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This Guide Applies to CM2 motors with firmware versions 3.21 and 3.21 X013.

For X007, see X007 Modbus Manual.pdf


Setup Information

The following list indicates important setup information for running in Modbus TCP. Ensure that the master is setup with the same configuration.

  • Port 502 - Modbus-TCP uses port 502. This is fixed.
  • Holding register addressing depends on the system used. Refer to your modbus master documentation to understand the address format.
    • Additional information is below to list the most common address types
  • Max holding registers for read and write is 16
  • Use function code 0x10 for write single register. Function code 0x06 is not supported.
  • All registers are 32-bit
    • Exceptions are the registers used used directly in the CM1-T Library (IEC 61131-3).
  • 32-bit word mapping is little endian


The following Parameters must be set in order to use modbus mode:

ParameterDescriptionDefaultAvailable OptionsDescription
K20Baud Rate0

0: 38.4 kbps
1: 9.6 kbps
2: 19.2 kbps
3: 57.6 kbps
4: 115.2 kbps
5: 230.4 kbps

Sets the baud rate of the Motor. Default is 38400
K78COM1 Modbus Address Offset00 - 32767

Set an offset for the Modbus Address of COM1

It is recommended to leave the offset set to 0

K79COM2 Modbus Address Offset00 - 32767

Set an offset for the Modbus Address of COM2

It is recommended to leave the offset set to 0

K81COM1 Modbus Slave ID0

0 : Disabled
1- 32767 : Station ID

Set the CM2 station ID
K82Parity0

0: None
1: Even
2: Odd

Set the communications parity
K84COM2 Modbus Slave ID0

0 : COM2 Modbus Disabled
1:  COM2 Modbus Enabled (ID=1)

Set the Station ID for the second COM port. If using COM2, the ID must be set to 1
K85Modbus Endianness0
ValueCOM1COM2
0Big EndianBig Endian
1Little EndianBig Endian
2Big EndianLittle Endian
3Little EndianLittle Endian

Sets the Endianness of the Modbus data only.

E.g. Transmission of 6553600(0x640000)
Big Endian
[ Word 1] [Word 2]
0x0064 0x0000


Little Endian
[ Word 1] [Word 2]
0x0000 0x0064

K65 MUST be set to 0 (38400 Baud) in order to use Modbus on COM2.


Turning off Modbus Mode

If the Motor is currently in Modbus mode, you can temporarily turn this off and communicate through the normal serial communications by sending the motor nine upper case letter F (FFFFFFFFF). When the motor receives this, it will switch to communicate via the normal serial mode until the motor is power cycled again.


Default CM2 Modbus Programming:

Default CM2 Modbus CML program.crp

Modbus Register Addresses

Motor Information

Holding Register Address

Motor Parameter


Read Access


Write Access


Base Address

Modicon Address

0

40001

Position Error (?95)

Yes

No

2

40003

Motor Position (?96)

Yes

No

4

40005

Motor Speed (?97)

Yes

No

6

40007

Motor Torque (?98)

Yes

No

8

40009

Motor Status (?99)

Yes

No

686

40687

Motor Temperature (?71)

Yes

No

Variables

Holding Register Address

Motor Parameter


Read Access


Write Access


Base Address

Modicon Address

10

40011

V0

Yes

Yes

12

40013

V1

Yes

Yes

14

40015

V2

Yes

Yes

16

40017

V3

Yes

Yes

18

40019

V4

Yes

Yes

20

40021

V5

Yes

Yes

22

40023

V6

Yes

Yes

24

40025

V7

Yes

Yes

26

40027

V8

Yes

Yes

28

40029

V9

Yes

Yes

30

40031

V10

Yes

Yes

32

40033

V11

Yes

Yes

34

40035

V12

Yes

Yes

36

40037

V13

Yes

Yes

38

40039

V14

Yes

Yes

40

40041

V15

Yes

Yes

Inputs/Outputs

Holding Register Address

Motor Parameter


Read Access


Write Access


Base Address

Modicon Address

54

40055

Analog Output

Yes

Yes

56

40057

Input Status (?70)

Yes

No

58

40059

Output Status (?50)

