The NPA Command Reference includes a comprehensive listing of all commands related to the Commander series Nippon Pulse controller products currently available. Reference is also made to the and Performax series where passable. The manual is broken into the following sections; 

Commands by 


Introduction and Overview of the Commander

Commander motion controller core (CMD-4CR) is a first in class advanced 4 axes, standalone-programmable motion controller hybrid IC. The Commander core design provides OEMs the convenience of an off-the-shelf controller and the technology of a designed-from-scratch controller.  As such it exhibits the best qualities of both types of controllers:

  • Faster path-to-market
  • Flexible design that fits a large range of applications
  • No sacrifice to controller capabilities and processing speed
  • Easily scalable from prototype to production with no software changes required
  • Simple to use
  • Cost-effective

The Commander core architecture allows for easy integration into custom hardware.  Communication to the Commander core can be established over USB, Serial (RS-485, I2C, SPI) or Ethernet. It is possible to download four standalone programs to the device and have it run independently of a host.

The Commander core is a CMOS hybrid IC designed to provide the oscillating, high-speed pulses needed to drive stepper motors and digital servomotors (pulse string input types) using various commands. It can offer various types of control over the pulse strings and therefore the motor performance. These include continuous feeding, positioning, and origin return, at a constant speed, and linear or S-curve acceleration/deceleration.

The Commander core controls four axes. It can control the linear interpolation of two to four axes, circular interpolation between any two axes, confirm controller operation status, and output an interrupt with various conditions. It also integrates an interface for servo motor drivers.

These functions can be used with simple commands. The intelligent design philosophy reduces the burden on the CPU. Commander is a robust and powerful controller with numerous operating capabilities.  This table summarizes a variety of capabilities and features available in the Commander core software:



Standalone control separated from PC

Operate motion without PC using standalone functionality

Programming language for stand-alone program with utility software

A-Script programming language, develop program on PC, compile and download to Commander

Operation check by utility software

Easy to use monitoring screens for motor status, I/O status, and system operation status

Compile, write and read standalone program by utility software

Easy to use tools to write, edit and debug software

Joystick operation with analog input (X-axis, Y-axis)

Utilize joystick for manual control of motion

13 types of homing mode

Flexibility in how machine mechanisms are set-up and homing operation is initiated

Manual pulse generator operation

On-the-fly speed change (speed overridden during movement)

Quickly change operation speed manually on-the-fly

On-the-fly target position change (target position overridden during movement).

Target position can be updated manually on-the-fly

2 to 4-axis linear interpolation

Create a variety of paths utilizing interpolation options

2-axis circular and arc interpolation, including 3rd axis for Helical motion

Create circles, arcs or even create helical motion utilizing x, y, z axis

Sync output configuration

Absolute positioning or incremental positioning can be selected

Flexibility of positioning coordinates as absolute from a home location or incremental

12 inputs and 12 outputs of general-purpose input/output signals

Flexibility in outputs, including configuration of general-purpose I/O, dedicated I/O and high-speed inputs