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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 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

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

  1. Motor Information
  2. Variables (V Registers)
  3. 49152116
  4. Inputs/Outputs
  5. Positions (P Registers)
  6. 49152116
  7. 49152116
  8. Speeds (S Registers)
  9. Accelerations (A Registers)
  10. Torque (M Registers)
  11. 49152116
  12. 49152116
  13. Timers (T Registers)
  14. Feedback and Control Registers

Table of Contents
maxLevel3
minLevel3


Motor Information

Holding Register Address

Motor Parameter

Read Access

Write Access

Motor Information AnchorMotor Information RegistersMotor Information Registers

40001

Holding Register Address

Motor Parameter


Read Access


Write Access


Base Address

Modicon Address

0

40001

Position Error (?95)

Yes

No

40003

2

40003

Motor Position (?96)

Yes

No

4

40005

40005

Motor Speed (?97)

Yes

No

6

40007

40007

Motor Torque (?98)

Yes

No

40009

8

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

40013

12

40013

V1

Yes

Yes

14

40015

40015

V2

Yes

Yes

16

40017

40017

V3

Yes

Yes

18

40019

40019

V4

Yes

Yes

40021

20

40021

V5

Yes

Yes

22

40023

40023

V6

Yes

Yes

40025

24

40025

V7

Yes

Yes

26

40027

40027

V8

Yes

Yes

28

40029

40029

V9

Yes

Yes

40031

30

40031

V10

Yes

Yes

40033

32

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

40045

44

40045

S0

Yes

Yes

40047

46

40047

A0

Yes

Yes

48

40049

40049

V0

Yes

Yes

40051

50

40051

R0

Yes

Yes

40053

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

AnchorIOIO

40055

Analog Output

Yes

Yes

40057

Input Status (?70)

Yes

No

40059

58

40059

Output Status (?50)

