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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 - can be changed in configuration
  • Base 1 starting address. I.e. first holding register is 40001 not 40000
  • Max holding registers for read and write is 16
  • 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 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 32-bit word mapping is little endian

Holding Register List


Included below is a table which details the location and function of the CM1 Modbus registers.
The addresses included below are referenced to the Modbus data model (PLC address for read/write to holding registers)

Note: Even if Direct Control is not used the Direct Control feedback registers can be useful for reading back motor information.

Click on a link below to jump to the associated registers

Table of Contents

  1. Motor Information
  2. Variables (V Registers)
  3. Direct Registers
  4. Inputs/Outputs
  5. Positions (P Registers)
  6. R Registers
  7. N Registers
  8. Speeds (S Registers)
  9. Accelerations (A Registers)
  10. Torque (M Registers)
  11. K Parameters
  12. H Gain Parameters
  13. Timers (T Registers)
  14. Feedback and Control Registers

maxLevel3
minLevel3


Motor Information

Holding Register

Holding Register

Address

Motor Parameter


Read Access


Write Access

Motor Information Anchor


Base Address

Modicon Address

0

Motor Information RegistersMotor Information Registers

40001

Position Error (?95)

Yes

No

40003

2

40003

Motor Position (?96)

Yes

No

40005

4

40005

Motor Speed (?97)

Yes

No

6

40007

40007

Motor Torque (?98)

Yes

No

8

40009

40009

Motor Status (?99)

Yes

No

Variables

Holding Register Address

Motor Parameter


Read Access


Write Access


Base Address

Modicon Address

10

40011

AnchorVariablesVariables40011

V0

Yes

Yes

12

40013

40013

V1

Yes

Yes

40015

14

40015

V2

Yes

Yes

16

40017

40017

V3

Yes

Yes

18

40019

40019

V4

Yes

Yes

40021

20

40021

V5

Yes

Yes

40023

22

40023

V6

Yes

Yes

24

40025

40025

V7

Yes

Yes

40027

26

40027

V8

Yes

Yes

28

40029

40029

V9

Yes

Yes

40031

30

40031

V10

Yes

Yes

32

40033

40033

V11

Yes

Yes

34

40035

40035

V12

Yes

Yes

40037

36

40037

V13

Yes

Yes

38

40039

40039

V14

Yes

Yes

40041

40

40041

V15

Yes

Yes

Direct Registers

Holding Register Address

Motor Parameter


Read Access


Write Access


Base Address

Modicon Address

42

40043

AnchorDirect RegistersDirect Registers40043

P0

Yes

Yes

44

40045

40045

S0

Yes

Yes

46

40047

40047

A0

Yes

Yes

48

40049

40049

V0

Yes

Yes

40051

50

40051

R0

Yes

Yes

52

40053

40053

M0

Yes

Yes

Inputs/Outputs

Holding Register Address

Motor Parameter


Read Access


Write Access


Base Address

Modicon Address

54

40055

AnchorIOIO40055

Analog Output

Yes

Yes

56

40057

40057

Input Status (?70)

Yes

No

58

40059

40059

Output Status (?50)

