diff --git a/api/src/opentrons/protocol_engine/state/commands.py b/api/src/opentrons/protocol_engine/state/commands.py
index 78dac659e256..f03f8450e4c2 100644
--- a/api/src/opentrons/protocol_engine/state/commands.py
+++ b/api/src/opentrons/protocol_engine/state/commands.py
@@ -619,49 +619,35 @@ def get_slice(
         """Get a subset of commands around a given cursor.
 
         If the cursor is omitted, a cursor will be selected automatically
-        based on the currently running or most recently executed command.
+        based on the currently running or most recently executed command,
+        and the slice of commands returned is the previous `length` commands
+        inclusive of the currently running or most recently executed command.
         """
         command_ids = self._state.command_history.get_filtered_command_ids(
             include_fixit_commands=include_fixit_commands
         )
-        running_command = self._state.command_history.get_running_command()
-        queued_command_ids = self._state.command_history.get_queue_ids()
         total_length = len(command_ids)
 
-        # TODO(mm, 2024-05-17): This looks like it's attempting to do the same thing
-        # as self.get_current(), but in a different way. Can we unify them?
         if cursor is None:
-            if running_command is not None:
-                cursor = running_command.index
-            elif len(queued_command_ids) > 0:
-                # Get the most recently executed command,
-                # which we can find just before the first queued command.
-                cursor = (
-                    self._state.command_history.get(queued_command_ids.head()).index - 1
-                )
-            elif (
-                self._state.run_result
-                and self._state.run_result == RunResult.FAILED
-                and self._state.failed_command
-            ):
-                # Currently, if the run fails, we mark all the commands we didn't
-                # reach as failed. This makes command status alone insufficient to
-                # find the most recent command that actually executed, so we need to
-                # store that separately.
-                cursor = self._state.failed_command.index
+            current_pointer = self.get_current()
+
+            if current_pointer is not None:
+                cursor = current_pointer.index
             else:
-                cursor = total_length - length
+                cursor = total_length - 1
+
+            cursor = max(cursor - length + 1, 0)
 
         # start is inclusive, stop is exclusive
-        actual_cursor = max(0, min(cursor, total_length - 1))
-        stop = min(total_length, actual_cursor + length)
+        start = max(0, min(cursor, total_length - 1))
+        stop = min(total_length, start + length)
         commands = self._state.command_history.get_slice(
-            start=actual_cursor, stop=stop, command_ids=command_ids
+            start=start, stop=stop, command_ids=command_ids
         )
 
         return CommandSlice(
             commands=commands,
-            cursor=actual_cursor,
+            cursor=start,
             total_length=total_length,
         )
 
diff --git a/api/tests/opentrons/protocol_engine/state/test_command_view_old.py b/api/tests/opentrons/protocol_engine/state/test_command_view_old.py
index de242d83f51f..6b0c5e3ee697 100644
--- a/api/tests/opentrons/protocol_engine/state/test_command_view_old.py
+++ b/api/tests/opentrons/protocol_engine/state/test_command_view_old.py
@@ -1000,8 +1000,8 @@ def test_get_slice_default_cursor_failed_command() -> None:
     result = subject.get_slice(cursor=None, length=3, include_fixit_commands=True)
 
     assert result == CommandSlice(
-        commands=[command_3, command_4],
-        cursor=2,
+        commands=[command_2, command_3, command_4],
+        cursor=1,
         total_length=4,
     )
 
@@ -1022,14 +1022,14 @@ def test_get_slice_default_cursor_running() -> None:
     result = subject.get_slice(cursor=None, length=2, include_fixit_commands=True)
 
     assert result == CommandSlice(
-        commands=[command_3, command_4],
-        cursor=2,
+        commands=[command_2, command_3],
+        cursor=1,
         total_length=5,
     )
 
