Galil DMC-1400 Manuale Utente
DMC-1400 Series Command Reference IP
● 113
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.
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.
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.
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
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