For purposes of this example, we will change the TCP/IP settings to operate within the default network for the LMD, which is in the address space.

  1. Ensure your computer “Local Area Connection” port matches the IP Address structure of the motor you wish to upgrade. All Lexium MDrive motors ship from the factory at a default of See This Tutorial.
  2. Launch the Ethernet Interface utility from the Lexium Software Suite screen.
  3. Go to the “Adapter (NIC)” drop-down in the upper left and select the correct the adapter the LMD is connected to. If followed instructions above then the selected should be
    • If it does not appear hit the IP address is not present click the “Refresh” button next to the drop-down. Choose the connected adapter and click “Select”. If done successfully the network address should show above the refresh and select buttons.
  4. To connect to a new motor straight from the factory, the default IP addresses for all our Ethernet TCP/IP products is192.168.33.1. Set the Port to 503, and have the TCP button selected. Click “Connect”.
  5.  There will be two connected status indicators. The upper right “Connect” button will be green and change to “Disconnect”. There will also be a message on the status bar indicating the selected NIC adapter is connected to the Motor IP address.
  6. Click the “Read All” button to populate the fields.
  7. Simply change the IP address and then hit the “Write” button. In this scenario, the IP address is changed from to If you were commissioning the device into a machine you would set it to the address defining its target location in the machine.
  8. After clicking the “Write” button, the string “!OK” will be appended to the parameter block title. There is no message/notification/prompt that pops asking you if you wish to change the motors IP address.
    • Follow the same steps if you need to modify the subnet mask or add a gateway address.
  9. Click the “Disconnect” button.
  10. Cycle power to the Lexium MDrive by removing power from the AC side of the supply.

At this point, the device would be ready to be placed in a machine. You may may verify by reconnecting to the LMD using the new IP address, providing the network adapter is configured to match the target network parameters.

Step-by-step: setting up your PC

  1. Ensure your computer “Local Area Connection” port matches the IP Address structure of the motor you wish to upgrade. All Lexium MDrive motors ship from the factory at a default of
  2. If you need assistance in setting up your IP settings to be able to communicate continue reading otherwise scroll down to “Configuring the Motor’s IP Address”.
  3. If the LMD motor has already been changed to a different address, then the following steps will differ slightly. Primarily, the IP address and the subnet mask, ensure they are within the same parameters as the motor.
  4. On a Windows 7 computer, you can access the Local Area Connection Properties by doing the following:
  5. From the “Start” Icon in the lower left-hand corner of your desktop, locate your Control Panel. If you do not see the control panel button, simply type control panel after hitting the windows key.
  6. Open the Control Panel and locate the “Network Sharing Center”
  7. Open the Network Sharing Center and select “Change Adapter Settings”
  8. Locate the “Local Area Connection” and double-click.
  9. Double click on “Internet Protocol Version 4 (TCP/IPv4)
  10. Select the “Use the Following IP Address” radio button and enter the following information: With xxx being any value between 0-255 except for 1.
  11. After entering in the above IP Address and Subnet Mask information select “OK”
  12. You have now configured your computer to talk to other devices on a network that has an IP structure that starts with 192.168.x.x


  1. Launch Lexium MDrive Software Suite.
  2. Launch Lexium MDrive Ethernet Interface.
  3. Select appropriate NIC adapter from the drop down menu and press the “Select” button. For the purpose of this example NIC adapter was used.
  4. Enter the IP address in the upper right corner and press “Connect” to establish communication. For the purpose of this example, the motor IP address was
  5. Press “Read All” to test communication and verify application protocol.
  6. The default application protocol for the Lexium MDrive is MODBUS/TCP. In order to create/save user-defined data types, we must change the application protocol from MODBUS/TCP to Ethernet/IP. Please select Ethernet/IP from the Application Protocol drop-down menu and press the “Set”  button.
  7. Press the “OK” button from the Fieldbus application change message and cycle power to the unit from the AC side of the power supply or press the “Reset Drive”   button to save
    the application protocol change.
  8. Press the “Connect” button in the upper right-hand corner to re-establish communications.
  9. Press the “Read All” button to verify that the application protocol change was successfully saved.
  10. Select E.I.P tab to configure implicit inputs and implicit outputs.
  11. Press the “Get”  button to receive the motors current implicit input and implicit output configuration.
  12. Modify the implicit input and implicit output configuration as necessary. Press “Set” after changes have been made.
  13. To create the user-defined data types that can be imported into RS Logix 5000, select File, then select “Save EIP User-Defined Data Types”
  14. Choose the location to save the implicit output user-defined data type and the implicit input user-defined data type. Please note it is not recommended to change the file name from the default value.
  15. Disconnect and Close the Lexium MDrive Ethernet Interface.


