DMC-1400 Series Command Reference IP ● 113
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 n command is equivalent to a PR n and BG command. The motor will move to the
specified position at the requested slew speed and acceleration.
Case 2: Motor is moving towards specified position
An IP n command will cause the motor to move to a new position target, which is the old
target plus n. n must be in the same direction as the existing motion.
Case 3: Motor is in the Jog Mode
An IP n command will cause the motor to instantly try to servo to a position n from the
present instantaneous 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 motor 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 where
n is a signed number in the range -2147483648 to 2147483647 decimal.
“?” returns the current position
USAGE:
While Moving Yes Default Value ---
In a Program Yes Default Format 7.0
Command Line Yes
Can be Interrogated Yes
Used as an Operand No
Controller Usage ALL
EXAMPLES:
:IP 50 50 counts with set acceleration and speed
#CORRECT Label
AC 100000 Set acceleration
JG 10000;BG Jog at 10000 counts/sec rate
WT 1000 Wait 1000 msec
IP 10 Move the motor 10 counts instantaneously
ST Stop Motion