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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 - Modbus-TCP typically uses port 502. If the master uses a different port this can be change with the configuration tool.Base 1 starting address. I.e. first holding register is 40001 not 40000.. 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 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 | ||||
|---|---|---|---|---|
|
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 | ||
Holding Register Address
Motor Parameter
Read Access
Write Access
40001
) | Yes | No |
6 | 40007 | Motor |
Torque (? |
98) | Yes | No |
8 |
40009 | Motor |
Status (? |
99) | Yes | No |
40007
Motor Torque (?98)
Yes
No
40009
Motor Status (?99)
Yes
No
Variables
40011
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 |
Direct Registers
Holding Register Address | Motor Parameter | Read Access | Write Access | |
|---|---|---|---|---|
| Base Address | Modicon Address | |||
42 | 40043 | |||
P0 | Yes | Yes |
44 | 40045 | S0 | Yes | Yes |
46 |
40047 | A0 | Yes | Yes |
48 |
40049 | V0 | Yes | Yes |
50 |
40051 | R0 | Yes | Yes |
52 | 40053 | M0 | 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 | Yes |
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 |
R Registers
Holding Register Address | Motor Parameter | Read Access | Write Access | |
|---|---|---|---|---|
| Base Address | Modicon Address | |||
| 300 | 40301 | |||
R0 | Yes | Yes |
| 302 | 40303 | R1 | Yes | Yes |
| 304 |
40305 | R2 | Yes | Yes |
| 306 |
40307 | R3 | Yes | Yes |
| 308 | 40309 | R4 | Yes | Yes |
| 310 |
40311 | R5 | Yes | Yes |
| 312 | 40313 | R6 | Yes | Yes |
| 314 |
40315 | R7 | Yes | Yes |
| 316 |
40317 | P8 | Yes | Yes |
| 318 | 40319 | P9 | Yes | Yes |
| 320 |
40321 | R10 | Yes | Yes |
| 322 | 40323 | R11 | Yes | Yes |
| 324 |
40325 | R12 | Yes | Yes |
| 326 |
40327 | R13 | Yes | Yes |
| 328 | 40329 | R14 | Yes | Yes |
| 330 |
40331 | R15 | Yes | Yes |
| 332 |
40333 | R16 | Yes | Yes |
| 334 | 40335 | R17 | Yes | Yes |
| 336 |
40337 | R18 | Yes | Yes |
| 338 | 40339 | R19 | Yes | Yes |
| 340 | 40341 | R20 | Yes | Yes |
| 342 | 40343 | R21 | Yes | Yes |
| 344 |
40345 | R22 | Yes | Yes |
| 346 | 40347 | R23 | Yes | Yes |
| 348 | 40349 | R24 | Yes | Yes |
| 350 |
40351 | R25 | Yes | Yes |
N Registers
Holding Register Address | Motor Parameter | Read Access | Write Access | |
|---|---|---|---|---|
| Base Address | Modicon Address | |||
| 400 | 40401 | |||
N0 | Yes | Yes |
| 402 | 40403 | N1 | Yes | Yes |
| 404 |
40405 | N2 | Yes | Yes |
| 406 |
40407 | N3 | Yes | Yes |
| 408 | 40409 | N4 | Yes | Yes |
| 410 | 40411 | N5 | Yes | Yes |
| 412 |
40413 | N6 | Yes | Yes |
| 414 |
40415 | N7 | Yes | Yes |
| 416 | 40417 | N8 | Yes | Yes |
| 418 |
40419 | N9 | Yes | Yes |
| 420 | 40421 | N10 | Yes | Yes |
| 422 |
40423 | N11 | Yes | Yes |
| 424 |
40425 | N12 | Yes | Yes |
| 426 | 40427 | N13 | Yes | Yes |
| 428 |
40429 | N14 | Yes | Yes |
| 430 | 40431 | N15 | Yes | Yes |
| 432 |
40433 | N16 | Yes | Yes |
| 434 |
40435 | N17 | Yes | Yes |
| 436 | 40437 | N18 | Yes | Yes |
| 438 |
40439 | N19 | Yes | Yes |
| 440 |
40441 | N20 | Yes | Yes |
| 442 | 40443 | N21 | Yes | Yes |
| 444 |
40445 | N22 | Yes | Yes |
| 446 | 40447 | N23 | Yes | Yes |
