Hi
Usually when you have above error, i want to believe you are logged in to the IPAM server with a Local user,
you need to log in to the server machine or Ipam server using a Domain User( that exist in the DC you are trying to access).
although you can make the Local user to be a domain user which ever works for you.
once logged in using a Domain user, try this cmdlet again and it will work just fine.