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Register Name	Profile Mode = 2	Profile Mode = 3			Unit	Description
Register Name	CML Registers	Modbus Registers	TCP/UPD Bytes	Ethernet/IP O2T Bytes	Unit	Description
Controlword	R1	41039	1814-1915	14-15	N/A	See below

Bit Descriptions:

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Register Name	Profile Mode = 2	Profile Mode = 3			Unit	Range
Register Name	CML Registers	Modbus Registers	TCP/UPD Bytes	Ethernet/IP O2T Bytes	Unit	Range
TargetPosition	P1	41029	40-73	0-3	pulses (counts)	-2^{^31} to +2^{^31}

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Register Name	Profile Mode = 2	Profile Mode = 3			Unit	Range
Register Name	CML Registers	Modbus Registers	TCP/UPD Bytes	Ethernet/IP O2T Bytes	Unit	Range
TargetSpeed	S1	41031	84-117	4-7	pulses/second 10 pulses/second 100 pulses/second	-2^{^31} to +2^{^31}

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Register Name	Profile Mode = 2	Profile Mode = 3			Unit	Range
Register Name	CML Registers	Modbus Registers	TCP/UPD Bytes	Ethernet/IP O2T Bytes	Unit	Range
TargetTorque	N1	41033	128-139	8-9	0.1% rated torque	0-1100 (±1100 in Torque mode)

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Register Name	Profile Mode = 2	Profile Mode = 3			Unit	Range
Register Name	CML Registers	Modbus Registers	TCP/UPD Bytes	Ethernet/IP IO Bytes	Unit	Range
TargetAcceleration	A1	41035	1410-1511	10-11	Kpulses/second²	± 32767

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Register Name	Profile Mode = 2	Profile Mode = 3			Unit	Range
Register Name	CML Registers	Modbus Registers	TCP/UPD Bytes	Ethernet/IP O2T Bytes	Unit	Range
TargetDeceleration	A2	41037	1612-1713	12-13	Kpulses/second²	± 32767

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Register Name	Profile Mode = 2	Profile Mode = 3			Description
Register Name	CML Registers	Modbus Registers⁽¹⁾	TCP/UPD Bytes⁽²⁾	Ethernet/IP O2T Bytes⁽³⁾	Description
TargetPosition	P1	41029	40-73	0-3	The target position the motor will move to. Used as an absolute position Used as an incremental position in a relative control⁽¹⁾ move Not used in speed control⁽¹⁾ (1) See the Controlword for switching to speed or relative control.
TargetSpeed	S1	41031	84-117	4-7	The maximum speed of the profile trajectory. the sign of S1 is ignored in a position control move. +ve S1 in speed control will run the motor in a +ve direction (typically CW) -ve S1 in speed control will run the motor in a -ve direction (typically CCW)
TargetTorque	N1	41033	128-139	8-9	The maximum torque the motor will use.
TargetAcceleration	A1	41035	1410-1511	10-11	Acceleration is used when the profile is accelerating to the target speed. This is regardless of whether the target speed will be reached or not
TargetDeceleration	A2	41037	1612-1713	12-13	Deceleration is used when the profile is decelerating to the target position.
Controlword	R1	41039	1814-1915	14-15	Bits in the Controlword dictate profile execution. A more detailed description can be found below.
ModeOfOperation	Set with "_mop"	41041	2016	16	Sets the mode of operation see Setting Mode of Operation
DigitalOUT	N/A	41043	2117	17	Binary value to set the digital output (Register K34=44 to enable this function)

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Register Name	Profile Mode = 4	Profile Mode = 5			Description
Register Name	CML Registers	Modbus Registers⁽¹⁾	TCP/UPD Bytes⁽²⁾	Ethernet/IP O2T Bytes⁽³⁾	Description
TargetPosition	P1	41029	40-73	0-3	The target position the motor will move to. Used as an absolute position
TargetTorque	N1	41033	128-139	8-9	The maximum torque the motor will use.
Filter Gain	A1	41035	1410-1511	10-11	The A1 register is used to store the filter gain.
Controlword	R1	41039	1814-1915	14-15	Bits in the Controlword dictate the execution. A more detailed description can be found below.
ModeOfOperation	Set with "_mop"	41041	2016	16	Sets the mode of operation see Setting Mode of Operation
DigitalOUT	N/A	41043	2117	17	Binary value to set the digital output (Register K34=44 to enable this function)

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Register Name	Profile Mode = 10	Profile Mode = 11			Description
Register Name	CML Registers	Modbus Registers⁽¹⁾	TCP/UPD Bytes⁽²⁾	Ethernet/IP O2T Bytes⁽³⁾	Description
TargetSpeed	S1	41031	84-117	4-7	The maximum speed of the profile
TargetTorque	N1	41033	128-139	8-9	The maximum torque the motor will use while moving. +ve N1 will rotate the motor in a +ve direction (typically CW) -ve N1 will rotate the motor in a -ve direction (typically CCW)
Controlword	R1	41039	1814-1915	14-15	Bits in the Controlword dictate torque execution. A more detailed description can be found below.
ModeOfOperation	Set with "mop"	41041	2016	16	Sets the mode of operation see Setting Mode of Operation
DigitalOUT	N/A	41043	2117	17	Binary value to set the digital output (Register K34=44 to enable this function)

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