134 ● IP DMC-40x0 Command Reference
IP
FUNCTION: Increment Position
DESCRIPTION:
The IP command allows for a change in the command position while the motor is moving. This
command does not require a BG. The command has three effects depending on the motion
being executed. The units of this are quadrature.
Case 1: Motor is standing still
An IP a,b,c,d command is equivalent to a PR a,b,c,d and BG command. The motor will move to
the specified position at the requested slew speed and acceleration.
Case 2: Motor is moving towards a position as specified by PR, PA, or IP.
An IP command will cause the motor to move to a new position target, which is the old target
plus the specified increment. The incremental position must be in the same direction as the
existing motion.
Case 3: Motor is in the Jog Mode
An IP command will cause the motor to instantly try to servo to a position which is the current
instantaneous position plus the specified increment position. The SP and AC parameters have
no effect. This command is useful when synchronizing 2 axes in which one of the axis' speed
is indeterminate due to a variable diameter pulley.
Warning: When the mode is in jog mode, an IP will create an instantaneous position error. In
this mode, the IP should only be used to make small incremental position movements.
ARGUMENTS: IP n,n,n,n,n,n,n,n or IPA=n where
n is a signed numbers in the range -2147483648 to 2147483647 decimal.
n = ? Returns the current position of the specified axis.
USAGE: DEFAULTS:
While Moving Yes Default Value
In a Program Yes Default Format PF
Command Line Yes
Controller Usage
ALL CONTROLLERS
RELATED COMMANDS:
PF Position Formatting
EXAMPLES:
IP 50 50 counts with set acceleration and speed
#CORRECT ;Label
AC 100000 ;Set acceleration
JG 10000;BGA ;Jog at 10000 counts/sec rate
WT 1000 ;Wait 1000 msec
IP 10 ;Move the motor 10 counts instantaneously
STA ;Stop Motion
AMA ;Wait for ST to complete
EN ;End Program
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