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Holding Register Address

Motor Parameter

Read Access

Write Access

Motor Information

Anchor
Motor Information Registers
Motor Information Registers




40001

Position Error (?95)

Yes

No

4000340003

Motor Position (?96)

Yes

No

4000540005

Motor Speed (?97)

Yes

No

4000740007

Motor Torque (?98)

Yes

No

4000940009

Motor Status (?99)

Yes

No

Variables

Anchor
Variables
Variables




4001140011

V0

Yes

Yes

4001340013

V1

Yes

Yes

4001540015

V2

Yes

Yes

4001740017

V3

Yes

Yes

4001940019

V4

Yes

Yes

4002140021

V5

Yes

Yes

4002340023

V6

Yes

Yes

4002540025

V7

Yes

Yes

4002740027

V8

Yes

Yes

4002940029

V9

Yes

Yes

4003140031

V10

Yes

Yes

4003340033

V11

Yes

Yes

4003540035

V12

Yes

Yes

4003740037

V13

Yes

Yes

4003940039

V14

Yes

Yes

4004140041

V15

Yes

Yes

Direct Registers

Anchor
Direct Registers
Direct Registers




4004340043

P0

Yes

Yes

4004540045

S0

Yes

Yes

4004740047

A0

Yes

Yes

4004940049

V0

Yes

Yes

4005140051

R0

Yes

Yes

4005340053

M0

Yes

Yes

Inputs/Outputs

Anchor
IO
IO




4005540055

Analog Output

Yes

Yes

4005740057

Input Status (?70)

Yes

No

4005940059

Output Status (?50)

