Tables of Contents
Setup Information
- 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
- Use function code 0x10 for write single register. Function code 0x06 is not supported.
- All registers are 32-bit
- 32-bit word mapping is little endian
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)
Click on a link below to jump to the associated registers
- Motor Information
- Variables (V Registers)
- Direct Registers
- Inputs/Outputs
- Positions (P Registers)
- R Registers
- N Registers
- Speeds (S Registers)
- Accelerations (A Registers)
- Torque (M Registers)
- K Parameters
- H Gain Parameters
- Timers (T Registers)
- Feedback and Control Registers
Holding Register Address | Motor Parameter | Read Access | Write Access |
|---|---|---|---|
Motor Information | |||
40001 | Position Error (?95) | Yes | No |
40003 | Motor Position (?96) | Yes | No |
40005 | Motor Speed (?97) | Yes | No |
40007 | Motor Torque (?98) | Yes | No |
40009 | Motor Status (?99) | Yes | No |
Variables | |||
40011 | V0 | Yes | Yes |
40013 | V1 | Yes | Yes |
40015 | V2 | Yes | Yes |
40017 | V3 | Yes | Yes |
40019 | V4 | Yes | Yes |
40021 | V5 | Yes | Yes |
40023 | V6 | Yes | Yes |
40025 | V7 | Yes | Yes |
40027 | V8 | Yes | Yes |
40029 | V9 | Yes | Yes |
40031 | V10 | Yes | Yes |
40033 | V11 | Yes | Yes |
40035 | V12 | Yes | Yes |
40037 | V13 | Yes | Yes |
40039 | V14 | Yes | Yes |
40041 | V15 | Yes | Yes |
Direct Registers | |||
40043 | P0 | Yes | Yes |
40045 | S0 | Yes | Yes |
40047 | A0 | Yes | Yes |
40049 | V0 | Yes | Yes |
40051 | R0 | Yes | Yes |
40053 | M0 | Yes | Yes |
Inputs/Outputs | |||
40055 | Analog Output | Yes | Yes |
40057 | Input Status (?70) | Yes | No |
40059 | Output Status (?50) | Yes | Yes |
Positions | |||
40201 | P0 | Yes | Yes |
40203 | P1 | Yes | Yes |
40205 | P2 | Yes | Yes |
40207 | P3 | Yes | Yes |
40209 | P4 | Yes | Yes |
40211 | P5 | Yes | Yes |
40213 | P6 | Yes | Yes |
40215 | P7 | Yes | Yes |
40217 | P8 | Yes | Yes |
40219 | P9 | Yes | Yes |
40221 | P10 | Yes | Yes |
40223 | P11 | Yes | Yes |
40225 | P12 | Yes | Yes |
40227 | P13 | Yes | Yes |
40229 | P14 | Yes | Yes |
40231 | P15 | Yes | Yes |
40233 | P16 | Yes | Yes |
40235 | P17 | Yes | Yes |
40237 | P18 | Yes | Yes |
40239 | P19 | Yes | Yes |
40241 | P20 | Yes | Yes |
40243 | P21 | Yes | Yes |
40245 | P22 | Yes | Yes |
40247 | P23 | Yes | Yes |
40249 | P24 | Yes | Yes |
40251 | P25 | Yes | Yes |
R Registers | |||
40301 | R0 | Yes | Yes |
40303 | R1 | Yes | Yes |
40305 | R2 | Yes | Yes |
40307 | R3 | Yes | Yes |
40309 | R4 | Yes | Yes |
40311 | R5 | Yes | Yes |
40313 | R6 | Yes | Yes |
40315 | R7 | Yes | Yes |
40317 | P8 | Yes | Yes |
40319 | P9 | Yes | Yes |
40321 | R10 | Yes | Yes |
40323 | R11 | Yes | Yes |
40325 | R12 | Yes | Yes |
40327 | R13 | Yes | Yes |
40329 | R14 | Yes | Yes |