| 448 | 40449 | N24 | Yes | Yes |
| 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 | 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 |
K Parameters
Holding Register Address | Motor Parameter | Read Access | Write Access | |
|---|---|---|---|---|
| Base Address | Modicon Address | |||
| 670 | 40671 | |||
RESERVED | Yes | No | |
| 672 |
40673 | K1 | Yes | No |
| 674 | 40675 | K2 | Yes | No |
| 676 |
40677 | K3 | Yes | No |
| 678 |
40679 | K4 | Yes | No |
| 680 | 40681 | K5 | Yes | No |
| 682 |
40683 | K6 | Yes | No |
| 684 |
40685 | K7 | Yes | No |
| 686 | 40687 | K8 | Yes | No |
| 688 |
40689 | K9 | Yes | No |
| 690 |
40691 | K10 | Yes | No |
| 692 |
40693 | K11 | Yes | No |
| 694 | 40695 | K12 | Yes | No |
| 696 |
40697 | K13 | Yes | No |
| 698 | 40699 | K14 | Yes | No |
| 700 |
40701 | K15 | Yes | No |
| 702 |
40703 | K16 | Yes | No |
| 704 | 40705 | K17 | Yes | No |
| 706 | 40707 | K18 | Yes | No |
| 708 |
40709 | K19 | Yes | No |
| 710 | 40711 | K20 | Yes | Yes |
| 712 |
40713 | K21 | Yes | Yes |
| 714 | 40715 | K22 | Yes | Yes |
| 716 |
40717 | K23 | Yes | Yes |
| 718 |
40719 | K24 | Yes | Yes |
| 720 | 40721 | K25 | Yes | Yes |
| 722 |
40723 | K26 | Yes | Yes |
| 724 | 40725 | K27 | Yes | Yes |
| 726 | 40727 | K28 | Yes | Yes |
| 728 |
40729 | K29 | Yes | Yes |
| 730 |
40731 | K30 | Yes | Yes |
| 732 | 40733 | K31 | Yes | Yes |
| 734 | 40735 | K32 | Yes | Yes |
| 736 |
40737 | K33 | Yes | Yes |
| 738 |
40739 | K34 | Yes | Yes |
| 740 | 40741 | K35 | Yes | Yes |
| 742 |
40743 | K36 | Yes | Yes |
| 744 | 40745 | K37 | Yes | Yes |
| 746 |
40747 | K38 | Yes | Yes |
| 748 |
40749 | K39 | Yes | Yes |
| 750 | 40751 | K40 | Yes | Yes |
| 752 |
40753 | K41 | Yes | Yes |
| 754 | 40755 | K42 | Yes | Yes |
| 756 |
40757 | K43 | Yes | Yes |
| 758 |
40759 | K44 | Yes | Yes |
| 760 | 40761 | K45 | Yes | Yes |
| 762 |
40763 | K46 | Yes | Yes |
| 764 |
40765 | K47 | Yes | Yes |
| 766 | 40767 | K48 | Yes | Yes |
| 768 |
40769 | K49 | Yes | Yes |
| 770 | 40771 | K50 | Yes | Yes |
| 772 | 40773 | K51 | Yes | Yes |
| 774 | 40775 | K52 | Yes | Yes |
| 776 |
40777 | K53 | Yes | Yes |
| 778 | 40779 | K54 | Yes | Yes |
| 780 | 40781 | K55 | Yes | Yes |
| 782 |
40783 | K56 | Yes | Yes |
| 784 |
40785 | K57 | Yes | Yes |
| 786 |
40787 | K58 | Yes | Yes |
| 788 | 40789 | K59 | Yes | Yes |
| 790 |
40791 | K60 | Yes | Yes |
| 792 |
40793 | K61 | Yes | Yes |
| 794 | 40795 | K62 | Yes | Yes |
| 796 |
40797 | K63 | Yes | Yes |
| 798 |
40799 | K64 | Yes | Yes |
| 800 | 40801 | K65 | Yes | Yes |
| 802 |
40803 | K66 | Yes | Yes |
| 804 |
40805 | K67 | Yes | Yes |
| 806 |
40807 | K68 | Yes | Yes |
| 808 | 40809 | K69 | Yes | Yes |
| 810 |
40811 | K70 | Yes | Yes |
| 812 | 40813 | K71 | Yes | Yes |
| 814 |
40815 | K72 | Yes | Yes |
| 816 |
40817 | K73 | Yes | Yes |
| 818 | 40819 | K74 | Yes | Yes |
| 820 | 40821 | K75 | Yes | Yes |
| 822 |
40823 | K76 | Yes | Yes |
| 824 | 40825 | K77 | Yes | Yes |
| 826 |
40827 | K78 | Yes | Yes |
| 828 | 40829 | K79 | Yes | Yes |
| 830 |
40831 | K80 | Yes | Yes |
| 832 |
40833 | K81 | Yes | Yes |
| 834 | 40835 | K82 | Yes | Yes |
| 836 |
40837 | K83 | Yes | Yes |
| 838 | 40839 | K84 | Yes | Yes |
| 840 | 40841 | K85 | Yes | Yes |
| 842 |
40843 | K86 | Yes | Yes |
| 844 |
40845 | K87 | Yes | Yes |
