This Guide Applies to CM2 motors with firmware versions 3.21 and 3.21 X013.
For X007, see X007 Modbus Manual.pdf
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 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 0x06 is not supported.
- All registers are 32-bit
- Exceptions are the registers used used directly in the CM1-T Library (IEC 61131-3).
- Exceptions are the registers used used directly in the CM1-T Library (IEC 61131-3).
- 32-bit word mapping is little endian
The following Parameters must be set in order to use modbus mode:
| Parameter | Description | Default | Available Options | Description | |||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| K20 | Baud Rate | 0 | 0: 38.4 kbps | Sets the baud rate of the Motor. Default is 38400 | |||||||||||||||
| K78 | Modbus Address Offset | 0 | 0-32767 | Set an offset for the Modbus addresses | |||||||||||||||
| K81 | Modbus Slave Address | 0 | 0-32767 | Set the CM2 station address | |||||||||||||||
| K82 | Parity | 0 | 0: None | Set the communications parity | |||||||||||||||
| K85 | Modbus Endianness | 0 |
| Sets the Endianness of the Modbus data only. E.g. Transmission of 6553600(0x640000)
|
Turning off Modbus Mode
If the Motor is currently in Modbus mode, you can temporarily turn this off and communicate through the normal serial communications by sending the motor nine upper case letter F (FFFFFFFFF). When the motor receives this, it will switch to communicate via the normal serial mode until the motor is power cycled again.
Default CM2 Modbus Programming:
Modbus Register Addresses
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) | Yes | No |
6 | 40007 | Motor Torque (?98) | Yes | No |
8 | 40009 | Motor Status (?99) | Yes | No |
686 | 40687 | Motor Temperature (?71) | Yes | No |
Variables
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 |
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 | No |
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 |
| 252 | 40253 | P26 | Yes | Yes |
| 254 | 40255 | P27 | Yes | Yes |
| 256 | 40257 | P28 | Yes | Yes |
| 258 | 40259 | P29 | Yes | Yes |
| 260 | 40261 | P30 | Yes | Yes |
| 262 | 40263 | P31 | Yes | Yes |
| 264 | 40265 | P32 | Yes | Yes |
| 266 | 40267 | P33 | Yes | Yes |
| 268 | 40269 | P34 | Yes | Yes |
| 270 | 40271 | P35 | Yes | Yes |
| 272 | 40273 | P36 | Yes | Yes |
| 274 | 40275 | P37 | Yes | Yes |
| 276 | 40277 | P38 | Yes | Yes |
| 278 | 40279 | P39 | Yes | Yes |
| 280 | 40281 | P40 | Yes | Yes |
| 282 | 40283 | P41 | Yes | Yes |
| 284 | 40285 | P42 | Yes | Yes |
| 286 | 40287 | P43 | Yes | Yes |
| 288 | 40289 | P44 | Yes | Yes |
| 290 | 40291 | P45 | Yes | Yes |
| 292 | 40293 | P46 | Yes | Yes |
| 294 | 40295 | P47 | Yes | Yes |
| 296 | 40297 | P48 | Yes | Yes |
| 298 | 40299 | P49 | Yes | Yes |
| 300 | 40301 | P50 | Yes | Yes |
| 302 | 40303 | P51 | Yes | Yes |
| 304 | 40305 | P52 | Yes | Yes |
