Yaskawa LEGEND-MC - Manual (Page 148)

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LEGEND-MC User’s Manual
IP (Increment Position)
[Motion]
DESCRIPTION:
The IP command allows for an update in the commanded 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 command are quadrature counts.
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 (final target cannot be closer).
Case 3: Motor is in 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 for making small
corrections 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 x, y, z, w or IPX=x or IP a, b, c, d, e, f, g, h where
x, y z, w, or a, b, c, d, e, f, g, h are unsigned integers
USAGE:
EXAMPLES:
While Moving Yes Minimum Value -2147483648
In a Program Yes Maximum Value 2147483647
Command Line Yes Default Value n/a
Can be Interrogated Yes Default Format 10.0
Used as an Operand No Distributed Control Specific Axis
: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