1/2-Axes Motor Control Unit

MR210AU / MR220AU
Serial Communication Commands

2007-04-04 Ver. 1.1

2008-12-16 Ver. 1.2

NOVA electronics
NOVA electronics Inc. MR210A/220A Communication Commands

1. Outline
These communication commands are prepared for control by the user program in VC or VB when MR210AU/220AU and PC or
PLC are connected with the cable.

RS-232C cable / USB cable (included) RS232C

USB
24VDC

P I/F

MR220AU

Before control by communication commands, driving parameters and modes of MR210AU/220AU must be configured by the
operating program in the accessory CD-ROM in advance. When the user executes or stops a program by communication
commands, the program should also be registered in advance.

Communication commands are listed below. See chapter 3 for more details on each command.

Command Function Page

ＰＲＧ Program execution ３
ＪＯＧ Continuous drive ３
ＰＡＢ Absolute position move ４
ＰＩＣ Relative position move ４
ＣＬＬ Position counter clear ５
ＳＰＤ Drive speed setting, Current speed reading ５
ＰＯＳ Current position reading ６
ＨＯＭ Home search execution ７
ＳＴＯ Decelerating stop ７
ＶＥＲ Version information reading ７
ＩＤＣ Program number reading during program execution ８
ＳＳＭ Drive speed select ８
ＩＮＲ I/O signal status and driving state reading ９
ＯＵＴ Output signal control １０
ＲＳＴ Reset the motor control unit １０
ＳＣＩ Rewriting / Reading of communication port conditions １１
ＯＧＥ Home search forced end １１
ＰＳＰ Program pause １２
ＥＤＰ Program forced end １２
ＰＲＳ Program restart １２
ＰＳＴ Program step execution １３
ＥＲＤ Error information reading １３
NOVA electronics Inc. MR210A/220A Communication Commands

2. General Notes for Communication Commands

(1) The information in this document is subject to change without notice for updates and improvements.
The latest version is available on our web site: http://www.novaelec.co.jp/eng/index.html

(2) When sending each command, send it in uppercase.

(3) Before writing drive command at first power-on, SPD command must be written to determine a drive speed.

(4) In MR210AU (1-axis), the axis is “X”. Make sure to select “X” for axis assignment.

(5) Communication conditions are as follows:

Communication speed : 9600, 19200, 38400BPS

Data bit : 8 bit
Stop bit : 1 bit
Flow control : None
Parity bit : None
Character assignment : 0-9, A-Z, △ (Space), [CR] (Carriage return)
Alphabetic characters are all the upper case characters.

※ When Communication Error happens between MR210AU/220AU and Personal Computer(or Programmable Logic
Controller), choose the lower baud date.

(6) Concerning the command with no response, wait the time shown as below according to the communication speed, then write
the next command. Concerning the command with a response, write the next command after confirmation of receiving
response data.

Waiting time of the no response command

Communication Speed (bps)
(msec)
9600 55
19200 35
38400 25

(7) Notes for command details

△ mark means a space.

[CR] means a 0x0d carriage return.
[LF] means a 0x0a line feed.

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NOVA electronics Inc. MR210A/220A Communication Commands

3. Command Details

ＰＲＧ
[Contents] Executes the driving program of MR210AU/220AU from the specified address.
[Format]
Command △ [Axis] [REG number] [CR]

PRG △ X ○○ [CR]
Y REG number (decimal number)

REG number must be specified by a decimal number 2-digits, which is from 00 to 63.
Multiple axes can be designated at a time.
Even though it is for 1-axis (MR210AU), be sure to input “X” for axis assignment.

[Example]
When X and Y axes are executed from 0 of the REG number.
ＰＲＧ△ＸＹ００［ＣＲ］

[Response] No response

ＪＯＧ
[Contents] Continuous drive command. Starts to drive the specified axis.
To stop driving, write STO command.
[Format]
Command △ [Driving direction] [Axis] [CR]

JOG △ ＋ X [CR]
－ Y

Multiple axes can be designated at a time.

Even though it is for 1-axis (MR210AU), be sure to input “X” for axis assignment.

[Example]
When driving of X axis is performed in the + direction and driving of Y axis is performed in the - direction.
ＪＯＧ△Ｘ－Ｙ［ＣＲ］

Direction designation “+” before axis assignment can be omitted.