Yes

Yes

Positions

AnchorPositionsPositions

40201

P0

Holding Register Address

Motor Parameter


Read Access


Write Access


Base Address

Modicon Address

200

40201

P0

Yes

Yes

202

40203

40203

P1

Yes

Yes

40205

204

40205

P2

Yes

Yes

40207

206

40207

P3

Yes

Yes

208

40209

40209

P4

Yes

Yes

40211

210

40211

P5

Yes

Yes

212

40213

40213

P6

Yes

Yes

40215

214

40215

P7

Yes

Yes

216

40217

40217

P8

Yes

Yes

218

40219

40219

P9

Yes

Yes

40221

220

40221

P10

Yes

Yes

222
40223

40223

P11

Yes

Yes

40225
224

40225

P12

Yes

Yes

40227
226

40227

P13

Yes

Yes

228
40229

40229

P14

Yes

Yes

230
40231

40231

P15

Yes

Yes

40233
232

40233

P16

Yes

Yes

40235
234

40235

P17

Yes

Yes

236
40237

40237

P18

Yes

Yes

238
40239

40239

P19

Yes

Yes

40241
240

40241

P20

Yes

Yes

242
40243

40243

P21

Yes

Yes

40245
244

40245

P22

Yes

Yes

246
40247

40247

P23

Yes

Yes

248
40249

40249

P24

Yes

Yes

40251
250

40251

P25

Yes

Yes

R Registers

Holding Register Address

Motor Parameter


Read Access


Write Access


Base Address

Modicon Address

300

40301

AnchorR RegistersR Registers40301

R0

Yes

Yes

40303
302

40303

R1

Yes

Yes

304
40305

40305

R2

Yes

Yes

40307
306

40307

R3

Yes

Yes

308
40309

40309

R4

Yes

Yes

310
40311

40311

R5

Yes

Yes

40313
312

40313

R6

Yes

Yes

40315
314

40315

R7

Yes

Yes

316
40317

40317

P8

Yes

Yes

40319
318

40319

P9

Yes

Yes

320
40321

40321

R10

Yes

Yes

40323
322

40323

R11

Yes

Yes

324
40325

40325

R12

Yes

Yes

326
40327

40327

R13

Yes

Yes

40329
328

40329

R14

Yes

Yes

330
40331

40331

R15

Yes

Yes

40333
332

40333

R16

Yes

Yes

40335
334

40335

R17

Yes

Yes

336
40337

40337

R18

Yes

Yes

338
40339

40339

R19

Yes

Yes

40341
340

40341

R20

Yes

Yes

40343
342

40343

R21

Yes

Yes

344
40345

40345

R22

Yes

Yes

346
40347

40347

R23

Yes

Yes

40349
348

40349

R24

Yes

Yes

350
40351

40351

R25

Yes

Yes

N Registers

Holding Register Address

Motor Parameter


Read Access


Write Access


Base Address

Modicon Address

400

40401

AnchorN RegistersN Registers40401

N0

Yes

Yes

40403
402

40403

N1

Yes

Yes

404
40405

40405

N2

Yes

Yes

406
40407

40407

N3

Yes

Yes

408
40409

40409

N4

Yes

Yes

40411
410

40411

N5

Yes

Yes

412
40413

40413

N6

Yes

Yes

40415
414

40415

N7

Yes

Yes

416
40417

40417

N8

Yes

Yes

418
40419

40419

N9

Yes

Yes

40421
420

40421

N10

Yes

Yes

40423
422

40423

N11

Yes

Yes

424
40425

40425

N12

Yes

Yes

40427
426

40427

N13

Yes

Yes

428
40429

40429

N14

Yes

Yes

40431
430

40431

N15

Yes

Yes

432
40433

40433

N16

Yes

Yes

434
40435

40435

N17

Yes

Yes

40437
436

40437

N18

Yes

Yes

438
40439

40439

N19

Yes

Yes

40441
440

40441

N20

Yes

Yes

40443
442

40443

N21

Yes

Yes

444
40445

40445

N22

Yes

Yes

446
40447

40447

N23

Yes

Yes

40449
448

40449

N24

Yes

Yes

40451
450

40451

N25

Yes

Yes

Speeds

Holding Register Address

Motor Parameter


Read Access


Write Access


Base Address

Modicon Address

602

40603

S0

Yes

Yes

604

40605

AnchorSpeedsSpeeds

40603

S0

Yes

Yes

40605

S1

Yes

Yes

40607
606

40607

S2

Yes

Yes

40609
608

40609

S3

Yes

Yes

610
40611

40611

S4

Yes

Yes

40613
612

40613

S5

Yes

Yes

40615
614

40615

S6

Yes

Yes

616
40617

40617

S7

Yes

Yes

618
40619

40619

S8

Yes

Yes

620
40621

40621

S9

Yes

Yes

40623
622

40623

S10

Yes

Yes

624
40625

40625

S11

Yes

Yes

626
40627

40627

S12

Yes

Yes

40629
628

40629

S13

Yes

Yes

630
40631

40631

S14

Yes

Yes

632
40633

40633

S15

Yes

Yes

Accelerations

Holding Register Address

Motor Parameter


Read Access


Write Access


Base Address

Modicon Address

634

