdH

Syntax

?<element>.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

Axis
?A1.PCmdH

Group
?G1.PCmdh

See Also

• POSITIONCOMMAND
• POSITIONERRORDELAY