40331 | R15 | Yes | Yes |
40333 | R16 | Yes | Yes |
40335 | R17 | Yes | Yes |
40337 | R18 | Yes | Yes |
40339 | R19 | Yes | Yes |
40341 | R20 | Yes | Yes |
40343 | R21 | Yes | Yes |
40345 | R22 | Yes | Yes |
40347 | R23 | Yes | Yes |
40349 | R24 | Yes | Yes |
40351 | R25 | Yes | Yes |
N Registers | |||
40401 | N0 | Yes | Yes |
40403 | N1 | Yes | Yes |
40405 | N2 | Yes | Yes |
40407 | N3 | Yes | Yes |
40409 | N4 | Yes | Yes |
40411 | N5 | Yes | Yes |
40413 | N6 | Yes | Yes |
40415 | N7 | Yes | Yes |
40417 | N8 | Yes | Yes |
40419 | N9 | Yes | Yes |
40421 | N10 | Yes | Yes |
40423 | N11 | Yes | Yes |
40425 | N12 | Yes | Yes |
40427 | N13 | Yes | Yes |
40429 | N14 | Yes | Yes |
40431 | N15 | Yes | Yes |
40433 | N16 | Yes | Yes |
40435 | N17 | Yes | Yes |
40437 | N18 | Yes | Yes |
40439 | N19 | Yes | Yes |
40441 | N20 | Yes | Yes |
40443 | N21 | Yes | Yes |
40445 | N22 | Yes | Yes |
40447 | N23 | Yes | Yes |
40449 | N24 | Yes | Yes |
40451 | N25 | Yes | Yes |
Speeds | |||
40603 | S0 | Yes | Yes |
40605 | S1 | Yes | Yes |
40607 | S2 | Yes | Yes |
40609 | S3 | Yes | Yes |
40611 | S4 | Yes | Yes |
40613 | S5 | Yes | Yes |
40615 | S6 | Yes | Yes |
40617 | S7 | Yes | Yes |
40619 | S8 | Yes | Yes |
40621 | S9 | Yes | Yes |
40623 | S10 | Yes | Yes |
40625 | S11 | Yes | Yes |
40627 | S12 | Yes | Yes |
40629 | S13 | Yes | Yes |
40631 | S14 | Yes | Yes |
40633 | S15 | Yes | Yes |
Accelerations | |||
40635 | A0 | Yes | Yes |
40637 | A1 | Yes | Yes |
40639 | A2 | Yes | Yes |
40641 | A3 | Yes | Yes |
40643 | A4 | Yes | Yes |
40645 | A5 | Yes | Yes |
40647 | A6 | Yes | Yes |
40649 | A7 | Yes | Yes |
40651 | A8 | Yes | Yes |
Torques | |||
40653 | M0 | Yes | Yes |
40655 | M1 | Yes | Yes |
40657 | M2 | Yes | Yes |
40659 | M3 | Yes | Yes |
40661 | M4 | Yes | Yes |
40663 | M5 | Yes | Yes |
40665 | M6 | Yes | Yes |
40667 | M7 | Yes | Yes |
40669 | M8 | Yes | Yes |
K Parameters | |||
40671 | RESERVED | Yes | No |
40673 | K1 | Yes | No |
40675 | K2 | Yes | No |
40677 | K3 | Yes | No |
40679 | K4 | Yes | No |
40681 | K5 | Yes | No |
40683 | K6 | Yes | No |
40685 | K7 | Yes | No |
40687 | K8 | Yes | No |
40689 | K9 | Yes | No |
40691 | K10 | Yes | No |
40693 | K11 | Yes | No |
40695 | K12 | Yes | No |
40697 | K13 | Yes | No |
40699 | K14 | Yes | No |
40701 | K15 | Yes | No |
40703 | K16 | Yes | No |
40705 | K17 | Yes | No |
40707 | K18 | Yes | No |
40709 | K19 | Yes | No |
40711 | K20 | Yes | Yes |
40713 | K21 | Yes | Yes |
40715 | K22 | Yes | Yes |
40717 | K23 | Yes | Yes |
40719 | K24 | Yes | Yes |
40721 | K25 | Yes | Yes |
40723 | K26 | Yes | Yes |
40725 | K27 | Yes | Yes |
40727 | K28 | Yes | Yes |
40729 | K29 | Yes | Yes |
40731 | K30 | Yes | Yes |
40733 | K31 | Yes | Yes |
40735 | K32 | Yes | Yes |
40737 | K33 | Yes | Yes |
40739 | K34 | Yes | Yes |
40741 | K35 | Yes | Yes |