[Response] No response

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NOVA electronics Inc. MR210A/220A Communication Commands

ＰＡＢ
[Contents] Absolute position move driving. Starts to drive the specified axis to absolute position.
[Format]
Command △ [X-axis absolute position] [Y-axis absolute position] [CR]

PAB △ ○○○○○○○○，○○○○○○○○ [CR]

Y-axis position (pulse value)

X-axis position (pulse value)

Absolute position is pulse value.

When the user does not drive X-axis, input only comma “,”.

[Example]
・In 2-axes, when the user wants to move Y-axis absolute position to 1500 pulse.
ＰＡＢ△，１５００［ＣＲ］
・In 1-axis, the user wants to move absolute position to 2000 pulse.
ＰＡＢ△２０００［ＣＲ］

[Response] No response

ＰＩＣ
[Contents] Relative position move driving. Starts to drive the specified axis to relative position.
[Format]
Command △ [X-axis relative position] [Y-axis relative position] [CR]

PIC △ ○○○○○○○○，○○○○○○○○ [CR]

Y-axis position (pulse value)

X-axis position (pulse value)

Relative position is pulse value.

When the user does not drive X-axis, input only comma “,”.
To move in the – direction, input “– “ in front of the numeric value.

[Example]
・In 2-axes, when the user wants to move only Y-axis from the current position to 1500 pulse in the – direction.
ＰＩＣ△，－１５００［ＣＲ］
・In 1-axis, when the user wants to move from the current position to 3000 pulse in the – direction.
ＰＩＣ△－３０００［ＣＲ］

[Response] No response

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NOVA electronics Inc. MR210A/220A Communication Commands

ＣＬＬ
[Contents] Position counter is cleared. Clears the position counter value of the specified axis to 0.
[Format]
Command △ [Axis] [CR]

CLL △ X [CR]
Y

Multiple axes can be designated at a time.

Even though it is for 1-axis (MR210AU), be sure to input “X” for axis assignment.

[Examples]
・In 2-axes, when the user wants to clear both X and Y axes.
ＣＬＬ△ＸＹ［ＣＲ］
・In 1-axis, when the user wants to clear.
ＣＬＬ△Ｘ［ＣＲ］

[Response] No response

ＳＰＤ
[Contents] Drive speed setting and current speed reading.

In case of speed setting

[Format]
Command △ [X axis speed setting value] [Y axis speed setting value] [CR]

SPD △ ○○○○○○○○，○○○○○○○○ [CR]

Y-axis speed

X-axis speed

Actual drive speed is the value which multiplies the above setting value by speed multiplier.
Drive speed (PPS) ＝ Speed setting value × Speed multiplier
If the user wants to set the speed individually, input only comma as to the unnecessary axis.

[Example]
・In 2-axes, the user wants to change the speed of only Y axis to 1500PPS when speed multiplier = 1.
ＳＰＤ△，１５００［ＣＲ］
・In 1-axis, the user wants to change the speed to 2000PPS when speed multiplier = 1.
ＳＰＤ△２０００［ＣＲ］

[Response] No response

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NOVA electronics Inc. MR210A/220A Communication Commands

In case of speed reading

[Format]
Command [CR]
SPD [CR]

[Response]

SPD △ ○○○○○○○○，○○○○○○○○ [LF] [CR]

Y-axis current speed
(When for 1-axis, ignore the current speed of Y-axis.)
X-axis current speed

Actual drive speed is the value which multiplies the above acquired value by speed multiplier.
Drive speed (PPS) ＝ Speed read value × Speed multiplier
※ In 1-axis, the current speed data of Y-axis is also returned as a response but ignore it.

ＰＯＳ
[Contents] Current position reading. Returns the position value.
[Format]
Command [CR]
POS [CR]

[Response]

POS △ ○○○○○○○○，○○○○○○○○ [CR]

Y-axis current position (pulse value)
(When for 1-axis, ignore the current position of Y-axis.)
X-axis current position (pulse value)

The current position pulses of the response of each axis are given in hexadecimal.
※ In 1-axis, the current position data of Y-axis is also returned as a response but ignore it.

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NOVA electronics Inc. MR210A/220A Communication Commands

ＨＯＭ
[Contents] Executes the home search of the specified axis.
[Format]
Command △ [Axis] [CR]

HOM △ X [CR]
Y

Multiple axes can be designated at a time.

Even though it is for 1-axis (MR210AU), be sure to input “X” for axis assignment.

[Example]
・In 2-axes, when the user wants to execute a home search for both X and Y axes.
ＨＯＭ△ＸＹ［ＣＲ］
・In 1-axis, when the user wants to execute a home search.
ＨＯＭ△Ｘ［ＣＲ］

[Response] No response

ＳＴＯ
[Contents] Stops driving of the specified axis by decelerating.
However, if drive speed is lower than start speed, it stops instantly.
[Format]
Command △ [Axis] [CR]

STO △ X [CR]
Y

Multiple axes can be designated at a time.

