Galil Motion Control Command Reference

Galil Motion Control Command ReferenceIPIncrement PositionSyntax:Operands:Burn:Explicit & Implicitnonenot burnableFull DescriptionThe IP command allows for a change in the command position while the motor is moving. This command does not require a BG. The command hasthree effects depending on the motion being executed. The units of this are quadrature.Case 1: Motor is standing stillAn 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 andacceleration.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 positionmust be in the same direction as the existing motion.Case 3: Motor is in the Jog ModeAn IP command will cause the motor to instantly try to servo to a position which is the current instantaneous position plus the specified incrementposition. The SP and AC parameters have no effect. This command is useful when synchronizing 2 axes in which one of the axis' speed isindeterminate 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 smallincremental position movements.ArgumentsIP n,n,n,n,n,n,n,n or IPA=n wheren is a signed numbers in the range -2147483648 to 2147483647 decimal.n = ? Returns the current position of the specified axis.Operand UsageN/AUsageUsageWhile MovingIn a ProgramCommand LineController UsageDefault ValueDefault FormatUsage and Default DetailsValueYesYesYesAllN/A(7.0 on 18x2 & 21x3) (PF on 18x6 & 4xxx)Related CommandsPF - Position FormattingExamples:IP 5050 counts with set acceleration and speedfile:///C|/Documents%20and%20Settings/Andy/Desktop/Temp/4Kcom/index.html (200 of 358)5/24/2011 8:38:17 AM