Ethernet/IP Communications examples for RS Logix 5000 to Run on a CompactLogix L23E PLC These two examples are done using version 17 of RS Logix 5000.  Both examples use implicit Messaging as well as Explicit Messaging.  Example 1 is meant for a minimally configured LMDOE42x while the larger one is configured for an LMDCE57x or LMDCE85x.  Their function does not vary when running on an IP-65 drive with M12 circular connectors or an IP-20 drive with pluggable terminal strips.  The logic is designed to show the functions in a way that allows the toggling of a single bit while providing a place in the rung to enter/monitor the data being sent/received.


  1. MODBUS/TCP (Connect to port 502)
    MODBUS/TCP is a standard protocol designed for multidrop networks based on a client-server architecture communicating over TCP/IP.
  2. MCode/TCP (Connect to port 503)
    MCode/TCP is a protocol based upon the MDrive programming language using 1 and two character mnemonics.

Depending on the port selected (ip.address:502 or ip.address:503) the device operation will differ significantly. When connected to port 502 the device will respond to standard MODBUS/TCP function code formats. Commands will map to register addresses and follow the MODBUS/TCP message format. Most importantly, MODBUS/TCP follows a client-server networking model. The device is able to receive commands in immediate mode only.

When connected to port 503, the device will operate like the RS-422/485 products with the exception that party mode commands and features are disabled, as multi-drop communications are addressed via IP.


Networking model Server (Client-Server network) Programmable node
Port 502 503
Command format 6 standard function codes, 2 mfg specific function codes Standard MCode mnemonics
Programmable No Yes – Standard MCode program format
Communication modes Immediate mode functions only Immediate and program mode
Complexity Complex Simple 1 and 2 character mnemonics
Compatibility with programs from RS-422/485 MDrive products None Fully compatible with non-party mode programs.
Recommended use Use in systems unified by the MODBUS protocol. Use in systems where multiple device types communicating using the same protocol isn’t required.

MCode/TCP (Port 503)

MCode is the programming and control language utilized by MDrive Motion Control products developed to communicate over RS-422/485. MCode/TCP is MCode communicating over TCP/IP. The language consists of an extensive command set made up of 1 and 2 character mnemonics.

When connected to ip.address:503 the MDrive will automatically be in MCode/TCP mode. In this mode the device is fully programmable and will operate identical to the RS-422/485 products with the exception that multidrop communication is accomplished using individual IP addresses instead of party-mode names. Global commands are sent using the UDP protocol to address

The key advantages of MCode/TCP:

  • Ease of connection using commonly available RJ-45 connectors and CAT 5 cabling.
  • Elimination of complicated party mode communication wiring and configuration.
  • Higher speed, less error prone than RS-422/485.

MODBUS/TCP (Port 502)

MODBUS is a communications interface developed in 1979 by PLC manufacturer Modicon, Inc. (now a brand of Schneider Electric). MODBUS is designed for multidrop networks based on a master-client architecture.

The availability of devices using MODBUS has made it a de facto standard for industrial communications network. Modbus was originally developed for use with serial communications interfaces such as RS-232 and RS-485, MODBUS communications over TCP/IP has become a standard because of the ease of interface and simpler message format

When connected to ip.address:502 the MDrive will automatically respond to MODBUS/TCP protocol function codes only. Note that when operating the MDrive using MODBUS/TCP it is not programmable and can only use immediate command functions.

MODBUS/TCP message format

Protocol Data Unit (PDU)

The MDrive command information is contained in the PDU and consists of the function code. The data block will contain the address of the register which relates to an MDrive command, and the data of the command in hexadecimal format. MODBUS/TCP communications are in Big Endian form (Most Significant Byte first (MSB))

Supported function codes

dec hex function
Device ID
43/14 0x2B/0x0E Read device identification
Public Function Codes
01 0x01 Read coils (digital outputs)
02 0x02 Read digital inputs
05 0x05 Write single coil (digital output)
03 0x03 Read holding register
16 0x10 Write multiple registers
Manufacturer Specific Function Codes
65 0x41 Read I/O and trip configuration and parameters
66 0x42 Write I/O and trip configuration and parameters, enter upgrade mode.