40635

AnchorAccelerationsAccelerations40635

A0

Yes

Yes

636
40637

40637

A1

Yes

Yes

40639
638

40639

A2

Yes

Yes

640
40641

40641

A3

Yes

Yes

40643
642

40643

A4

Yes

Yes

40645
644

40645

A5

Yes

Yes

40647
646

40647

A6

Yes

Yes

648
40649

40649

A7

Yes

Yes

40651
650

40651

A8

Yes

Yes

Torques

Holding Register Address

Motor Parameter


Read Access


Write Access


Base Address

Modicon Address

652

40653

AnchorTorqueTorque40653

M0

Yes

Yes

40655
654

40655

M1

Yes

Yes

656
40657

40657

M2

Yes

Yes

658
40659

40659

M3

Yes

Yes

40661
660

40661

M4

Yes

Yes

662
40663

40663

M5

Yes

Yes

40665
664

40665

M6

Yes

Yes

666
40667

40667

M7

Yes

Yes

668
40669

40669

M8

Yes

Yes

K Parameters

Holding Register Address

Motor Parameter


Read Access


Write Access


Base Address

Modicon Address

670

40671

RESERVED

Yes

No

672

40673

AnchorK ParametersK Parameters

40671

K0

Yes

Yes

40673

K1

Yes

Yes

40675

No

674

40675

K2

Yes

Yes

40677

No

676

40677

K3

Yes

Yes

40679

No

678

40679

K4

Yes

Yes

40681

No

680

40681

K5

Yes

Yes

40683

No

682

40683

K6

Yes

Yes

40685

No

684

40685

K7

Yes

No

Yes
686
40687

40687

K8

Yes

No

Yes
688
40689

40689

K9

Yes

No

Yes
690
40691

40691

K10

Yes

No

Yes
692
40693

40693

K11

Yes

No

Yes
694
40695

40695

K12

Yes

No

Yes
696
40697

40697

K13

Yes

No

Yes
698
40699

40699

K14

Yes

Yes

No

40701
700

40701

K15

Yes

No

Yes
702
40703

40703

K16

Yes

No

Yes
704
40705

40705

K17

Yes

No

Yes
706
40707

40707

K18

Yes

No

Yes
708
40709

40709

K19

Yes

No

Yes
710
40711

40711

K20

Yes

Yes

712
40713

40713

K21

Yes

Yes

714
40715

40715

K22

Yes

Yes

40717
716

40717

K23

Yes

Yes

718
40719

40719

K24

Yes

Yes

40721
720

40721

K25

Yes

Yes

722
40723

40723

K26

Yes

Yes

724
40725

40725

K27

Yes

Yes

40727
726

40727

K28

Yes

Yes

728
40729

40729

K29

Yes

Yes

40731
730

40731

K30

Yes

Yes

732
40733

40733

K31

Yes

Yes

734
40735

40735

K32

Yes

Yes

40737
736

40737

K33

Yes

Yes

738
40739

40739

K34

Yes

Yes

740
40741

40741

K35

Yes

Yes

40743
742

40743

K36

Yes

Yes

744
40745

40745

K37

Yes

Yes

40747
746

40747

K38

Yes

Yes

40749
748

40749

K39

Yes

Yes

40751
750

40751

K40

Yes

Yes

752
40753

40753

K41

Yes

Yes

40755
754

40755

K42

Yes

Yes

40757
756

40757

K43

Yes

Yes

758
40759

40759

K44

Yes

Yes

760
40761

40761

K45

Yes

Yes

762
40763

40763

K46

Yes

Yes

40765
764

40765

K47

Yes

Yes

766
40767

40767

K48

Yes

Yes

768
40769

40769

K49

Yes

Yes

40771
770

40771

K50

Yes

Yes

772
40773

40773

K51

Yes

Yes

774
40775

40775

K52

Yes

Yes

40777
776

40777

K53

Yes

Yes

778
40779

40779

K54

Yes

Yes

780
40781

40781

K55

Yes

Yes

782
40783

40783

K56

Yes

Yes

40785
784

40785

K57

Yes

Yes

786
40787

40787

K58

Yes

Yes

40789
788

40789

K59

Yes

Yes

790
40791

40791

K60

Yes

Yes

792
40793

40793

K61

Yes

Yes

40795
794

40795

K62

Yes

Yes

40797
796

40797

K63

Yes

Yes

798
40799

40799

K64

Yes

Yes

40801
800

40801

K65

Yes

Yes

802
40803

40803

K66

Yes

Yes

40805
804

40805

K67

Yes

Yes

806
40807

40807

K68

Yes

Yes

808
40809

40809

K69

Yes

Yes

40811
810

40811

K70

Yes

Yes

812
40813

40813

K71

Yes

Yes

40815
814

40815

K72

Yes

Yes

40817
816

40817

K73

Yes

Yes

818
40819

40819

K74

Yes

Yes

820
40821

40821

K75

Yes

Yes

40823
822

40823

K76

Yes

Yes

40825
824

40825

K77

Yes

Yes

826
40827

40827

K78

Yes

Yes

828
40829

40829

K79

Yes

Yes

40831
830

40831

K80

Yes

Yes

832
40833

40833

K81

Yes

Yes

40835
834

40835

K82

Yes

Yes

836
40837

40837

K83

Yes

Yes

838
40839

40839

K84

Yes

Yes

40841
840

40841

K85