 
 def test_get_slice_without_fixit() -> None:
-    """It should select a cursor based on the running command, if present."""
+    """It should filter out fixit commands when requested."""
     command_1 = create_succeeded_command(command_id="command-id-1")
     command_2 = create_succeeded_command(command_id="command-id-2")
     command_3 = create_running_command(command_id="command-id-3")
@@ -1071,3 +1071,44 @@ def test_get_slice_without_fixit() -> None:
         cursor=0,
         total_length=5,
     )
+
+
+def test_get_slice_large_length() -> None:
+    """It should handle cases where length is larger than available commands."""
+    command_1 = create_succeeded_command(command_id="command-id-1")
+    command_2 = create_succeeded_command(command_id="command-id-2")
+    command_3 = create_running_command(command_id="command-id-3")
+
+    subject = get_command_view(
+        commands=[command_1, command_2, command_3],
+        running_command_id="command-id-3",
+    )
+
+    result = subject.get_slice(cursor=None, length=10, include_fixit_commands=True)
+
+    assert result == CommandSlice(
+        commands=[command_1, command_2, command_3],
+        cursor=0,
+        total_length=3,
+    )
+
+
+def test_get_slice_explicit_cursor_with_length() -> None:
+    """It should use the cursor as the start position when explicitly provided."""
+    command_1 = create_succeeded_command(command_id="command-id-1")
+    command_2 = create_succeeded_command(command_id="command-id-2")
+    command_3 = create_succeeded_command(command_id="command-id-3")
+    command_4 = create_succeeded_command(command_id="command-id-4")
+    command_5 = create_succeeded_command(command_id="command-id-5")
+
+    subject = get_command_view(
+        commands=[command_1, command_2, command_3, command_4, command_5],
+    )
+
+    result = subject.get_slice(cursor=1, length=3, include_fixit_commands=True)
+
+    assert result == CommandSlice(
+        commands=[command_2, command_3, command_4],
+        cursor=1,
+        total_length=5,
+    )
diff --git a/robot-server/robot_server/commands/router.py b/robot-server/robot_server/commands/router.py
index 4d23bb73fbe1..b8d935137c6a 100644
--- a/robot-server/robot_server/commands/router.py
+++ b/robot-server/robot_server/commands/router.py
@@ -135,7 +135,9 @@ async def get_commands_list(
             description=(
                 "The starting index of the desired first command in the list."
                 " If unspecified, a cursor will be selected automatically"
-                " based on the currently running or most recently executed command."
+                " based on the currently running or most recently executed command, "
+                " and the slice of commands returned is the previous `pageLength` commands"
+                " inclusive of the currently running or most recently executed command."
             ),
         ),
     ] = None,
diff --git a/robot-server/robot_server/maintenance_runs/router/commands_router.py b/robot-server/robot_server/maintenance_runs/router/commands_router.py
index 0bb3d64c1924..8903a74bfdb5 100644
--- a/robot-server/robot_server/maintenance_runs/router/commands_router.py
+++ b/robot-server/robot_server/maintenance_runs/router/commands_router.py
@@ -197,7 +197,9 @@ async def get_run_commands(
             description=(
                 "The starting index of the desired first command in the list."
                 " If unspecified, a cursor will be selected automatically"
-                " based on the currently running or most recently executed command."
+                " based on the currently running or most recently executed command, "
+                " and the slice of commands returned is the previous `length` commands"
+                " inclusive of the currently running or most recently executed command."
             ),
         ),
     ] = None,
diff --git a/robot-server/robot_server/runs/router/base_router.py b/robot-server/robot_server/runs/router/base_router.py
index 8e478c08de9a..7c33ac738507 100644
--- a/robot-server/robot_server/runs/router/base_router.py
+++ b/robot-server/robot_server/runs/router/base_router.py
@@ -473,7 +473,8 @@ async def get_run_commands_error(
             description=(
                 "The starting index of the desired first command error in the list."
                 " If unspecified, a cursor will be selected automatically"
-                " based on the last error added."
+                " based on the last error added, and the slice of errors returned "
+                " is the previous `pageLength` errors."
             ),
         ),
     ] = None,
@@ -490,12 +491,9 @@ async def get_run_commands_error(
         all_errors_count = run_data_manager.get_command_errors_count(run_id=runId)
 
         if cursor is None:
-            if all_errors_count > 0:
-                # Get the most recent error,
-                # which we can find just at the end of the list.
-                cursor = all_errors_count - 1
-            else:
-                cursor = 0
+            cursor = max(all_errors_count - 1, 0)
+            cursor = max(cursor - pageLength + 1, 0)
+            cursor = min(cursor, all_errors_count)
 
