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Included below is a table which details the location and fucntion function of the CM1 Modbus registers.
The addresses included below are referenced to the Modbus data model (PLC address ) [1 … n]
The Modbus protocal address is the holding register address -1.for read/write to holding registers)

Click on a link below to jump to the associated registers

Anchor

	Motor Information Registers
	Motor Information Registers

Holding Register Address

Motor Parameter

Read Access

Write Access

[K89] + 140001

Position Error (?95)

Yes

No

[K89]+ 40003

Motor Position (?96)

Yes

No

[K89]+ 40005

Motor Speed (?97)

Yes

No

[K89]+ 40007

Motor Torque (?98)

Yes

No

[K89]+ 40009

Motor Status (?99)

Yes

No

Anchor

	Variables

	Variables

400[K89]+ 11

V0

Yes

[K89]+ 40013

V1

Yes

[K89]+ 40015

V2

Yes

[K89]+ 40017

V3

Yes

[K89]+ 40019

V4

Yes

[K89]+ 40021

V5

Yes

[K89]+ 40023

V6

Yes

[K89]+ 40025

V7

Yes

[K89]+ 40027

V8

Yes

[K89]+ 40029

V9

Yes

[K89]+ 40031

V10

Yes

[K89]+ 40033

V11

Yes

[K89]+ 40035

V12

Yes

[K89]+ 40037

V13

Yes

[K89]+ 40039

V14

Yes

[K89]+ 40041

V15

Yes

Anchor

	Direct Registers

	Direct Registers

400[K89]+ 43

P0

Yes

[K89]+ 40045

S0

Yes

[K89]+ 40047

A0

Yes

[K89]+ 40049

V0

Yes

[K89]+ 40051

R0

Yes

[K89]+ 40053

M0

Yes

Anchor

	IO

	IO

400[K89]+ 55

Analog Output

Yes

[K89]+ 40057

Input Status (?70)

Yes

No

[K89]+ 40059

Output Status (?50)

Yes

Anchor

	CML Port

	CML Port

40[K89]+ 103

CML Port [ASCII]