MODBUS/TCP resources

Allowing resident MCode program scripts to function in protocol EtherNet/IP with Lexium MDrive Ethernet devices that include TCP/IP application version and up, is now available.

Lexium MDrive Ethernet TCP/IP Configuration Utility contains an “E.I.P.” tab with a frame in the lower left-hand corner labeled “I/O Implicit connection test”. Two Boolean entities are described as follows on their function regarding the enabling of resident program operation with EIP.

To allow resident MCode program scripts to run:

  1. Turn off I/O implicit writes.
    • If ‘Halt Motion’ is ON, an ‘EX 1’ will be issued on every valid EIP implicit I/O connection and an ‘Esc’ will be issued on an I/O connection lost.
    • If ‘Halt Motion’ is OFF, then no ‘EX 1’ or ‘Esc’ commands are issued allowing an ‘SU’ label to be used in an MCode script.
  2. Observe the following closely in your MCode script to be executed via EIP:
    • Always use “H 1000” on the first line following all “SU” labels or methods residing @ address “1”.
    • Do not use or save any “PR”, “L” or “EM” mnemonics in resident programs or saved parameter statements.The following additions have been added to the explicit EIP class 0x64
  3. The following additions have been added to the explicit EIP class 0x64:
    Access Class Instance Attrib Data type Mnemonic
    WO 0x64 0x01 0x06 MDRV_STRING EX
    RO 0x64 0x01 0x07 MDRV_BIT BY
    RW  0x64 0x01 0x08 MDRV_I32 V1
    RW 0x64 0x01 0x09 MDRV_I32 V2
    RW 0x64 0x01 0x0A MDRV_I32 V3
    RW 0x64 0x01 0x0B MDRV_I32 V4
    RW  0x64 0x01 0x0C MDRV_I32 V5
    RW 0x64 0x01  0x0D  DRV_I32 V6
    RW 0x64 0x01  0x0E MDRV_I32  V7
    RW 0x64 0x01 0x0F MDRV_I32 V8

    Note variables V1 through V8 need to be defined as user variables in order to be utilized.

When upgrading a system component from MDrive to Lexium MDrive the key difference in programming is in how the I/O points are configured and used.. In the MDrive the non-isolated I/O points may be programmed as inputs or outputs.

In the Lexium MDrive, the I/O points are fixed as inputs and outputs. In MDrive programs, the sink/source state of the I/O point is set in the user program. In the Lexium MDrive the sink/source state is set by the bias of the Reference input.

The other key difference is the Analog Input. In the MDrive, the input is 10-bit, with a range of 0 to 1024. The Lexium MDrive has a 12-bit analog input with a range of 0 to 4096. Programs not using I/O can generally be loaded onto the device and work without modification. The sample program we will convert uses an input to trigger a routine that will slew the axis a multiple of the analog input and one output set up as a moving output. The program is labeled as SU, so that it will execute on power up or reset.

Program Code (MDrive MCode)

Below is the MDrive MCode program. The bold highlighted lines of code will need to be changed in order to port the program over to a Lexium Motion product.

The first point we will change is I/O #1

Modify the Input

MDrivePlus Lexium MDrive
S1=0,1 Is=1,0

The S1—S4 command has been changed to Is for input setup and Os for output setup In the example, I/O #1 is set as a general purpose input with a sinking interface. To modify the command to function with the Lexium MDrive, The Is (Input setup) command is used by entering Is=[input number],[input function]. Is=1,0 then sets input 1 as a gen- eral purpose input. The available input functions are listed below:

Input Function Table
0 General purpose input
1 Homing function, will function as specified by the homing command (HM).
2 Limit +, will function as specified by the limit command (LM).
3 Limit —, will function as specified by the limit command (LM).
4 G0 input, will run program at address 1 upon activation.
5 Soft stop, stops motion with deceleration and halts program execution. If program is paused (PS), input is ignored.
6 Pause, pause/resume program with motion
7 Jog +, Will Jog motor in the positive direction at Max. Velocity (VM). The Jog Enable (JE) Flag must be set for this to function.
8 Jog —, Will Jog motor in the negative direction at max. velocity (VM). The jog enable (JE) flag must be set for this to function.
11 Reset, When set as RESET input, then the action is equivalent to a ^C entered into a terminal. Note: If setting the input to sourcing, active true, ground the input first or a reset will occur.
12 Capture input will operate with the Trip Capture (TC) trip to run a subroutine when active NOTE: THIS FUNCTION APPLIES TO INPUT 1 ONLY!