| 306 | 40307 | P53 | Yes | Yes |
| 308 | 40309 | P54 | Yes | Yes |
| 310 | 40311 | P55 | Yes | Yes |
| 312 | 40313 | P56 | Yes | Yes |
| 314 | 40315 | P57 | Yes | Yes |
| 316 | 40317 | P58 | Yes | Yes |
| 318 | 40319 | P59 | Yes | Yes |
| 320 | 40321 | P60 | Yes | Yes |
| 322 | 40323 | P61 | Yes | Yes |
| 324 | 40325 | P62 | Yes | Yes |
| 326 | 40327 | P63 | Yes | Yes |
| 328 | 40329 | P64 | Yes | Yes |
| 330 | 40331 | P65 | Yes | Yes |
| 332 | 40333 | P66 | Yes | Yes |
| 334 | 40335 | P67 | Yes | Yes |
| 336 | 40337 | P68 | Yes | Yes |
| 338 | 40339 | P69 | Yes | Yes |
| 340 | 40341 | P70 | Yes | Yes |
| 342 | 40343 | P71 | Yes | Yes |
| 344 | 40345 | P72 | Yes | Yes |
| 346 | 40347 | P73 | Yes | Yes |
| 348 | 40349 | P74 | Yes | Yes |
| 350 | 40351 | P75 | Yes | Yes |
| 352 | 40353 | P76 | Yes | Yes |
| 354 | 40355 | P77 | Yes | Yes |
| 356 | 40357 | P78 | Yes | Yes |
| 358 | 40359 | P79 | Yes | Yes |
| 360 | 40361 | P80 | Yes | Yes |
| 362 | 40363 | P81 | Yes | Yes |
| 364 | 40365 | P82 | Yes | Yes |
| 366 | 40367 | P83 | Yes | Yes |
| 368 | 40369 | P84 | Yes | Yes |
| 370 | 40371 | P85 | Yes | Yes |
| 372 | 40373 | P86 | Yes | Yes |
| 374 | 40375 | P87 | Yes | Yes |
| 376 | 40377 | P88 | Yes | Yes |
| 378 | 40379 | P89 | Yes | Yes |
| 380 | 40381 | P90 | Yes | Yes |
| 382 | 40383 | P91 | Yes | Yes |
| 384 | 40385 | P92 | Yes | Yes |
| 386 | 40387 | P93 | Yes | Yes |
| 388 | 40389 | P94 | Yes | Yes |
| 390 | 40391 | P95 | Yes | Yes |
| 392 | 40393 | P96 | Yes | Yes |
| 394 | 40395 | P97 | Yes | Yes |
| 396 | 40397 | P98 | Yes | Yes |
| 398 | 40399 | P99 | Yes | Yes |
| 400 | 40401 | P100 | Yes | Yes |
| 402 | 40403 | P101 | Yes | Yes |
| 404 | 40405 | P102 | Yes | Yes |
| 406 | 40407 | P103 | Yes | Yes |
| 408 | 40409 | P104 | Yes | Yes |
| 410 | 40411 | P105 | Yes | Yes |
| 412 | 40413 | P106 | Yes | Yes |
| 414 | 40415 | P107 | Yes | Yes |
| 416 | 40417 | P108 | Yes | Yes |
| 418 | 40419 | P109 | Yes | Yes |
| 420 | 40421 | P110 | Yes | Yes |
| 422 | 40423 | P111 | Yes | Yes |
| 424 | 40425 | P112 | Yes | Yes |
| 426 | 40427 | P113 | Yes | Yes |
| 428 | 40429 | P114 | Yes | Yes |
| 430 | 40431 | P115 | Yes | Yes |
| 432 | 40433 | P116 | Yes | Yes |
| 434 | 40435 | P117 | Yes | Yes |
| 436 | 40437 | P118 | Yes | Yes |
| 438 | 40439 | P119 | Yes | Yes |
| 440 | 40441 | P120 | Yes | Yes |
| 442 | 40443 | P121 | Yes | Yes |
| 444 | 40445 | P122 | Yes | Yes |
| 446 | 40447 | P123 | Yes | Yes |
| 448 | 40449 | P124 | Yes | Yes |
| 450 | 40451 | P125 | Yes | Yes |
| 452 | 40453 | P126 | Yes | Yes |
| 454 | 40455 | P127 | Yes | Yes |
| 456 | 40457 | P128 | Yes | Yes |
| 458 | 40459 | P129 | Yes | Yes |
| 460 | 40461 | P130 | Yes | Yes |
| 462 | 40463 | P131 | Yes | Yes |
| 464 | 40465 | P132 | Yes | Yes |
| 466 | 40467 | P133 | Yes | Yes |
| 468 | 40469 | P134 | Yes | Yes |
| 470 | 40471 | P135 | Yes | Yes |
