ipe: command not found

Maybe Your $PATH variable doesn't contain the default paths? echo $PATH should give something like:

[root@server ~]# echo $PATH
/usr/local/sbin:/usr/local/bin:/sbin:/bin:/usr/sbin:/usr/bin:/root/bin

If it's empty, You may set the PATH variable with this command

export PATH="/usr/local/sbin:/usr/local/bin:/sbin:/bin:/usr/sbin:/usr/bin:/root/bin"

On Debian possible default full paths are:

/usr/bin/ipe - from package: ipe

You may install the required package with command apt-get install {package}

Error in other languages:
ipe: bevel nie gevind nie
ipe: comandă negăsită
ipe: comando não encontrado
ipe: commande introuvable
ipe: command not found
ipe: käsku ei ole
ipe: không tìm thấy lệnh
ipe: komanda nerasta
ipe: Kommando nicht gefunden.
ipe: kommandot finns inte
ipe: komut yok
ipe: nie znaleziono polecenia
ipe: níor aimsíodh an t-ordú
ipe: no se encontró la orden
ipe: no s'ha trobat l'ordre
ipe: opdracht niet gevonden
ipe: parancs nem található
ipe: perintah tidak ditemukan
ipe: príkaz nenájdený
ipe: příkaz nenalezen
ipe: команда не найдена
ipe: командата не е открита
ipe: 命令找不到
ipe: コマンドが見つかりません