Even though it is for 1-axis (MR210AU), be sure to input “X” for axis assignment.

[Examples]
・In 2-axes, when the user wants to stop both X and Y axes by decelerating.
ＳＴＯ△ＸＹ［ＣＲ］
・In 1-axis, when the user wants to stop by decelerating.
ＳＴＯ△Ｘ［ＣＲ］

[Response] No response

ＶＥＲ
[Contents] Reads the version information of MR210AU/220AU.
[Format]
Command [CR]
VER [CR]
[Response]

VER △ ＸＸＸＸＸＸＸＸ，ＸＸＸＸＸＸＸＸ－Ｘ－Ｘ [LF] [CR]

USB: 0: nonexistence, 1: existence
Control Axis:MR210AU: 1,MR220AU: 2
Revision number
Version number

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NOVA electronics Inc. MR210A/220A Communication Commands

ＩＤＣ
[Contents] Returns the program number currently executed (0~63) during program execution.
[Format]
Command △ [Axis] [CR]

IDC △ X [CR]
Y

Even though it is for 1-axis (MR210AU), be sure to input “X” for axis assignment.

[Response]

IDC △ X ○○ [CR]
Y Program number (decimal number)

ＳＳＭ
[Contents] Selects drive speed 1~4.
[Format]
Command △ [Axis] [Drive speed select] [CR]

SSM △ X ○ [CR]
Y １～４

Even though it is for 1-axis (MR210AU), be sure to input “X” for axis assignment.

[Response] No response

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NOVA electronics Inc. MR210A/220A Communication Commands

ＩＮＲ
[Contents] Returns I/O signal status and driving state in hexadecimal in bit configuration.
[Format]
Command △ [Axis] [CR]

INR △ X [CR]
Y

Even though it is for 1-axis (MR210AU), be sure to input “X” for axis assignment.

[Response]

INR △ X ○○○○，△○○○○ [CR]

Y Input signal status of parallel I/F (CN3) (hexadecimal)

I/O signal status of X, Y axes and driving state (hexadecimal)

I/O signal status of X, Y axes and driving state

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

STOP0 Input signal Note1

STOP1 Input signal
STOP2 Input signal
INPOS Input signal
LMT+ Input signal
LMT- Input signal
ALARM Input signal
EMG Input signal
DRV: Driving state (1: during driving)
ERR: Error occurrence state (1: error)
HOM: Home search execution state (1: during execution)
RUN: Program execution state (1: during execution)
PAUSE: Program pause state (1: during pause)
OUT0 Output signal (0: OFF, 1: ON)
DRIVE(CN3) Output signal (0: OFF, 1: ON)
ERROR(CN3) Output signal (0: OFF, 1: ON)
Note1: Input signal is 0: GEX short-circuited, 1:Open

Input signal status of parallel I/F (CN3)

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

HOME Input signal Note2

STROBE Input signal
X Input signal
Y Input signal
MODE0 Input signal
MODE1 Input signal

REGSL0 Input signal

REGSL1 Input signal
REGSL2 Input signal
REGSL3 Input signal
REGSL4 Input signal
REGSL5 Input signal
Note2: Input signal is 0: GEX short-circuited, 1:Open

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NOVA electronics Inc. MR210A/220A Communication Commands

ＯＵＴ
[Contents] Controls output signal ON/OFF. Specify bit data in hexadecimal.
[Format]
Command △ [Data] [CR]
OUT △ ○○○○ [CR]
0: OFF…“H”Level
1: ON …“L”Level
Bit Configuration
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

XOUT0 (CN4)
XDRIVE (CN3)
XERROR (CN3)

YOUT0 (CN5)
YDRIVE (CN3)
YERROR (CN3)

ＲＳＴ
[Contents] Resets MR210AU/220AU.
[Format]
Command [CR]
RST [CR]

[Response] No response

If each axis is driving, driving stops instantly and MR210AU/220AU is reset.

