Versions using Multi-Threaded (RTOS) Real Time Operating System  V3xx series


Which firmware variant do I need? 

       

V305BL

 Release Candidate


V305 requires a new driver to be installed, V2.0.0 or newer DLL and V1.2.0.0 or newer Commander Firmware Updater.  How can I tell the version I have, and the new files can be found here.


Change Log:

USB Protocol Changes:

- Converted from a HID to a Vendor Specific device

    - Allows for byte transfer, streaming data, faster Command calls/responses

- Requires new USB driver for Windows

    - New driver is backwards compatible with older firmware versions using HID


RTOS level Changes:

- Updated task priorities to minimize transition times between tasks

- Optimized RAM allocations for more efficient buffer usages


Firmware/Bootloader Update Changes:

- Bootloader can now be updated using the same tools as the firmware.

- New bootloader is faster and allows for updating firmware between Commander families

    - Commander families are based on number of axes

        - Example: CMD-4CR can update to/from CMD-4EX, CMD-4ED, CM3-10

- New command to see status of update. FWSTAT


Feature Changes:

- Sync:

    - Fixed conversion bug that would cause min/max setting in Sync Window to be incorrect

    - Fixed issue causing encoder multiplier to be ignored when calculating Sync Window

- Microstepping:

    - Updated to support new board versions

    - Set microstepping to correct value at power-up

    - Removed full-step mode

- Step N Loop:

    - Added filtering pass to more accurately capture step variance

    - Updated logic when using Step N Loop with multiple axes at once

- Circular Motion Buffer:

    - Optimized math to speed up calculations

    - Fixed bug in angle calculation

- CM3-10:

    - Fixed ESTOP output startup state


Command Changes:

- Updated Command parsing to use a fast and robust look-up process

- Added support for 8 and 2-axis command options

- Fixed unit conversions for more accurate calculations

- Added commands:

    - BLVER: Returns the bootloader version string

    - FWSTAT: Returns the firmware/bootloader update status

        - Returns: FW: *status string*, BL: *status string*

    - RLY: Only used for CM3-10. Turns on/off the relay output.

        - RLY1=1 turns on relay 1

        - RLY1=0 turns off relay 1

        - RLY1 gets the current state of relay 1

        - RLY=7 turns on all 3 relays (bit 0 = relay 1, bit 1 = relay 2, bit 2 = relay 3)

        - RLY=0 turns off all 3 relays (bit 0 = relay 1, bit 1 = relay 2, bit 2 = relay 3)

Model        

Download Link

MD5 checksum

Commander Core

CMD-2CR

V305BL for CMD-2CR


CMD-4CR

V305BL for CMD-4CR


Standalone Controller Series

CMD-4EX-SA-(TBS/TBB)

V305BL for CMD-4EX


CMD-4EX-SA-TBD

V305BL for CMD-4ED


CMD-2ED-SA

V305BL for CMD-2ED


CMD-2EX-SA

V305BL for CMD-2EX


Control Max series

CMD-CM3-10

V305BL for CMD-CM3


V304BL

There are major bugs that have been reported with V304BL of the firmware.  There will all be fixed with V305BL, expected t be released by the end of August 2026.  At this time NPA suggest that you downgrade to V303BL which can be downloaded below. 


Upgrade to the Motion Buffer

  • Added acceleration/deceleration for  
  • Threaded for increased moves per second
  • Updated algorithms for increased accuracy
  • Improvements to S-curve acceleration/deceleration

Updates to thread priority and resource allocation, Updates to PWM, Updates to analog input, Added analog output

Model        

Download Link

MD5 checksum

CMD-4CR

Please use V303BL or V305BL

6d95d37e3940d96621639f59fa2eb0c3

CMD-4EX-SA 

Please use V303BL or V305BL

77afd9bfcfe1ae228d281cc51e7811b0

V303BL

Commander 4EX-SA release. Updated AO, and Joystick commands. Fixed known Bug with JOG which stopped adjacent axis when end limit is triggered, and variables saved to flash with STORE command. 

Model        

Download Link

MD5 checksum

CMD-4CR

V303 for CMD-4CR

b10c8a1cd1374b032a1d43a9365edfcd

CMD-4EX-SA 

V303 for CMD-4EX

90bc9eb97643d75c1a3277283c5ff896

V302BL

Fixed known Bug with STORE that data was overwritten on startup. 

Model        

Download Link

MD5 checksum

CMD-4CR

V302 for CMD-4CR

4c715ebdc95f79d65ce4824dc3ae1c2c

CMD-4EX-SA 

N/A


       

V301BL

First production release. Addition of boot-loader.


V300.8

Support for StandAlone (A-Script) language added.

V300.7

Analog Out added. Fixed RDP for buffer motion.

V300.6

Major update to Motion Buffer. Functions related to the Motion Buffer have moved to MotionBuffer.cpp. The Data Structure has changed CommanderStruct.hpp. Added calcRampDownPoint() to p646_Motion_Control.cpp Added new Command BTUNE, RMG can now return rmg in addition to writing to ASIC. Motion buffer reviews every buffer move and sets the correct profile for each move.  Motion Buffer now has its own thread.

V300.5

Motion buffer fix to support first move in negative direction.

V300.4

Changes on board LED to provide blue heartbeat. Changes to motion buffer to support acceleration and deceleration with direction change.  

V300.3

Changes to MST command to support EXSTP. 

V300.2

Added code to support EXSTP (external stop). Support for SN (Serial Number) added. Fixed encoder register, circle command, limit polarity.

V300.1

Fixed UART to support CR end of line. Compiler directive support for CMD2CR and CMD8CR models.

V300

First version for Gen 5 commander hardware. Ported from V207 and does not support StandAlone (A-Script) language.

         For firmware version before V302 please contact Nippon Pulse