No

Yes

Anchor

	Positions

	Positions

40[K89]+ 201

P0

Yes

[K89]+ 40203

P1

Yes

[K89]+ 40205

P2

Yes

[K89]+ 40207

P3

Yes

[K89]+ 40209

P4

Yes

[K89]+ 40211

P5

Yes

[K89]+ 40213

P6

Yes

[K89]+ 40215

P7

Yes

[K89]+ 40217

P8

Yes

[K89]+ 40219

P9

Yes

[K89]+ 40221

P10

Yes

[K89]+ 40223

P11

Yes

[K89]+ 40225

P12

Yes

[K89]+ 40227

P13

Yes

[K89]+ 40229

P14

Yes

[K89]+ 40231

P15

Yes

[K89]+ 40233

P16

Yes

[K89]+ 40235

P17

Yes

[K89]+ 40237

P18

Yes

[K89]+ 40239

P19

Yes

[K89]+ 40241

P20

Yes

[K89]+ 40243

P21

Yes

[K89]+ 40245

P22

Yes

[K89]+ 40247

P23

Yes

[K89]+ 40249

P24

Yes

[K89]+ 40251

P25

Yes

Anchor

	R Registers

	R Registers

40301[K89]+ 301

R0

Yes

[K89]+ 40303

R1

Yes

[K89]+ 40305

R2

Yes

[K89]+ 40307

R3

Yes

[K89]+ 40309

R4

Yes

[K89]+ 40311

R5

Yes

[K89]+ 40313

R6

Yes

[K89]+ 40315

R7

Yes

[K89]+ 40317

P8

Yes

[K89]+ 40319

P9

Yes

[K89]+ 40321

R10

Yes

[K89]+ 40323

R11

Yes

[K89]+ 40325

R12

Yes

[K89]+ 40327

R13

Yes

[K89]+ 40329

R14

Yes

[K89]+ 40331

R15

Yes

[K89]+ 40333

R16

Yes

[K89]+ 40335

R17

Yes

[K89]+ 40337

R18

Yes

[K89]+ 40339

R19

Yes

[K89]+ 40341

R20

Yes

[K89]+ 40343

R21

Yes

[K89]+ 40345

R22

Yes

[K89]+ 40347

R23

Yes

[K89]+ 40349

R24

Yes

[K89]+ 40351

R25

Yes

Anchor

	N Registers

	N Registers

40[K89]+ 401

N0

Yes

[K89]+ 40403

N1

Yes

[K89]+ 40405

N2

Yes

[K89]+ 40407

N3

Yes

[K89]+ 40409

N4

Yes

[K89]+ 40411

N5

Yes

[K89]+ 40413

N6

Yes

[K89]+ 40415

N7

Yes

[K89]+ 40417

N8

Yes

[K89]+ 40419

N9

Yes

[K89]+ 40421

N10

Yes

[K89]+ 40423

N11

Yes

[K89]+ 40425

N12

Yes

[K89]+ 40427

N13

Yes

[K89]+ 40429

N14

Yes

[K89]+ 40431

N15

Yes

[K89]+ 40433

N16

Yes

[K89]+ 40435

N17

Yes

[K89]+ 40437

N18

Yes

[K89]+ 40439

N19

Yes

[K89]+ 40441

N20

Yes

[K89]+ 40443

N21

Yes

[K89]+ 40445

N22

Yes

[K89]+ 40447

N23

Yes

[K89]+ 40449

N24

Yes

[K89]+ 40451

N25

Yes

Anchor

	Speeds

	Speeds

40[K89]+ 603

S0

Yes

[K89]+ 40605

S1

Yes

[K89]+ 40607

S2

Yes

[K89]+ 40609

S3

Yes

[K89]+ 40611

S4

Yes

[K89]+ 40613

S5

Yes

[K89]+ 40615

S6

Yes

[K89]+ 40617

S7

Yes

[K89]+ 40619

S8

Yes

[K89]+ 40621

S9

Yes

[K89]+ 40623

S10

Yes

[K89]+ 40625

S11

Yes

[K89]+ 40627

S12

Yes

[K89]+ 40629

S13

Yes

[K89]+ 40631

S14

Yes

[K89]+ 40633

S15

Yes

Anchor

	Accelerations

	Accelerations

40[K89]+ 635

A0

Yes

[K89]+ 40637

A1

Yes

[K89]+ 40639

A2

Yes

[K89]+ 40641

A3

Yes

[K89]+ 40643

A4

Yes

[K89]+ 40645

A5

Yes

[K89]+ 40647

A6

Yes

[K89]+ 40649

A7

Yes

[K89]+ 40651

A8

Yes

Anchor

	Torque

	Torque

40[K89]+ 653

M0

Yes

[K89]+ 40655

M1

Yes

[K89]+ 40657

M2

Yes

[K89]+ 40659

M3

Yes

[K89]+ 40661

M4

Yes

[K89]+ 40663

M5

Yes

[K89]+ 40665

M6

Yes

[K89]+ 40667