Yes

Yes

Positions

Anchor
Positions
Positions




4020140201

P0

Yes

Yes

4020340203

P1

Yes

Yes

4020540205

P2

Yes

Yes

4020740207

P3

Yes

Yes

4020940209

P4

Yes

Yes

4021140211

P5

Yes

Yes

4021340213

P6

Yes

Yes

4021540215

P7

Yes

Yes

4021740217

P8

Yes

Yes

4021940219

P9

Yes

Yes

4022140221

P10

Yes

Yes

4022340223

P11

Yes

Yes

4022540225

P12

Yes

Yes

4022740227

P13

Yes

Yes

4022940229

P14

Yes

Yes

4023140231

P15

Yes

Yes

4023340233

P16

Yes

Yes

4023540235

P17

Yes

Yes

4023740237

P18

Yes

Yes

4023940239

P19

Yes

Yes

4024140241

P20

Yes

Yes

4024340243

P21

Yes

Yes

4024540245

P22

Yes

Yes

4024740247

P23

Yes

Yes

4024940249

P24

Yes

Yes

4025140251

P25

Yes

Yes

R Registers

Anchor
R Registers
R Registers




4030140301

R0

Yes

Yes

4030340303

R1

Yes

Yes

4030540305

R2

Yes

Yes

4030740307

R3

Yes

Yes

4030940309

R4

Yes

Yes

4031140311

R5

Yes

Yes

4031340313

R6

Yes

Yes

4031540315

R7

Yes

Yes

4031740317

P8

Yes

Yes

4031940319

P9

Yes

Yes

4032140321

R10

Yes

Yes

4032340323

R11

Yes

Yes

4032540325

R12

Yes

Yes

4032740327

R13

Yes

Yes

4032940329

R14

Yes

Yes

4033140331

R15

Yes

Yes

4033340333

R16

Yes

Yes

4033540335

R17

Yes

Yes

4033740337

R18

Yes

Yes

4033940339

R19

Yes

Yes

4034140341

R20

Yes

Yes

4034340343

R21

Yes

Yes

4034540345

R22

Yes

Yes

4034740347

R23

Yes

Yes

4034940349

R24

Yes

Yes

4035140351

R25

Yes

Yes

N Registers

Anchor
N Registers
N Registers




4040140401

N0

Yes

Yes

4040340403

N1

Yes

Yes

4040540405

N2

Yes

Yes

4040740407

N3

Yes

Yes

4040940409

N4

Yes

Yes

4041140411

N5

Yes

Yes

4041340413

N6

Yes

Yes

4041540415

N7

Yes

Yes

4041740417

N8

Yes

Yes

4041940419

N9

Yes

Yes

4042140421

N10

Yes

Yes

4042340423

N11

Yes

Yes

4042540425

N12

Yes

Yes

4042740427

N13

Yes

Yes

4042940429

N14

Yes

Yes

4043140431

N15

Yes

Yes

4043340433

N16

Yes

Yes

4043540435

N17

Yes

Yes

4043740437

N18

Yes

Yes

4043940439

N19

Yes

Yes

4044140441

N20

Yes

Yes

4044340443

N21

Yes

Yes

4044540445

N22

Yes

Yes

4044740447

N23

Yes

Yes

4044940449

N24

Yes

Yes

4045140451

N25

Yes

Yes

Speeds

Anchor
Speeds
Speeds




4060340603

S0

Yes

Yes

4060540605

S1

Yes

Yes

4060740607

S2

Yes

Yes

4060940609

S3

Yes

Yes

4061140611

S4

Yes

Yes

4061340613

S5

Yes

Yes

4061540615

S6

Yes

Yes

4061740617

S7

Yes

Yes

4061940619

S8

Yes

Yes

4062140621

S9

Yes

Yes

4062340623

S10

Yes

Yes

4062540625

S11

Yes

Yes

4062740627

S12

Yes

Yes

4062940629

S13

Yes

Yes

4063140631

S14

Yes

Yes

4063340633

S15

Yes

Yes

Accelerations

Anchor
Accelerations
Accelerations




4063540635

A0

Yes

Yes

4063740637

A1

Yes

Yes

4063940639

A2

Yes

Yes

4064140641

A3

Yes

Yes

4064340643

A4

Yes

Yes

4064540645

A5

Yes

Yes

4064740647

A6

Yes

Yes

4064940649

A7

Yes

Yes

4065140651

A8

Yes

Yes

Torques

Anchor
Torque
Torque




4065340653

M0

Yes

Yes

4065540655

M1

Yes

Yes

4065740657

M2

Yes

Yes

4065940659

M3

Yes

Yes

4066140661

M4

Yes

Yes

4066340663

M5

Yes

Yes

4066540665

M6

Yes

Yes

4066740667

M7

Yes

Yes

4066940669

M8

Yes

Yes

K Parameters

Anchor
K Parameters
K Parameters




4067140671

RESERVED

Yes

No

4067340673

K1

Yes

No

4067540675

K2

Yes

No

4067740677

K3

Yes

No

4067940679

K4

Yes

No

4068140681

K5

Yes