Modify the Output

In this program, an output is setup to be active during a move. To change this to function with a Lexium MDrive we will use the Os (output setup) command.

MDrivePlus Lexium MDrive
S2=17,1 Os=1,17

As with the input, the Os command replaces the S2 command in the form of Os=[outut number],[function], in this case Os=1,17 The available output functions are listed on the next page.

Output Function Table
16 USER: General purpose user output.
17 MOVING: output will be active while the axis is in motion.
18 ERROR: will be active when a software error occurs.
19 STALL: Indicates a stall has been detected [Closed loop models only].
20 VCHANGE: velocity changing indicates the axis is accelerating or decelerating.
21 LOCKED ROTOR: indicates the rotor is in a locked state [Closed loop models only].
23 MOVINGPOS: indicates the axis is moving to a specified position.
24 HMT ACTIVE: indicates when HMT is active [Closed loop models only].
25 MAKE UP ACTIVE: indicates when HMT is making up steps [Closed loop models only].
28 TRIP OUT, applies to output 3 only, active low only. Os=3,28,0
29 ATTENTION: indicates a status or statuses as configured by the AO variable.

Modify the Analog Input

To setup the Analog input we will return to the Is (input setup) command.

MDrivePlus Lexium MDrive
S5=9,0 Is=5,9,0

To set the analog input to voltage mode, 0 to +5VDC level the Is command is used as IS=5, [mode],[level] or Is=5,9,0 The parameters for the IS=5 command are listed below.

Analog input mode table
9 Voltage mode
10 Current mode
Analog level table
0 0 to +5V (voltage mode), 0 to 20 mA (current mode)
1 0 to 10V (voltage mode), 4 to 20 mA (current mode)

Modify the Analog Input scaling

The analog input on the Lexium MDrive is 12-bit instead of ten, to set the program to have the same scale factor we need to divide the scale by 4

MDrivePlus Lexium MDrive
SL=I5*100 SL=I5*25

This will give us the same slew rate as with the MDrivePlus.


Enable Telnet Client

  1. In order to recover the MDrive or LMD from this state you will need to enable your “Telnet Client” on your computer. By default, with Windows based systems, this client is disabled.
  2. Open the Widows Control Panel
  3. Select “Programs and Features”:
  4. Once in “Programs and Features”, select “Turn Windows features on or off”
  5. In the “Windows Features” screen, scroll down to “Telnet Client” and select its checkbox:
Ethernet TCP/IP
Figure 1: Enable Telnet Client

Local Area Connection Properties for Motor IP Address Structure

  1. When upgrading Ethernet or Drive firmware with an MDrive or LMD motor, you must have your computer’s Local Area Connection Properties set properly in order to complete the upgrade.
  2. On a Windows 7, 64 bit computer, you can access the Local Area Connection Properties by doing the following:
    1. From the “Start” Icon in the lower left hand corner of your desktop, locate your Control Panel
    2. Open the Control Panel and locate the “Network Sharing Center”
    3. Open the Network Sharing Center and select “Change Adapter Settings”
    4. Locate the “Local Area Connection” and double click
    5. Select “Properties” from the “Local Area Connection Status” pop-up box
      Edit TCP/IP settings
      Figure 2: Edit TCP/IP Settings
    6. Double click on “Internet Protocol Version 4 (TCP/IPv4)
    7. Select the “Use The Following IP Address” radio button and enter the following information:
      IP Address
      Figure 3: Set IP Address for NIC
    8. After entering in the above IP Address and Subnet Mask information select “OK”
    9. You have now configured your computer to talk to other devices on a network that have an IP structure that starts with 192.168