| 472 | 40473 | P136 | Yes | Yes |
| 474 | 40475 | P137 | Yes | Yes |
| 476 | 40477 | P138 | Yes | Yes |
| 478 | 40479 | P139 | Yes | Yes |
| 480 | 40481 | P140 | Yes | Yes |
| 482 | 40483 | P141 | Yes | Yes |
| 484 | 40485 | P142 | Yes | Yes |
| 486 | 40487 | P143 | Yes | Yes |
| 488 | 40489 | P144 | Yes | Yes |
| 490 | 40491 | P145 | Yes | Yes |
| 492 | 40493 | P146 | Yes | Yes |
| 494 | 40495 | P147 | Yes | Yes |
| 496 | 40497 | P148 | Yes | Yes |
| 498 | 40499 | P149 | Yes | Yes |
| 500 | 40501 | P150 | Yes | Yes |
| 502 | 40503 | P151 | Yes | Yes |
| 504 | 40505 | P152 | Yes | Yes |
| 506 | 40507 | P153 | Yes | Yes |
| 508 | 40509 | P154 | Yes | Yes |
| 510 | 40511 | P155 | Yes | Yes |
| 512 | 40513 | P156 | Yes | Yes |
| 514 | 40515 | P157 | Yes | Yes |
| 516 | 40517 | P158 | Yes | Yes |
| 518 | 40519 | P159 | Yes | Yes |
| 520 | 40521 | P160 | Yes | Yes |
| 522 | 40523 | P161 | Yes | Yes |
| 524 | 40525 | P162 | Yes | Yes |
| 526 | 40527 | P163 | Yes | Yes |
| 528 | 40529 | P164 | Yes | Yes |
| 530 | 40531 | P165 | Yes | Yes |
| 532 | 40533 | P166 | Yes | Yes |
| 534 | 40535 | P167 | Yes | Yes |
| 536 | 40537 | P168 | Yes | Yes |
| 538 | 40539 | P169 | Yes | Yes |
| 540 | 40541 | P170 | Yes | Yes |
| 542 | 40543 | P171 | Yes | Yes |
| 544 | 40545 | P172 | Yes | Yes |
| 546 | 40547 | P173 | Yes | Yes |
| 548 | 40549 | P174 | Yes | Yes |
| 550 | 40551 | P175 | Yes | Yes |
| 552 | 40553 | P176 | Yes | Yes |
| 554 | 40555 | P177 | Yes | Yes |
| 556 | 40557 | P178 | Yes | Yes |
| 558 | 40559 | P179 | Yes | Yes |
| 560 | 40561 | P180 | Yes | Yes |
| 562 | 40563 | P181 | Yes | Yes |
| 564 | 40565 | P182 | Yes | Yes |
| 566 | 40567 | P183 | Yes | Yes |
| 568 | 40569 | P184 | Yes | Yes |
| 570 | 40571 | P185 | Yes | Yes |
| 572 | 40573 | P186 | Yes | Yes |
| 574 | 40575 | P187 | Yes | Yes |
| 576 | 40577 | P188 | Yes | Yes |
| 578 | 40579 | P189 | Yes | Yes |
| 580 | 40581 | P190 | Yes | Yes |
| 582 | 40583 | P191 | Yes | Yes |
| 584 | 40585 | P192 | Yes | Yes |
| 586 | 40587 | P193 | Yes | Yes |
| 588 | 40589 | P194 | Yes | Yes |
| 590 | 40591 | P195 | Yes | Yes |
| 592 | 40593 | P196 | Yes | Yes |
| 594 | 40595 | P197 | Yes | Yes |
| 596 | 40597 | P198 | Yes | Yes |
| 598 | 40599 | P199 | Yes | Yes |
| 600 | 40601 | P200 | 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 |
H Gain Parameters
Holding Register Address | Motor Parameter | Read Access | Write Access | |
|---|---|---|---|---|
| Base Address | Modicon Address | |||
| 670 | 40671 | H0 | Yes | Yes |
| 672 | 40673 | H1 | Yes | Yes |
| 674 | 40675 | H2 | Yes | Yes |
| 676 | 40677 | H3 | Yes | Yes |
| 678 | 40679 | H4 | Yes | Yes |
| 680 | 40671 | H5 | Yes | Yes |
| 682 | 40673 | H6 | Yes | Yes |
| 684 | 40675 | H7 | Yes | Yes |
Timers
Holding Register Address | Motor Parameter | Read Access | Write Access | |
|---|---|---|---|---|
| Base Address | Modicon Address | |||