No

4068340683

K6

Yes

No

4068540685

K7

Yes

No

4068740687

K8

Yes

No

4068940689

K9

Yes

No

4069140691

K10

Yes

No

4069340693

K11

Yes

No

4069540695

K12

Yes

No

4069740697

K13

Yes

No

4069940699

K14

Yes

No

4070140701

K15

Yes

No

4070340703

K16

Yes

No

4070540705

K17

Yes

No

4070740707

K18

Yes

No

4070940709

K19

Yes

No

4071140711

K20

Yes

Yes

4071340713

K21

Yes

Yes

4071540715

K22

Yes

Yes

4071740717

K23

Yes

Yes

4071940719

K24

Yes

Yes

4072140721

K25

Yes

Yes

4072340723

K26

Yes

Yes

4072540725

K27

Yes

Yes

4072740727

K28

Yes

Yes

4072940729

K29

Yes

Yes

4073140731

K30

Yes

Yes

4073340733

K31

Yes

Yes

4073540735

K32

Yes

Yes

4073740737

K33

Yes

Yes

4073940739

K34

Yes

Yes

4074140741

K35

Yes

Yes

4074340743

K36

Yes

Yes

4074540745

K37

Yes

Yes

4074740747

K38

Yes

Yes

4074940749

K39

Yes

Yes

4075140751

K40

Yes

Yes

4075340753

K41

Yes

Yes

4075540755

K42

Yes

Yes

4075740757

K43

Yes

Yes

4075940759

K44

Yes

Yes

4076140761

K45

Yes

Yes

4076340763

K46

Yes

Yes

4076540765

K47

Yes

Yes

4076740767

K48

Yes

Yes

4076940769

K49

Yes

Yes

4077140771

K50

Yes

Yes

4077340773

K51

Yes

Yes

4077540775

K52

Yes

Yes

4077740777

K53

Yes

Yes

4077940779

K54

Yes

Yes

4078140781

K55

Yes

Yes

4078340783

K56

Yes

Yes

4078540785

K57

Yes

Yes

4078740787

K58

Yes

Yes

4078940789

K59

Yes

Yes

4079140791

K60

Yes

Yes

4079340793

K61

Yes

Yes

4079540795

K62

Yes

Yes

4079740797

K63

Yes

Yes

4079940799

K64

Yes

Yes

4080140801

K65

Yes

Yes

4080340803

K66

Yes

Yes

4080540805

K67

Yes

Yes

4080740807

K68

Yes

Yes

4080940809

K69

Yes

Yes

4081140811

K70

Yes

Yes

4081340813

K71

Yes

Yes

4081540815

K72

Yes

Yes

4081740817

K73

Yes

Yes

4081940819

K74

Yes

Yes

4082140821

K75

Yes

Yes

4082340823

K76

Yes

Yes

4082540825

K77

Yes

Yes

4082740827

K78

Yes

Yes

4082940829

K79

Yes

Yes

4083140831

K80

Yes

Yes

4083340833

K81

Yes

Yes

4083540835

K82

Yes

Yes

4083740837

K83

Yes

Yes

4083940839

K84

Yes

Yes

4084140841

K85

Yes

Yes

4084340843

K86

Yes

Yes

4084540845

K87

Yes

Yes

4084740847

K88

Yes

Yes

4084940849

K89

Yes

Yes





4087540875

RESERVED

No

Yes

H Gain Parameters

Anchor
H Gain Parameters
H Gain Parameters




4090140901

H0

Yes

Yes

4090340903

H1

Yes

Yes

4090540905

H2

Yes

Yes

4090740907

H3

Yes

Yes

4090940909

H4

Yes

Yes

4091140911

H5

Yes

Yes

4091340913

H6

Yes

Yes

4091540915

H7

Yes

Yes

Timers

Anchor
Timers
Timers




4095140951

T0

Yes

No

4095340953

T1

Yes

Yes

4095540955

T2

Yes

Yes

4095740957

T3

Yes

Yes

4095940959

T4

Yes

Yes

4096140961

T5

Yes

Yes

4096340963

T6

Yes

Yes

4096540965

T7

Yes

Yes

40967T8YesYes

Feedback and Control Registers

Anchor
feedbackcontrolregisters
feedbackcontrolregisters




41001CPUTimeYesNo
41003ActualPositionYesNo
41005ActualTargetPositionYesNo
41007MotorStatusYesNo
41009ActualRatedCurrentYesNo
41011ActualOverloadTorqueYesNo
41013AnalogInYesNo
41015DigitalInYesNo
41017TemperatureYesNo
41019DCVoltageYesNo
41021N/AYesNo
41023ModeOfOperationDisplayYesNo
41025N/AYesNo
41027ActualSpeedYesNo
41029TargetPositionYesYes
41031TargetSpeedYesYes
41033TargetTorqueYesYes
41035TargetAccelerationYesYes
41037TargetDecelerationYesYes
41039ControlwordYesYes
41041ModeOfOperationYesYes
41043Digital_IOYesYes

...