M7

Yes

[K89]+ 40669

M8

Yes

Anchor

	K Parameters

	K Parameters

40[K89]+ 671

K0

Yes

[K89]+ 40673

K1

Yes

[K89]+ 40675

K2

Yes

[K89]+ 40677

K3

Yes

[K89]+ 40679

K4

Yes

[K89]+ 40681

K5

Yes

[K89]+ 40683

K6

Yes

[K89]+ 40685

K7

Yes

[K89]+ 40687

K8

Yes

[K89]+ 40689

K9

Yes

[K89]+ 40691

K10

Yes

[K89]+ 40693

K11

Yes

[K89]+ 40695

K12

Yes

[K89]+ 40697

K13

Yes

[K89]+ 40699

K14

Yes

[K89]+ 40701

K15

Yes

[K89]+ 40703

K16

Yes

[K89]+ 40705

K17

Yes

[K89]+ 40707

K18

Yes

[K89]+ 40709

K19

Yes

[K89]+ 40711

K20

Yes

[K89]+ 40713

K21

Yes

[K89]+ 40715

K22

Yes

[K89]+ 40717

K23

Yes

[K89]+ 40719

K24

Yes

[K89]+ 40721

K25

Yes

[K89]+ 40723

K26

Yes

[K89]+ 40725

K27

Yes

[K89]+ 40727

K28

Yes

[K89]+ 40729

K29

Yes

[K89]+ 40731

K30

Yes

[K89]+ 40733

K31

Yes

[K89]+ 40735

K32

Yes

[K89]+ 40737

K33

Yes

[K89]+ 40739

K34

Yes

[K89]+ 40741

K35

Yes

[K89]+ 40743

K36

Yes

[K89]+ 40745

K37

Yes

[K89]+ 40747

K38

Yes

[K89]+ 40749

K39

Yes

[K89]+ 40751

K40

Yes

[K89]+ 40753

K41

Yes

[K89]+ 40755

K42

Yes

[K89]+ 40757

K43

Yes

[K89]+ 40759

K44

Yes

[K89]+ 40761

K45

Yes

[K89]+ 40763

K46

Yes

[K89]+ 40765

K47

Yes

[K89]+ 40767

K48

Yes

[K89]+ 40769

K49

Yes

[K89]+ 40771

K50

Yes

[K89]+ 40773

K51

Yes

[K89]+ 40775

K52

Yes

[K89]+ 40777

K53

Yes

[K89]+ 40779

K54

Yes

[K89]+ 40781

K55

Yes

[K89]+ 40783

K56

Yes

[K89]+ 40785

K57

Yes

[K89]+ 40787

K58

Yes

[K89]+ 40789

K59

Yes

[K89]+ 40791

K60

Yes

[K89]+ 40793

K61

Yes

[K89]+ 40795

K62

Yes

[K89]+ 40797

K63

Yes

[K89]+ 40799

K64

Yes

[K89]+ 40801

K65

Yes

[K89]+ 40803

K66

Yes

[K89]+ 40805

K67

Yes

[K89]+ 40807

K68

Yes

[K89]+ 40809

K69

Yes

[K89]+ 40811

K70

Yes

[K89]+ 40813

K71

Yes

[K89]+ 40815

K72

Yes

[K89]+ 40817

K73

Yes

[K89]+ 40819

K74

Yes

[K89]+ 40821

K75

Yes

[K89]+ 40823

K76

Yes

[K89]+ 40825

K77

Yes

[K89]+ 40827

K78

Yes

[K89]+ 40829

K79

Yes

[K89]+ 40831

K80

Yes

[K89]+ 40833

K81

Yes

[K89]+ 40835

K82

Yes

[K89]+ 40837

K83

Yes

[K89]+ 40839

K84

Yes

[K89]+ 40841

K85

Yes

[K89]+ 40843

K86

Yes

[K89]+ 40845

K87

Yes

[K89]+ 40847

K88

Yes

[K89]+ 40849

K89

Yes

[K89]+ 40875

RESERVED

Yes

Anchor

	H Gain Parameters
	H Gain Parameters

40

[K89]+ 901

H0

Yes

[K89]+ 40903

H1

Yes

[K89]+ 40905

H2

Yes

[K89]+ 40907

H3

Yes

[K89]+ 40909

H4

Yes

[K89]+ 40911

H5

Yes

[K89]+ 40913

H6

Yes

Yes[

K89]+ 91540915

H7

Yes

Anchor

	Timers

	Timers

40[K89]+ 951

T0

Yes

No

[K89]+ 40953

T1

Yes

[K89]+ 40955

T2

Yes

Yes[

K89]+ 95740957

T3

Yes

[K89]+ 40959

T4

Yes

Yes[

K89]+ 95140961

T5

Yes

Yes[

K89]+ 95340963

T6

Yes

Yes[

K89]+ 95540965

T7

Yes

40967

T8

Yes

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