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Home » Support » NellyCOM Serial Control Protocol Specification

NellyCOM Serial Control Protocol Specification

NellyCOM is a proprietary serial communication protocol that allows you to communicate with, and control, the Nelevator enabling you to develop a customised computer control system with the Nelevator at it’s heart.

The NellyCOM communication socket accepts a standard 3.5mm, 4-pole connector for its physical interface, utilising 5V logic levels.

Serial Port Configuration

Baud Rate:         19,200
Parity:                  None
Data Bits:            8
Stop Bits:            1

Serial Port Connection

4-pole-jack-plugTSR 3.5mm 4 pole jack plug. E.g. RS part 805-1652, Farnell part 2309467 or Cliff Electronics part FC68124.

Tip:                       +12Vdc
Ring:                     TX, 5V logic levels (RX on Nelevator)
Sleeve Ring:        RX, 5V logic levels (TX on Nelevator)
Sleeve:                 0V

Data Frame Format

<SOH> <CMD> <DATA> n… <BCC> <EOT>

Command Description
SOH 0x01 – Start of header / transmission.
CMD Command to execute.
DATA Data bytes (if any) related to the command.
BCC Block Check Code of all previous bytes after (but not including) <SOH>, XORd together, but prior to any byte substitutions of the data (see below), i.e. to be performed on the raw data.
EOT 0x04 – End of transmission.
SUB 0x1A – Substitution – transparency byte.
SUB_XOR 0x20 – Value to XOR with data byte for substitution.

Byte Substitution

After the initial <SOH> byte, if any data bytes equate to SOH, EOT or SUB, then a SUB byte is to be sent first and then the data byte is sent after XORing with SUB_XOR.

This should also be done for the <BCC> byte.

To decode, discard the received SUB byte and then XOR the following byte with SUB_XOR to reconstitute the data byte.

Motors and Channels

Please note: Because of the way the system PCB is mounted on the Nelevator the motor and channel labels are swapped, i.e.:

  • Motor 1 = Channel 2
  • Motor 2 = Channel 1

In the following specification, please pay attention as to whether the specification is referring to a motor or a channel as they differ.

Control Commands

X = Stop Both Motors

<X>

M – Move

<M> <Channel> <Mode> <Variable>

Command Options Options / Description Data Format
Channel 1, 2 = Channel selection ASCII
Mode T = Track select ASCII
Variable 0 – 9 = Track number 8 bit byte

S – Status Data

Status Data Request

<S>

Note: To avoid overloading the Nelevator with continuous status requests it is advised that status requests are sent no more frequently than every half second (500 ms intervals). This rate should be more than sufficient for any feedback / control display requirements.

Status Data Response

<S> <M1 Status> <M1 Track> <M1 Target> <M2 Status> <M2 Track> <M2 Target>

  • M1 = Motor 1 / Channel 2
  • M2 = Motor 2 / Channel 1
Response Options Options / Description Data Format
Status S = Stopping going up ASCII
  s = Stopping going down ASCII
  x = Stopped – OK ASCII
  L = Motor locked from moving ASCII
  Y = Stopped – Overshoot going up ASCII
  y = Stopped – Overshoot going down ASCII
  u = Moving up ASCII
  d = Moving down ASCII
  B = Braking going up ASCII
  b = Braking going down ASCII
  A = Accelerating going up ASCII
  a = Accelerating going down ASCII
  O = Over-current going up ASCII
  o = Over-current going down ASCII
  c = Calibration mode ASCII
  I = Start speed incremented going up ASCII
  i = Start speed incremented going down ASCII
Track 0 – 9 = Current track number 8 bit byte
Target 0 – 9 = Target track number 8 bit byte

Download the latest version of the NellyCOM specification: NellyCOM Specification – PDF

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