Firmware in the Commander Ecosystem is classified by two characteristics:

  1. Number of axes – 2‑axis, 4‑axis, or 8‑axis groups.
  2. Product line – either Commander Core firmware or product‑specific firmware.

Commander Core firmware (CMD‑2CR, CMD‑4CR, CMD‑8CR) is the universal base that runs on any hardware within the same axis group. For example, a CMD‑2ED‑SA can use either its own CMD‑2ED firmware or the CMD‑2CR core firmware. A CMD‑4EX‑SA‑TBS can run CMD‑4EX firmware or CMD‑4CR core firmware.

Product‑specific firmware is tied to a single model and cannot be used on a different product, even if they share the same number of axes. For instance, a CMD‑4EX‑SA‑TBD can use the CMD‑4ED firmware, but not the CMD‑4EX or CMD‑CM3 variants of firmware. This is because Product‑specific firmware add or modify commands to simplify access to exclusive hardware features. One example is the MSR command on CMD‑2ED and CMD‑4ED firmware, which replaces the general‑purpose I/O lines IO30‑IO32 to set the stepper driver’s microstepping resolution. The hardware manual for each product includes a mapping chart when such differences exist (see the CMD‑4EX‑SA‑TBD example).

Recommendation: Plan for Portability

The Commander Ecosystem is designed to let you migrate from one product in the ecosystem to the next without completely rewriting your software. Understanding how the firmware variants are organized — and which one fits your project — will save significant development time.

If you want or need the ability to move your software from one Commander Ecosystem product to another, use Commander Core firmware from the beginning. Consult the hardware manual for your specific product to confirm the correct commands for Core firmware.

A Note on custom Firmware

Updates for a custom firmware written for an Original Equipment Manufacturer (OEM) running on a Commander Ecosystem product must be obtained from that OEM — Nippon Pulse cannot supply it. 

While you can, replace OEM-specific firmware with standard Commander Core firmware from the same axis group, users must exercise extreme caution because OEM-specific commands and functionalities are stripped away, often rendering the device unable to communicate with software and other hardware components from the same manufacturer.