Yes

Yes

842
40843

40843

K86

Yes

Yes

40845
844

40845

K87

Yes

Yes

846
40847

40847

K88

Yes

Yes

848
40849

40849

K89

Yes

Yes

40875






874

40875

RESERVED

Yes

No

Yes

H Gain Parameters

Holding Register Address

Motor Parameter


Read Access


Write Access


Base Address

Modicon Address

900

40901

AnchorH Gain ParametersH Gain Parameters40901

H0

Yes

Yes

40903
902

40903

H1

Yes

Yes

904
40905

40905

H2

Yes

Yes

40907
906

40907

H3

Yes

Yes

40909
908

40909

H4

Yes

Yes

910
40911

40911

H5

Yes

Yes

912
40913

40913

H6

Yes

Yes

914
40915

40915

H7

Yes

Yes

Timers

Holding Register Address

Motor Parameter


Read Access


Write Access


Base Address

Modicon Address

950

40951

AnchorTimersTimers40951

T0

Yes

No

952
40953

40953

T1

Yes

Yes

40955
954

40955

T2

Yes

Yes

956
40957

40957

T3

Yes

Yes

958
40959

40959

T4

Yes

Yes

40961
960

40961

T5

Yes

Yes

962
40963

40963

T6

Yes

Yes

40965

T7

Yes

Yes

40967T8YesYesFeedback and Control Registers Anchorfeedbackcontrolregistersfeedbackcontrolregisters41001CPUTimeYesNo41003ActualPositionYesNo41005ActualTargetPositionYesNo41007MotorStatusYesNo41009ActualRatedCurrentYesNo41011ActualOverloadTorqueYesNo41013AnalogInYesNo41015DigitalInYesNo41017TemperatureYesNo41019DCVoltageYesNo41021N/AYesNo41023ModeOfOperationDisplayYesNo41025N/AYesNo41027ActualSpeedYesNo41029TargetPositionYesYes41031TargetSpeedYesYes41033TargetTorqueYesYes41035TargetAccelerationYesYes41037TargetDecelerationYesYes41039ControlwordYesYes41041ModeOfOperationYesYes41043

964

40965

T7

Yes

Yes

96640967T8YesYes

Direct Control Registers

Holding Register Address

Motor Parameter


Read Access


Write Access


Base Address

Modicon Address

100041001CPUTimeYesNo
100241003ActualPositionYesNo
100441005ActualTargetPositionYesNo
100641007MotorStatusYesNo
100841009ActualRatedCurrentYesNo
101041011ActualOverloadTorqueYesNo
101241013AnalogInYesNo
101441015DigitalInYesNo
101641017TemperatureYesNo
101841019DCVoltageYesNo
102041021N/AYesNo
102241023ModeOfOperationDisplayYesNo
102441025N/AYesNo
102641027ActualSpeedYesNo
102841029TargetPositionYesYes
103041031TargetSpeedYesYes
103241033TargetTorqueYesYes
103441035TargetAccelerationYesYes
103641037TargetDecelerationYesYes
103841039ControlwordYesYes
104041041ModeOfOperationYesYes
104241043DigitalOutYesYes

CM1-T Library Mapped Registers

The set of registers below are typically used when mapping the Modbus read and write messages directly to a data structure.

  • This is often achieved using function code 0x23 (read/write in single message)
  • The data structure should break the DINT register into the respective variables.
  • The CM1-T Library has been developed to be used with IEC 61131-3 IDEs such as Codesys, Machine Expert and TwinCAT. See Examples and Demos.

Holding Register Address

Motor Parameter


Read Access


Write Access


Base Address

Modicon Address

Read Registers
110041101us50Counter (DINT)YesNo
110241103ActualPosition (DINT)YesNo
110441105MotionTarget (DINT)YesNo
110641107ActualVelocity (DINT)YesNo
110841109

MotorStatus (INT)

PercentActualCurrent (INT)

YesNo
111041111

PercentOverloadTorque (INT)

AnalogIN (INT)

YesNo
111241113

DCVoltage (INT)

DigitalIO (SINT)

Temperature (SINT)

YesNo
111441115

ModeOfOperationDisplay (SINT)

ErrorCode (SINT)

ReadAddress1 (INT)

YesNo
111641117ReadValue1 (DINT)YesNo
Write Registers
120041201TargetPosition (DINT)YesYes
120241203TargetVelocity (DINT)YesYes
120441205

TargetTorque (INT)

TargetAcceleration (INT)

YesYes
120641207

TargetDeceleration (INT)

ControlWord (INT)

YesYes
120841209

ModeOfOperation (SINT)

DigitalOUT (SINT)

WriteAddress1 (INT)

YesYes
121041211WriteValue1 (DINT)YesYes
121241213

ReadAddress1 (INT)

PAD (INT)

Digital_IO

YesYes