         command_error_slice = run_data_manager.get_command_error_slice(
             run_id=runId,
diff --git a/robot-server/robot_server/runs/router/commands_router.py b/robot-server/robot_server/runs/router/commands_router.py
index b2cbb79b2bbf..6bbeaaca6291 100644
--- a/robot-server/robot_server/runs/router/commands_router.py
+++ b/robot-server/robot_server/runs/router/commands_router.py
@@ -276,7 +276,9 @@ async def get_run_commands(
             description=(
                 "The starting index of the desired first command in the list."
                 " If unspecified, a cursor will be selected automatically"
-                " based on the currently running or most recently executed command."
+                " based on the currently running or most recently executed command, "
+                " and the slice of commands returned is the previous `pageLength` commands"
+                " inclusive of the currently running or most recently executed command."
             ),
         ),
     ] = None,
diff --git a/robot-server/tests/integration/http_api/runs/test_json_v6_run_failure.tavern.yaml b/robot-server/tests/integration/http_api/runs/test_json_v6_run_failure.tavern.yaml
index 27f894fe4115..6478e6a64899 100644
--- a/robot-server/tests/integration/http_api/runs/test_json_v6_run_failure.tavern.yaml
+++ b/robot-server/tests/integration/http_api/runs/test_json_v6_run_failure.tavern.yaml
@@ -91,9 +91,36 @@ stages:
               key: !anystr
               createdAt: !re_fullmatch "\\d{4}-\\d{2}-\\d{2}T\\d{2}:\\d{2}:\\d{2}\\.\\d+(Z|([+-]\\d{2}:\\d{2}))"
         meta:
-          cursor: 3
+          cursor: 0
           totalLength: 4
         data:
+          - id: !anystr
+            key: !anystr
+            commandType: home
+            createdAt: !re_fullmatch "\\d{4}-\\d{2}-\\d{2}T\\d{2}:\\d{2}:\\d{2}\\.\\d+(Z|([+-]\\d{2}:\\d{2}))"
+            startedAt: !re_fullmatch "\\d{4}-\\d{2}-\\d{2}T\\d{2}:\\d{2}:\\d{2}\\.\\d+(Z|([+-]\\d{2}:\\d{2}))"
+            completedAt: !re_fullmatch "\\d{4}-\\d{2}-\\d{2}T\\d{2}:\\d{2}:\\d{2}\\.\\d+(Z|([+-]\\d{2}:\\d{2}))"
+            status: succeeded
+            params: !anydict
+            notes: !anylist
+          - id: !anystr
+            key: !anystr
+            commandType: loadLabware
+            createdAt: !re_fullmatch "\\d{4}-\\d{2}-\\d{2}T\\d{2}:\\d{2}:\\d{2}\\.\\d+(Z|([+-]\\d{2}:\\d{2}))"
+            startedAt: !re_fullmatch "\\d{4}-\\d{2}-\\d{2}T\\d{2}:\\d{2}:\\d{2}\\.\\d+(Z|([+-]\\d{2}:\\d{2}))"
+            completedAt: !re_fullmatch "\\d{4}-\\d{2}-\\d{2}T\\d{2}:\\d{2}:\\d{2}\\.\\d+(Z|([+-]\\d{2}:\\d{2}))"
+            status: succeeded
+            params: !anydict
+            notes: !anylist
+          - id: !anystr
+            key: !anystr
+            commandType: loadPipette
+            createdAt: !re_fullmatch "\\d{4}-\\d{2}-\\d{2}T\\d{2}:\\d{2}:\\d{2}\\.\\d+(Z|([+-]\\d{2}:\\d{2}))"
+            startedAt: !re_fullmatch "\\d{4}-\\d{2}-\\d{2}T\\d{2}:\\d{2}:\\d{2}\\.\\d+(Z|([+-]\\d{2}:\\d{2}))"
+            completedAt: !re_fullmatch "\\d{4}-\\d{2}-\\d{2}T\\d{2}:\\d{2}:\\d{2}\\.\\d+(Z|([+-]\\d{2}:\\d{2}))"
+            status: succeeded
+            params: !anydict
+            notes: !anylist
           - id: !anystr
             key: !anystr
             commandType: aspirate
@@ -115,12 +142,6 @@ stages:
               pipetteId: pipetteId
               labwareId: tipRackId
               wellName: A1
-              wellLocation:
-                origin: bottom
-                offset:
-                  x: 0
-                  y: 0
-                  z: 1
-                volumeOffset: 0
-              flowRate: 3.78
-              volume: 100
+              wellLocation: !anydict
+              flowRate: !anyfloat
+              volume: !anyfloat