Yes

Yes

Positions

Holding Register Address

Motor Parameter


Read Access


Write Access


Base Address

Modicon Address

200

40201

AnchorPositionsPositions40201

P0

Yes

Yes

202

40203

40203

P1

Yes

Yes

204

40205

40205

P2

Yes

Yes

40207

206

40207

P3

Yes

Yes

208

40209

40209

P4

Yes

Yes

210

40211

40211

P5

Yes

Yes

40213

212

40213

P6

Yes

Yes

214

40215

40215

P7

Yes

Yes

216

40217

40217

P8

Yes

Yes

40219

218

40219

P9

Yes

Yes

220

40221

40221

P10

Yes

Yes

222
40223

40223

P11

Yes

Yes

224
40225

40225

P12

Yes

Yes

40227
226

40227

P13

Yes

Yes

228
40229

40229

P14

Yes

Yes

40231
230

40231

P15

Yes

Yes

232
40233

40233

P16

Yes

Yes

234
40235

40235

P17

Yes

Yes

40237
236

40237

P18

Yes

Yes

40239
238

40239

P19

Yes

Yes

240
40241

40241

P20

Yes

Yes

40243
242

40243

P21

Yes

Yes

244
40245

40245

P22

Yes

Yes

40247
246

40247

P23

Yes

Yes

248
40249

40249

P24

Yes

Yes

250
40251

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

302
40303

40303

R1

Yes

Yes

40305
304

40305

R2

Yes

Yes

40307
306

40307

R3

Yes

Yes

308
40309

40309

R4

Yes

Yes

310
40311

40311

R5

Yes

Yes

312
40313

40313

R6

Yes

Yes

40315
314

40315

R7

Yes

Yes

316
40317

40317

P8

Yes

Yes

318
40319

40319

P9

Yes

Yes

40321
320

40321

R10

Yes

Yes

322
40323

40323

R11

Yes

Yes

324
40325

40325

R12

Yes

Yes

40327
326

40327

R13

Yes

Yes

328
40329

40329

R14

Yes

Yes

330
40331

40331

R15

Yes

Yes

332
40333

40333

R16

Yes

Yes

40335
334

40335

R17

Yes

Yes

336
40337

40337

R18

Yes

Yes

40339
338

40339

R19

Yes

Yes

340
40341

40341

R20

Yes

Yes

342
40343

40343

R21

Yes

Yes

40345
344

40345

R22

Yes

Yes

40347
346

40347

R23

Yes

Yes

348
40349

40349

R24

Yes

Yes

40351
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

AnchorN RegistersN Registers

40401

N0

Yes

Yes

40403

N1

Yes

Yes

40405
404

40405

N2

Yes

Yes

406
40407

40407

N3

Yes

Yes

408
40409

40409

N4

Yes

Yes

40411
410

40411

N5

Yes

Yes

40413
412

40413

N6

Yes

Yes

414
40415

40415

N7

Yes

Yes

416
40417

40417

N8

Yes

Yes

40419
418

40419

N9

Yes

Yes

420
40421

40421

N10

Yes

Yes

40423
422

40423

N11

Yes

Yes

424
40425

40425

N12

Yes

Yes

426
40427

40427

N13

Yes

Yes

40429
428

40429

N14

Yes

Yes

430
40431

40431

N15

Yes

Yes

40433
432

40433

N16

Yes

Yes

434
40435

40435

N17

Yes

Yes

436
40437

40437

N18

Yes

Yes

40439
438

40439

N19

Yes

Yes

440
40441

40441

N20

Yes

Yes

442
40443

40443

N21

Yes

Yes

40445
444

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

AnchorSpeedsSpeeds40603

S0

Yes

Yes

604
40605

40605

S1

Yes

Yes

40607
606

40607

S2

Yes

Yes

608
40609

40609

S3

Yes

Yes

40611
610

40611

S4

Yes

Yes

612
40613

40613

S5

Yes

Yes

614
40615

40615

S6

Yes

Yes

40617
616

40617

S7

Yes

Yes

618
40619

40619

S8

Yes

Yes

40621
620

40621

S9

Yes

Yes

622
40623

40623

S10

Yes

Yes

624
40625

40625

S11

Yes

Yes

40627
626

40627

S12

Yes

Yes

628
40629

40629

S13

Yes

Yes

630
40631

40631

S14

Yes

Yes

40633
632

40633

S15

Yes

Yes

Accelerations

Holding Register Address

Motor Parameter


Read Access


Write Access


Base Address

Modicon Address

634

40635

AnchorAccelerationsAccelerations40635

A0

Yes

Yes

40637
636

40637

A1

Yes

Yes

40639
638

40639

A2

Yes

Yes

640
40641

40641

A3

Yes

Yes

642
40643

40643

A4

Yes

Yes

40645
644

40645

A5

Yes

Yes

646
40647

40647

A6

Yes

Yes

40649
648

40649

A7

Yes

Yes

650
40651

40651

A8

Yes

Yes

Torques

Holding Register Address

Motor Parameter


Read Access


Write Access


Base Address

Modicon Address

652

40653

AnchorTorqueTorque40653

M0

Yes

Yes

654
40655

40655

M1

Yes

Yes

40657
656

40657

M2

Yes

Yes

658
40659

40659

M3

Yes

Yes

660
40661

40661

M4

Yes

Yes

40663
662

40663

M5

Yes

Yes

664
40665

40665

M6

Yes

Yes

40667
666

40667

M7

Yes

Yes

40669
668

40669

M8

Yes

Yes

K Parameters

Holding Register Address

Motor Parameter