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NOVA electronics Inc. MR210A/220A Communication Commands

ＳＣＩ
[Contents] Rewrites and reads communication port condition. When rewriting, the motor control unit needs to be reset.
[Format]
(1) When reading is performed.
Command [CR]
SCI [CR]
(2) When writing is performed.
Command △ [Baud rate]，[Data bit]，[Stop bit]，[Parity bit] [CR]
ＳＣＩ△１９２００，８，１，０［ＣＲ］

Writing Data Type

Baud rate: 9600 ［ 9600BPS］
19200 ［19200BPS］
38400 ［38400BPS］
57600 ［57600BPS］
115200 ［115200BPS］
Data bit: 8 ［8bit］
7 ［7bit］
Stop bit: 1 ［1bit］
2 ［2bit］
Parity bit: 0 ［No parity］
1 ［Odd parity］
2 ［Even parity］
[Response]
(1) When reading is performed.
Reading data is also the same format as above writing data type.
(2) When writing is performed.
Writing data is returned.

ＯＧＥ
[Contents] Terminates a home search forcedly.
[Format]
Command △ [Axis] [CR]

OGE △ X [CR]
Y

Multiple axes can be designated at a time.

Even though it is for 1-axis (MR210AU), be sure to input “X” for axis assignment.

[Example]
・In 2-axes, when the user wants to forcedly terminate a home search for both X and Y axes.
ＯＧＥ△ＸＹ［ＣＲ］
・In 1-axis, when the user wants to forcedly terminate a home search.
ＯＧＥ△Ｘ［ＣＲ］

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NOVA electronics Inc. MR210A/220A Communication Commands

ＰＳＰ
[Contents] Executing program is paused.
[Format]
Command △ [Axis] [CR]

PSP △ X [CR]
Y

After the current executing command finishes, it pauses. To restart the program, write PRS command. If the user wants
to terminate the program from pause state, write EDP command.
Multiple axes can be designated at a time.
Even though it is for 1-axis (MR210AU), be sure to input “X” for axis assignment.

[Example]
・In 2-axes, when the user wants to pause the program for both X and Y axes.
ＰＳＰ△ＸＹ［ＣＲ］
・In 1-axis, when the user wants to pause the program.
ＰＳＰ△Ｘ［ＣＲ］

ＥＤＰ
[Contents] Terminates a program forcedly.
[Format]
Command △ [Axis] [CR]

EDP △ X [CR]
Y

After the current command finishes, the program is forcedly terminated.

Multiple axes can be designated at a time.
Even though it is for 1-axis (MR210AU), be sure to input “X” for axis assignment.

[Example]
・In 2-axes, when the user wants to forcedly terminate the program for both X and Y axes.
ＥＤＰ△ＸＹ［ＣＲ］
・In 1-axis, when the user wants to forcedly terminate the program.
ＥＤＰ△Ｘ［ＣＲ］

ＰＲＳ
[Contents] Restarts a program.
[Format]
Command △ [Axis] [CR]

PRS △ X [CR]
Y

When the user wants to restart the program from pause state, write this command.
Multiple axes can be designated at a time.
Even though it is for 1-axis (MR210AU), be sure to input “X” for axis assignment.

[Example]
・In 2-axes, when the user wants to restart both X and Y axes.
ＰＲＳ△ＸＹ［ＣＲ］
・In 1-axis, when the user wants to restart an axis.
ＰＲＳ△Ｘ［ＣＲ］

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NOVA electronics Inc. MR210A/220A Communication Commands

ＰＳＴ
[Contents] Performs stepwise execution.
[Format]
Command △ [Axis] [Specified REG number] [CR]

PST △ X ○○ [CR]
Y Specified REG number

Multiple axes can be designated at a time.

Even though it is for 1-axis (MR210AU), be sure to input “X” for axis assignment.

[Example]
・In 2-axes, when the user wants to perform stepwise execution for both X and Y axes.
ＰＳＴ△ＸＹ○○［ＣＲ］
・In 1-axis, when the user wants to perform stepwise execution.
ＰＳＴ△Ｘ○○［ＣＲ］

ＥＲＤ
[Contents] Reads error information.
[Format]
Command △ [Axis] [CR]

ERD △ X [CR]
Y

Even though it is for 1-axis (MR210AU), be sure to input “X” for axis assignment.

[Response]

ERD △ X ○○○○ [CR]

Y Error information of the motor control unit

Bit Configuration Error information bit is 1 by error occurrence.

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Register number (00～3f (hexadecimal)) Note3

Register number enable 0: Disable, 1: Enable

Software limit + direction error

Software limit - direction error
Limit + direction (LMT+ signal) error
Limit - direction (LMT- signal) error
ALARM signal error
EMG signal error
Program execution error
Home search execution error

Note3: When Bit 7 (Register number value enable) is 1, the register number, which occurs an error, is displayed in Bit 5~0.

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