Yes

No

Positions

Holding Register Address

Motor Parameter


Read Access


Write Access


Base Address

Modicon Address

200

40201

P0

Yes

Yes

202

40203

P1

Yes

Yes

204

40205

P2

Yes

Yes

206

40207

P3

Yes

Yes

208

40209

P4

Yes

Yes

210

40211

P5

Yes

Yes

212

40213

P6

Yes

Yes

214

40215

P7

Yes

Yes

216

40217

P8

Yes

Yes

218

40219

P9

Yes

Yes

220

40221

P10

Yes

Yes

222

40223

P11

Yes

Yes

224

40225

P12

Yes

Yes

226

40227

P13

Yes

Yes

228

40229

P14

Yes

Yes

230

40231

P15

Yes

Yes

232

40233

P16

Yes

Yes

234

40235

P17

Yes

Yes

236

40237

P18

Yes

Yes

238

40239

P19

Yes

Yes

240

40241

P20

Yes

Yes

242

40243

P21

Yes

Yes

244

40245

P22

Yes

Yes

246

40247

P23

Yes

Yes

248

40249

P24

Yes

Yes

250

40251

P25

Yes

Yes

25240253P26

Yes

Yes

25440255P27

Yes

Yes

25640257P28

Yes

Yes

25840259P29

Yes

Yes

26040261P30

Yes

Yes

26240263P31

Yes

Yes

26440265P32

Yes

Yes

26640267P33

Yes

Yes

26840269P34

Yes

Yes

27040271P35

Yes

Yes

27240273P36

Yes

Yes

27440275P37

Yes

Yes

27640277P38

Yes

Yes

27840279P39

Yes

Yes

28040281P40

Yes

Yes

28240283P41

Yes

Yes

28440285P42

Yes

Yes

28640287P43

Yes

Yes

28840289P44

Yes

Yes

29040291P45

Yes

Yes

29240293P46

Yes

Yes

29440295P47

Yes

Yes

29640297P48

Yes

Yes

29840299P49

Yes

Yes

30040301P50

Yes

Yes

30240303P51

Yes

Yes

30440305P52

Yes

Yes

30640307P53

Yes

Yes

30840309P54

Yes

Yes

31040311P55

Yes

Yes

31240313P56

Yes

Yes

31440315P57

Yes

Yes

31640317P58

Yes

Yes

31840319P59

Yes

Yes

32040321P60

Yes

Yes

32240323P61

Yes

Yes

32440325P62

Yes

Yes

32640327P63

Yes

Yes

32840329P64

Yes

Yes

33040331P65

Yes

Yes

33240333P66

Yes

Yes

33440335P67

Yes

Yes

33640337P68

Yes

Yes

33840339P69

Yes

Yes

34040341P70

Yes

Yes

34240343P71

Yes

Yes

34440345P72

Yes

Yes

34640347P73

Yes

Yes

34840349P74

Yes

Yes

35040351P75

Yes

Yes

35240353P76

Yes

Yes

35440355P77

Yes

Yes

35640357P78

Yes

Yes

35840359P79

Yes

Yes

36040361P80

Yes

Yes

36240363P81

Yes

Yes

36440365P82

Yes

Yes

36640367P83

Yes

Yes

36840369P84

Yes

Yes

37040371P85

Yes

Yes

37240373P86

Yes

Yes

37440375P87

Yes

Yes

37640377P88

Yes

Yes

37840379P89

Yes

Yes

38040381P90

Yes

Yes

38240383P91

Yes

Yes

38440385P92

Yes

Yes

38640387P93

Yes

Yes

38840389P94

Yes

Yes

39040391P95

Yes

Yes

39240393P96

Yes

Yes

39440395P97

Yes

Yes

39640397P98

Yes

Yes

39840399P99

Yes

Yes

40040401P100

Yes

Yes

40240403P101

Yes

Yes

40440405P102

Yes

Yes

40640407P103

Yes

Yes

40840409P104

Yes

Yes

41040411P105

Yes

Yes

41240413P106

Yes

Yes

41440415P107

Yes

Yes

41640417P108

Yes

Yes

41840419P109

Yes

Yes

42040421P110

Yes

Yes

42240423P111

Yes

Yes

42440425P112

Yes

Yes

42640427P113

Yes

Yes

42840429P114

Yes

Yes

43040431P115

Yes

Yes

43240433P116