Read Access


Write Access


Base Address

Modicon Address

670

40671

AnchorK ParametersK Parameters40671

RESERVED

Yes

No

672
40673

40673

K1

Yes

No

674
40675

40675

K2

Yes

No

40677
676

40677

K3

Yes

No

678
40679

40679

K4

Yes

No

680
40681

40681

K5

Yes

No

40683
682

40683

K6

Yes

No

684
40685

40685

K7

Yes

No

686
40687

40687

K8

Yes

No

40689
688

40689

K9

Yes

No

690
40691

40691

K10

Yes

No

692
40693

40693

K11

Yes

No

694
40695

40695

K12

Yes

No

40697
696

40697

K13

Yes

No

698
40699

40699

K14

Yes

No

40701
700

40701

K15

Yes

No

702
40703

40703

K16

Yes

No

704
40705

40705

K17

Yes

No

40707
706

40707

K18

Yes

No

40709
708

40709

K19

Yes

No

710
40711

40711

K20

Yes

Yes

40713
712

40713

K21

Yes

Yes

714
40715

40715

K22

Yes

Yes

40717
716

40717

K23

Yes

Yes

718
40719

40719

K24

Yes

Yes

720
40721

40721

K25

Yes

Yes

40723
722

40723

K26

Yes

Yes

724
40725

40725

K27

Yes

Yes

40727
726

40727

K28

Yes

Yes

40729
728

40729

K29

Yes

Yes

730
40731

40731

K30

Yes

Yes

732
40733

40733

K31

Yes

Yes

40735
734

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

748
40749

40749

K39

Yes

Yes

750
40751

40751

K40

Yes

Yes

40753
752

40753

K41

Yes

Yes

754
40755

40755

K42

Yes

Yes

40757
756

40757

K43

Yes

Yes

758
40759

40759

K44

Yes

Yes

760
40761

40761

K45

Yes

Yes

40763
762

40763

K46

Yes

Yes

764
40765

40765

K47

Yes

Yes

766
40767

40767

K48

Yes

Yes

40769
768

40769

K49

Yes

Yes

770
40771

40771

K50

Yes

Yes

40773
772

40773

K51

Yes

Yes

40775
774

40775

K52

Yes

Yes

40777
776

40777

K53

Yes

Yes

778
40779

40779

K54

Yes

Yes

40781
780

40781

K55

Yes

Yes

40783
782

40783

K56

Yes

Yes

784
40785

40785

K57

Yes

Yes

786
40787

40787

K58

Yes

Yes

788
40789

40789

K59

Yes

Yes

40791
790

40791

K60

Yes

Yes

792
40793

40793

K61

Yes

Yes

794
40795

40795

K62

Yes

Yes

40797
796

40797

K63

Yes

Yes

798
40799

40799

K64

Yes

Yes

800
40801

40801

K65

Yes

Yes

40803
802

40803

K66

Yes

Yes

804
40805

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

816
40817

40817

K73

Yes

Yes

818
40819

40819

K74

Yes

Yes

40821
820

40821

K75

Yes

Yes

40823
822

40823

K76

Yes

Yes

824
40825

40825

K77

Yes

Yes

40827
826

40827

K78

Yes

Yes

828
40829

40829

K79

Yes

Yes

40831
830

40831

K80

Yes

Yes

832
40833

40833

K81

Yes

Yes

834
40835

40835

K82

Yes

Yes

40837
836

40837

K83

Yes

Yes

838
40839

40839

K84

Yes

Yes

40841
840

40841

K85

Yes

Yes

40843
842

40843

K86

Yes

Yes

844
40845

40845

K87

Yes

Yes

846
40847

40847

K88

Yes

Yes

40849
848

40849

K89

Yes

Yes

40875






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

AnchorH Gain ParametersH Gain Parameters

40901

H0

Yes

Yes

40903

H1

Yes

Yes

40905
904

40905

H2

Yes

Yes

906
40907

40907

H3

Yes

Yes

40909
908

40909

H4

Yes

Yes

910
40911

40911

H5

Yes

Yes

912
40913

40913

H6

Yes

Yes

40915
914

40915

H7

Yes

Yes

Timers

Holding Register Address

Motor Parameter


Read Access


Write Access


Base Address

Modicon Address

950

40951

AnchorTimersTimers40951

T0

Yes

No

40953
952

40953

T1

Yes

Yes

954
40955

40955

T2

Yes

Yes

956
40957

40957

T3

Yes

Yes

40959
958

40959

T4

Yes

Yes

40961
960

40961

T5

Yes

Yes

962
40963

40963

T6

Yes

Yes

964
40965

40965

T7

Yes

Yes

96640967T8YesYes
Feedback and Control Registers Anchorfeedbackcontrolregistersfeedbackcontrolregisters41001CPUTimeYesNo41003ActualPositionYesNo41005ActualTargetPositionYesNo41007MotorStatusYesNo41009ActualRatedCurrentYesNo41011ActualOverloadTorqueYesNo41013AnalogInYesNo41015DigitalInYesNo41017TemperatureYesNo41019DCVoltageYesNo41021N/AYesNo41023ModeOfOperationDisplayYesNo41025N/AYesNo41027ActualSpeedYesNo41029TargetPositionYesYes41031TargetSpeedYesYes41033TargetTorqueYesYes41035TargetAccelerationYesYes41037TargetDecelerationYesYes41039ControlwordYesYes41041ModeOfOperationYesYes41043

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