\ No newline at end of file
diff --git a/robot-server/tests/integration/http_api/runs/test_papi_v2_run_failure.tavern.yaml b/robot-server/tests/integration/http_api/runs/test_papi_v2_run_failure.tavern.yaml
index 804b0b0e620d..281188dc9eb8 100644
--- a/robot-server/tests/integration/http_api/runs/test_papi_v2_run_failure.tavern.yaml
+++ b/robot-server/tests/integration/http_api/runs/test_papi_v2_run_failure.tavern.yaml
@@ -92,17 +92,51 @@ stages:
               key: !anystr
               createdAt: !re_fullmatch "\\d{4}-\\d{2}-\\d{2}T\\d{2}:\\d{2}:\\d{2}\\.\\d+(Z|([+-]\\d{2}:\\d{2}))"
         meta:
-          cursor: 3
+          cursor: 0
           totalLength: 4
         data:
           - id: !anystr
             key: !anystr
+            commandType: home
+            createdAt: !re_fullmatch "\\d{4}-\\d{2}-\\d{2}T\\d{2}:\\d{2}:\\d{2}\\.\\d+(Z|([+-]\\d{2}:\\d{2}))"
+            startedAt: !re_fullmatch "\\d{4}-\\d{2}-\\d{2}T\\d{2}:\\d{2}:\\d{2}\\.\\d+(Z|([+-]\\d{2}:\\d{2}))"
+            completedAt: !re_fullmatch "\\d{4}-\\d{2}-\\d{2}T\\d{2}:\\d{2}:\\d{2}\\.\\d+(Z|([+-]\\d{2}:\\d{2}))"
+            status: succeeded
+            params: !anydict
+            notes: !anylist
+          - id: !re_fullmatch "commands\\.LOAD_LABWARE-\\d+"
+            key: !re_fullmatch "commands\\.LOAD_LABWARE-\\d+"
+            commandType: loadLabware
+            createdAt: !re_fullmatch "\\d{4}-\\d{2}-\\d{2}T\\d{2}:\\d{2}:\\d{2}\\.\\d+(Z|([+-]\\d{2}:\\d{2}))"
+            startedAt: !re_fullmatch "\\d{4}-\\d{2}-\\d{2}T\\d{2}:\\d{2}:\\d{2}\\.\\d+(Z|([+-]\\d{2}:\\d{2}))"
+            completedAt: !re_fullmatch "\\d{4}-\\d{2}-\\d{2}T\\d{2}:\\d{2}:\\d{2}\\.\\d+(Z|([+-]\\d{2}:\\d{2}))"
+            status: succeeded
+            params:
+              location:
+                slotName: "1"
+              loadName: opentrons_96_tiprack_300ul
+              namespace: opentrons
+              version: 1
+            notes: !anylist
+          - id: !re_fullmatch "commands\\.LOAD_PIPETTE-\\d+"
+            key: !re_fullmatch "commands\\.LOAD_PIPETTE-\\d+"
+            commandType: loadPipette
+            createdAt: !re_fullmatch "\\d{4}-\\d{2}-\\d{2}T\\d{2}:\\d{2}:\\d{2}\\.\\d+(Z|([+-]\\d{2}:\\d{2}))"
+            startedAt: !re_fullmatch "\\d{4}-\\d{2}-\\d{2}T\\d{2}:\\d{2}:\\d{2}\\.\\d+(Z|([+-]\\d{2}:\\d{2}))"
+            completedAt: !re_fullmatch "\\d{4}-\\d{2}-\\d{2}T\\d{2}:\\d{2}:\\d{2}\\.\\d+(Z|([+-]\\d{2}:\\d{2}))"
+            status: succeeded
+            params:
+              pipetteName: p300_single
+              mount: right
+            notes: !anylist
+          - id: !re_fullmatch "command\\.ASPIRATE-\\d+"
+            key: !re_fullmatch "command\\.ASPIRATE-\\d+"
             commandType: aspirate
             createdAt: !re_fullmatch "\\d{4}-\\d{2}-\\d{2}T\\d{2}:\\d{2}:\\d{2}\\.\\d+(Z|([+-]\\d{2}:\\d{2}))"
             startedAt: !re_fullmatch "\\d{4}-\\d{2}-\\d{2}T\\d{2}:\\d{2}:\\d{2}\\.\\d+(Z|([+-]\\d{2}:\\d{2}))"
             completedAt: !re_fullmatch "\\d{4}-\\d{2}-\\d{2}T\\d{2}:\\d{2}:\\d{2}\\.\\d+(Z|([+-]\\d{2}:\\d{2}))"
             status: failed
-            notes: []
+            notes: !anylist
             error:
               id: !anystr
               errorType: LegacyContextCommandError
@@ -119,9 +153,9 @@ stages:
               wellLocation:
                 origin: top
                 offset:
-                  x: 0
-                  y: 0
-                  z: 0
-                volumeOffset: 0
-              flowRate: 150
-              volume: 100
+                  x: !anyfloat
+                  y: !anyfloat
+                  z: !anyfloat
+                volumeOffset: !anyfloat
+              flowRate: !anyfloat
+              volume: !anyfloat
\ No newline at end of file