Yes

Yes

43440435P117

Yes

Yes

43640437P118

Yes

Yes

43840439P119

Yes

Yes

44040441P120

Yes

Yes

44240443P121

Yes

Yes

44440445P122

Yes

Yes

44640447P123

Yes

Yes

44840449P124

Yes

Yes

45040451P125

Yes

Yes

45240453P126

Yes

Yes

45440455P127

Yes

Yes

45640457P128

Yes

Yes

45840459P129

Yes

Yes

46040461P130

Yes

Yes

46240463P131

Yes

Yes

46440465P132

Yes

Yes

46640467P133

Yes

Yes

46840469P134

Yes

Yes

47040471P135

Yes

Yes

47240473P136

Yes

Yes

47440475P137

Yes

Yes

47640477P138

Yes

Yes

47840479P139

Yes

Yes

48040481P140

Yes

Yes

48240483P141

Yes

Yes

48440485P142

Yes

Yes

48640487P143

Yes

Yes

48840489P144

Yes

Yes

49040491P145

Yes

Yes

49240493P146

Yes

Yes

49440495P147

Yes

Yes

49640497P148

Yes

Yes

49840499P149

Yes

Yes

50040501P150

Yes

Yes

50240503P151

Yes

Yes

50440505P152

Yes

Yes

50640507P153

Yes

Yes

50840509P154

Yes

Yes

51040511P155

Yes

Yes

51240513P156

Yes

Yes

51440515P157

Yes

Yes

51640517P158

Yes

Yes

51840519P159

Yes

Yes

52040521P160

Yes

Yes

52240523P161

Yes

Yes

52440525P162

Yes

Yes

52640527P163

Yes

Yes

52840529P164

Yes

Yes

53040531P165

Yes

Yes

53240533P166

Yes

Yes

53440535P167

Yes

Yes

53640537P168

Yes

Yes

53840539P169

Yes

Yes

54040541P170

Yes

Yes

54240543P171

Yes

Yes

54440545P172

Yes

Yes

54640547P173

Yes

Yes

54840549P174

Yes

Yes

55040551P175

Yes

Yes

55240553P176

Yes

Yes

55440555P177

Yes

Yes

55640557P178

Yes

Yes

55840559P179

Yes

Yes

56040561P180

Yes

Yes

56240563P181

Yes

Yes

56440565P182

Yes

Yes

56640567P183

Yes

Yes

56840569P184

Yes

Yes

57040571P185

Yes

Yes

57240573P186

Yes

Yes

57440575P187

Yes

Yes

57640577P188

Yes

Yes

57840579P189

Yes

Yes

58040581P190

Yes

Yes

58240583P191

Yes

Yes

58440585P192

Yes

Yes

58640587P193

Yes

Yes

58840589P194

Yes

Yes

59040591P195

Yes

Yes

59240593P196

Yes

Yes

59440595P197

Yes

Yes

59640597P198

Yes

Yes

59840599P199

Yes

Yes

60040601P200

Yes

Yes

Speeds

Holding Register Address

Motor Parameter


Read Access


Write Access


Base Address

Modicon Address

602

40603

S0

Yes

Yes

604

40605

S1

Yes

Yes

606

40607

S2

Yes

Yes

608

40609

S3

Yes

Yes

610

40611

S4

Yes

Yes

612

40613

S5

Yes

Yes

614

40615

S6

Yes

Yes

616

40617

S7

Yes

Yes

618

40619

S8

Yes

Yes

620

40621

S9

Yes

Yes

622

40623

S10

Yes

Yes

624

40625

S11

Yes

Yes

626

40627

S12

Yes

Yes

628

40629

S13

Yes

Yes

630

40631

S14

Yes

Yes

632

40633

S15

Yes

Yes

Accelerations

Holding Register Address

Motor Parameter


Read Access


Write Access


Base Address

Modicon Address

634

40635

A0

Yes

Yes

636

40637

A1

Yes

Yes

638

40639

A2

Yes

Yes

640

40641

A3

Yes

Yes

642

40643

A4

Yes

Yes

644

40645

A5

Yes

Yes

646

40647

A6

Yes

Yes

648

40649

A7

Yes

Yes

650

40651

A8

Yes

Yes