| 846 | 40847 | K88 | Yes | Yes |
| 848 | 40849 | K89 | Yes | Yes |
874 |
40875 | RESERVED | No | Yes |
H Gain Parameters
Holding Register Address | Motor Parameter | Read Access | Write Access | |
|---|---|---|---|---|
| Base Address | Modicon Address | |||
| 900 | 40901 | |||
H0 | Yes | Yes |
| 902 | 40903 | H1 | Yes | Yes |
| 904 | 40905 | H2 | Yes | Yes |
| 906 |
40907 | H3 | Yes | Yes |
| 908 | 40909 | H4 | Yes | Yes |
| 910 | 40911 | H5 | Yes | Yes |
| 912 |
40913 | H6 | Yes | Yes |
| 914 |
40915 | H7 | Yes | Yes |
Timers
Holding Register Address | Motor Parameter | Read Access | Write Access | |
|---|---|---|---|---|
| Base Address | Modicon Address | |||
| 950 | 40951 | |||
T0 | Yes | No |
| 952 | 40953 | T1 | Yes | Yes |
| 954 |
40955 | T2 | Yes | Yes |
| 956 | 40957 | T3 | Yes | Yes |
| 958 |
40959 | T4 | Yes | Yes |
| 960 |
40961 | T5 | Yes | Yes |
| 962 | 40963 | T6 | Yes | Yes |
| 964 |
40965 | T7 | Yes | Yes | |
| 966 | 40967 | T8 | Yes | Yes |
Direct Control Registers
Holding Register Address | Motor Parameter | Read Access | Write Access | |
|---|---|---|---|---|
| Base Address | Modicon Address | |||
| 1000 | 41001 | CPUTime | Yes | No |
| 1002 | 41003 | ActualPosition | Yes | No |
| 1004 | 41005 | ActualTargetPosition | Yes | No |
| 1006 | 41007 | MotorStatus | Yes | No |
| 1008 | 41009 | ActualRatedCurrent | Yes | No |
| 1010 | 41011 | ActualOverloadTorque | Yes | No |
| 1012 | 41013 | AnalogIn | Yes | No |
| 1014 | 41015 | DigitalIn | Yes | No |
| 1016 | 41017 | Temperature | Yes | No |
| 1018 | 41019 | DCVoltage | Yes | No |
| 1020 | 41021 | N/A | Yes | No |
| 1022 | 41023 | ModeOfOperationDisplay | Yes | No |
| 1024 | 41025 | N/A | Yes | No |
| 1026 | 41027 | ActualSpeed | Yes | No |
| 1028 | 41029 | TargetPosition | Yes | Yes |
| 1030 | 41031 | TargetSpeed | Yes | Yes |
| 1032 | 41033 | TargetTorque | Yes | Yes |
| 1034 | 41035 | TargetAcceleration | Yes | Yes |
| 1036 | 41037 | TargetDeceleration | Yes | Yes |
| 1038 | 41039 | Controlword | Yes | Yes |
| 1040 | 41041 | ModeOfOperation | Yes | Yes |
| 1042 | 41043 | DigitalOut | Yes | Yes |
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 | ||||
| 1100 | 41101 | us50Counter (DINT) | Yes | No |
| 1102 | 41103 | ActualPosition (DINT) | Yes | No |
| 1104 | 41105 | MotionTarget (DINT) | Yes | No |
| 1106 | 41107 | ActualVelocity (DINT) | Yes | No |
| 1108 | 41109 | MotorStatus (INT) PercentActualCurrent (INT) | Yes | No |
| 1110 | 41111 | PercentOverloadTorque (INT) AnalogIN (INT) | Yes | No |
| 1112 | 41113 | DCVoltage (INT) DigitalIO (SINT) Temperature (SINT) | Yes | No |
| 1114 | 41115 | ModeOfOperationDisplay (SINT) ErrorCode (SINT) ReadAddress1 (INT) | Yes | No |
| 1116 | 41117 | ReadValue1 (DINT) | Yes | No |
| Write Registers | ||||
| 1200 | 41201 | TargetPosition (DINT) | Yes | Yes |
| 1202 | 41203 | TargetVelocity (DINT) | Yes | Yes |
| 1204 | 41205 | TargetTorque (INT) TargetAcceleration (INT) | Yes | Yes |
| 1206 | 41207 | TargetDeceleration (INT) ControlWord (INT) | Yes | Yes |
| 1208 | 41209 | ModeOfOperation (SINT) DigitalOUT (SINT) WriteAddress1 (INT) | Yes | Yes |
| 1210 | 41211 | WriteValue1 (DINT) | Yes | Yes |
| 1212 | 41213 | ReadAddress1 (INT) PAD (INT) | ||
| Yes | Yes |
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