40743 | K36 | Yes | Yes |
40745 | K37 | Yes | Yes |
40747 | K38 | Yes | Yes |
40749 | K39 | Yes | Yes |
40751 | K40 | Yes | Yes |
40753 | K41 | Yes | Yes |
40755 | K42 | Yes | Yes |
40757 | K43 | Yes | Yes |
40759 | K44 | Yes | Yes |
40761 | K45 | Yes | Yes |
40763 | K46 | Yes | Yes |
40765 | K47 | Yes | Yes |
40767 | K48 | Yes | Yes |
40769 | K49 | Yes | Yes |
40771 | K50 | Yes | Yes |
40773 | K51 | Yes | Yes |
40775 | K52 | Yes | Yes |
40777 | K53 | Yes | Yes |
40779 | K54 | Yes | Yes |
40781 | K55 | Yes | Yes |
40783 | K56 | Yes | Yes |
40785 | K57 | Yes | Yes |
40787 | K58 | Yes | Yes |
40789 | K59 | Yes | Yes |
40791 | K60 | Yes | Yes |
40793 | K61 | Yes | Yes |
40795 | K62 | Yes | Yes |
40797 | K63 | Yes | Yes |
40799 | K64 | Yes | Yes |
40801 | K65 | Yes | Yes |
40803 | K66 | Yes | Yes |
40805 | K67 | Yes | Yes |
40807 | K68 | Yes | Yes |
40809 | K69 | Yes | Yes |
40811 | K70 | Yes | Yes |
40813 | K71 | Yes | Yes |
40815 | K72 | Yes | Yes |
40817 | K73 | Yes | Yes |
40819 | K74 | Yes | Yes |
40821 | K75 | Yes | Yes |
40823 | K76 | Yes | Yes |
40825 | K77 | Yes | Yes |
40827 | K78 | Yes | Yes |
40829 | K79 | Yes | Yes |
40831 | K80 | Yes | Yes |
40833 | K81 | Yes | Yes |
40835 | K82 | Yes | Yes |
40837 | K83 | Yes | Yes |
40839 | K84 | Yes | Yes |
40841 | K85 | Yes | Yes |
40843 | K86 | Yes | Yes |
40845 | K87 | Yes | Yes |
40847 | K88 | Yes | Yes |
40849 | K89 | Yes | Yes |
40875 | RESERVED | No | Yes |
H Gain Parameters | |||
40901 | H0 | Yes | Yes |
40903 | H1 | Yes | Yes |
40905 | H2 | Yes | Yes |
40907 | H3 | Yes | Yes |
40909 | H4 | Yes | Yes |
40911 | H5 | Yes | Yes |
40913 | H6 | Yes | Yes |
40915 | H7 | Yes | Yes |
Timers | |||
40951 | T0 | Yes | No |
40953 | T1 | Yes | Yes |
40955 | T2 | Yes | Yes |
40957 | T3 | Yes | Yes |
40959 | T4 | Yes | Yes |
40961 | T5 | Yes | Yes |
40963 | T6 | Yes | Yes |
40965 | T7 | Yes | Yes |
| 40967 | T8 | Yes | Yes |
Feedback and Control Registers | |||
| 41001 | CPUTime | Yes | No |
| 41003 | ActualPosition | Yes | No |
| 41005 | ActualTargetPosition | Yes | No |
| 41007 | MotorStatus | Yes | No |
| 41009 | ActualRatedCurrent | Yes | No |
| 41011 | ActualOverloadTorque | Yes | No |
| 41013 | AnalogIn | Yes | No |
| 41015 | DigitalIn | Yes | No |
| 41017 | Temperature | Yes | No |
| 41019 | DCVoltage | Yes | No |
| 41021 | N/A | Yes | No |
| 41023 | ModeOfOperationDisplay | Yes | No |
| 41025 | N/A | Yes | No |
| 41027 | ActualSpeed | Yes | No |
| 41029 | TargetPosition | Yes | Yes |
| 41031 | TargetSpeed | Yes | Yes |
| 41033 | TargetTorque | Yes | Yes |
| 41035 | TargetAcceleration | Yes | Yes |
| 41037 | TargetDeceleration | Yes | Yes |
| 41039 | Controlword | Yes | Yes |
| 41041 | ModeOfOperation | Yes | Yes |
| 41043 | Digital_IO | Yes | Yes |
Overview
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