Torques

Holding Register Address

Motor Parameter


Read Access


Write Access


Base Address

Modicon Address

652

40653

M0

Yes

Yes

654

40655

M1

Yes

Yes

656

40657

M2

Yes

Yes

658

40659

M3

Yes

Yes

660

40661

M4

Yes

Yes

662

40663

M5

Yes

Yes

664

40665

M6

Yes

Yes

666

40667

M7

Yes

Yes

668

40669

M8

Yes

Yes

H Gain Parameters

Holding Register Address

Motor Parameter


Read Access


Write Access


Base Address

Modicon Address

670

40671

H0

Yes

Yes

672

40673

H1

Yes

Yes

674

40675

H2

Yes

Yes

676

40677

H3

Yes

Yes

678

40679

H4

Yes

Yes

680

40671

H5

Yes

Yes

682

40673

H6

Yes

Yes

684

40675

H7

Yes

Yes

Timers

Holding Register Address

Motor Parameter


Read Access


Write Access


Base Address

Modicon Address

69640697

T0

Yes

No

69840699

T1

Yes

Yes

70040701

T2

Yes

Yes

70240703

T3

Yes

Yes

70440705

T4

Yes

Yes

70640707

T5

Yes

Yes

70840709

T6

Yes

Yes

71040711

T7

Yes

Yes

71240713T8YesYes

K Parameters

Holding Register Address

Motor Parameter


Read Access


Write Access


Base Address

Modicon Address

75240753

K20

Yes

Yes

75440755

K21

Yes

Yes

75640757

K22

Yes

Yes

75840759

K23

Yes

Yes

76040761

K24

Yes

Yes

76240763

K25

Yes

Yes

76440765

K26

Yes

Yes

76640767

K27

Yes

Yes

76840769

K28

Yes

Yes

77040771

K29

Yes

Yes

77240773

K30

Yes

Yes

77440775

K31

Yes

Yes

77640777

K32

Yes

Yes

77840779

K33

Yes

Yes

78040781

K34

Yes

Yes

78240783

K35

Yes

Yes

78440785

K36

Yes

Yes

78640787

K37

Yes

Yes

78840789

K38

Yes

Yes

79040791

K39

Yes

Yes

79240793

K40

Yes

Yes

79440795

K41

Yes

Yes

79640797

K42

Yes

Yes

79840799

K43

Yes

Yes

80040801

K44

Yes

Yes

80240803

K45

Yes

Yes

80440805

K46

Yes

Yes

80640807

K47

Yes

Yes

80840809

K48

Yes

Yes

81040811

K49

Yes

Yes

81240813

K50

Yes

Yes

81440815

K51

Yes

Yes

81640817

K52

Yes

Yes

81840819

K53

Yes

Yes

82040821

K54

Yes

Yes

82240823

K55

Yes

Yes

82440825

K56

Yes

Yes

82640827

K57

Yes

Yes

82840829

K58

Yes

Yes

83040831

K59

Yes

Yes

83240833

K60

Yes

Yes

83440835

K61

Yes

Yes

83640837

K62

Yes

Yes

83840839

K63

Yes

Yes

84040841

K64

Yes

Yes

84240843

K65

Yes

Yes

84440845

K66

Yes

Yes

84640847

K67

Yes

Yes

84840849

K68

Yes

Yes

85040851

K69

Yes

Yes

85240853

K70

Yes

Yes

85440855

K71

Yes

Yes

85640857

K72

Yes

Yes

85840859

K73

Yes

Yes

86040861

K74

Yes

Yes

86240863

K75

Yes

Yes

86440865

K76

Yes

Yes

86640867

K77

Yes

Yes

86840869

K78

Yes

Yes

87040871

K79

Yes

Yes

87240873

K80

Yes

Yes

87440875

K81

Yes

Yes

87640877

K82

Yes

Yes

87840879

K83

Yes

Yes

88040881

K84

Yes

Yes

88240883

K85

Yes

Yes

88440885

K86

Yes

Yes

88640887

K87

Yes

Yes

88840889

K88

Yes

Yes

89040891

K89

Yes

Yes

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