| 696 | 40697 | T0 | Yes | No |
| 698 | 40699 | T1 | Yes | Yes |
| 700 | 40701 | T2 | Yes | Yes |
| 702 | 40703 | T3 | Yes | Yes |
| 704 | 40705 | T4 | Yes | Yes |
| 706 | 40707 | T5 | Yes | Yes |
| 708 | 40709 | T6 | Yes | Yes |
| 710 | 40711 | T7 | Yes | Yes |
| 712 | 40713 | T8 | Yes | Yes |
K Parameters
Holding Register Address | Motor Parameter | Read Access | Write Access | |
|---|---|---|---|---|
| Base Address | Modicon Address | |||
| 752 | 40753 | K20 | Yes | Yes |
| 754 | 40755 | K21 | Yes | Yes |
| 756 | 40757 | K22 | Yes | Yes |
| 758 | 40759 | K23 | Yes | Yes |
| 760 | 40761 | K24 | Yes | Yes |
| 762 | 40763 | K25 | Yes | Yes |
| 764 | 40765 | K26 | Yes | Yes |
| 766 | 40767 | K27 | Yes | Yes |
| 768 | 40769 | K28 | Yes | Yes |
| 770 | 40771 | K29 | Yes | Yes |
| 772 | 40773 | K30 | Yes | Yes |
| 774 | 40775 | K31 | Yes | Yes |
| 776 | 40777 | K32 | Yes | Yes |
| 778 | 40779 | K33 | Yes | Yes |
| 780 | 40781 | K34 | Yes | Yes |
| 782 | 40783 | K35 | Yes | Yes |
| 784 | 40785 | K36 | Yes | Yes |
| 786 | 40787 | K37 | Yes | Yes |
| 788 | 40789 | K38 | Yes | Yes |
| 790 | 40791 | K39 | Yes | Yes |
| 792 | 40793 | K40 | Yes | Yes |
| 794 | 40795 | K41 | Yes | Yes |
| 796 | 40797 | K42 | Yes | Yes |
| 798 | 40799 | K43 | Yes | Yes |
| 800 | 40801 | K44 | Yes | Yes |
| 802 | 40803 | K45 | Yes | Yes |
| 804 | 40805 | K46 | Yes | Yes |
| 806 | 40807 | K47 | Yes | Yes |
| 808 | 40809 | K48 | Yes | Yes |
| 810 | 40811 | K49 | Yes | Yes |
| 812 | 40813 | K50 | Yes | Yes |
| 814 | 40815 | K51 | Yes | Yes |
| 816 | 40817 | K52 | Yes | Yes |
| 818 | 40819 | K53 | Yes | Yes |
| 820 | 40821 | K54 | Yes | Yes |
| 822 | 40823 | K55 | Yes | Yes |
| 824 | 40825 | K56 | Yes | Yes |
| 826 | 40827 | K57 | Yes | Yes |
| 828 | 40829 | K58 | Yes | Yes |
| 830 | 40831 | K59 | Yes | Yes |
| 832 | 40833 | K60 | Yes | Yes |
| 834 | 40835 | K61 | Yes | Yes |
| 836 | 40837 | K62 | Yes | Yes |
| 838 | 40839 | K63 | Yes | Yes |
| 840 | 40841 | K64 | Yes | Yes |
| 842 | 40843 | K65 | Yes | Yes |
| 844 | 40845 | K66 | Yes | Yes |
| 846 | 40847 | K67 | Yes | Yes |
| 848 | 40849 | K68 | Yes | Yes |
| 850 | 40851 | K69 | Yes | Yes |
| 852 | 40853 | K70 | Yes | Yes |
| 854 | 40855 | K71 | Yes | Yes |
| 856 | 40857 | K72 | Yes | Yes |
| 858 | 40859 | K73 | Yes | Yes |
| 860 | 40861 | K74 | Yes | Yes |
| 862 | 40863 | K75 | Yes | Yes |
| 864 | 40865 | K76 | Yes | Yes |
| 866 | 40867 | K77 | Yes | Yes |
| 868 | 40869 | K78 | Yes | Yes |
| 870 | 40871 | K79 | Yes | Yes |
| 872 | 40873 | K80 | Yes | Yes |
| 874 | 40875 | K81 | Yes | Yes |
| 876 | 40877 | K82 | Yes | Yes |
| 878 | 40879 | K83 | Yes | Yes |
| 880 | 40881 | K84 | Yes | Yes |
| 882 | 40883 | K85 | Yes | Yes |
| 884 | 40885 | K86 | Yes | Yes |
| 886 | 40887 | K87 | Yes | Yes |
| 888 | 40889 | K88 | Yes | Yes |
| 890 | 40891 | K89 | Yes | Yes |
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