Begin drive recovery process

  1. In order to recover the MDrive or LMD from its faulted mode you must first launch the recently enabled Telnet Client by going to the Windows “Start” icon and typing “Telnet” into the command prompt.
  2. Once you have typed Telnet, you should see a “Telnet” program in the “Programs” section.
    Telnet Client
    Figure 4: Telnet Client
  3. Once you have selected the “Telnet” program you should see the following on your desktop:
    Microsoft Windows Telnet Client
    Figure 5: Microsoft Windows Telnet Client
  4. After the telnet prompt enter: open then press the “Enter” key.
  5. You should see the following:
    SEM Ethernet TCP/IP information
    Figure 6: SEM Ethernet TCP/IP information
  6. After the SEM> prompt enter: set tftp then press the “Enter” key. The is the IP of the machine running the TCP/IP configuration utility that we are attempting the Ethernet firmware upgrade with.
  7. At the SEM> now type save then press the “Enter” key. You should see the following through the Telnet Client:
    TCP/IP Settings
    Figure 7: Set and save TCP/IP Settings via Telnet
  8. Do not close the Telnet Client window; we will be using it further shortly.
  9. Insure that the previous TCP/IP configuration utility session had been closed and then open a fresh instance of the TCP/IP configuration utility.
  10. Upon opening the TCP/IP Configuration Utility, locate the “View” menu on the top of the utility:
    TFTP Server
    Figure 8: Open TFTP Server
  11. Once you have selected “TFTP Server” your screen should look like the following:
    Figure 9: Select firmware file
  12. Use the “Browse” button to insure you have pointed the configuration tool to the location of the  proper firmware upgrade file for the correct drive type:
    Firmware upgrade
    Figure 10: Browse to select upgrade file
  13. For this example we are working with an LMD drive type so a selection should be made for the file: “LexiumMdrive_EIP.elf.S19”
    Firmware Upgrade
    Figure 11: Select firmware upgrade file
  14. Once the file has been selected, you now will return to the TFTP Server window.
  15. In the Telnet Client window, after the SEM> prompt, enter: reset then press the “Enter” key. Within a few moments the upgrade process will start. Once the process has started you will see the following in the TFTP Server window of the TCP/IP configuration utility:
    Firmware upgrade
    Figure 12: Ethernet firmware upgrade in process
  16. Follow the instructions on the screen upgrade complete dialog by cycling power to the drive to allow the power to completely drain from the drive before reapplying. The firmware upgrade is now complete and the drive is ready for IP address and EIP configuration settings changes per your application.
    Firmware Upgrade
    Figure 13: Upgrade process complete!
  17. You may also now close the Telnet Client on your desktop..

Configure Windows Firewall to unblock UDP Port 69

Create an Inbound Rule

  1. Open the Windows Control Panel
  2. Open Windows Firewall
  3. Click “Advanced Settings.”
    Windows Firewall advanced settings
    Figure 1: Windows Firewall advanced settings
  4. On the Advanced Settings screen, select “Inbound Rules.”
    Windows Firewall Inbound Rules
    Figure 2: Windows Firewall Inbound Rules
  5. On the right column of the screen, select “New Rule.” The New Inbound Rule Wizard dialog will open.
  6. Select the radio selector labeled “Port” to define the Rule Type as applicable to a port. Click Next.
    Windows Firewall Inbound Rules
    Figure 3: Windows Firewall Inbound Rules – Rule Type
  7. On the Protocols and Ports dialog, activate the radio selector labeled “UDP”
  8. Select the option “Specific Local Ports.” In the text field, enter the number “69”. Click Next.
    Windows Firewall Configuration
    Figure 4: Select UDP Port 69
  9. On the Action dialog, select the option “Allow the connection” Click Next.
    Windows Firewall Configuration
    Figure 5: Allow the connection for the new inbound rule
  10. On the Profile dialog, check the networks to which this rule will apply. Click Next.
    Windows Firewall Configuration
    Figure 6: Select applicable profiles
  11. Name the rule “SEM Ethernet Upgrade.” Click Finish.
    Windows Firewall Configuration
    Figure 7: Name inbound rule
  12. In Windows Firewall Advanced settings screen the new rule will show as active.
    Windows Firewall Configuration
    Figure 8: Activate rule

Create an Outbound Rule

  1. On the Widows Firewall Advanced Settings screen, select Outbound Rules.
    On the right column Click “New Rule.”
  2. Repeat the steps for the Outbound Rule Wizard as followed in creating the Inbound Rule, configuring the firewall to allow outbound traffic on UDP Port 69.
  3. You may now continue with the process of upgrading Ethernet firmware. When complete SEM recommends that you disable these rules.


Lexium MDrive Setup

  1. Locate the Lexium MDrive Software Suite for download at the below link:
  2. Once installed on your PC, open the Lexium MDrive Software Suite and select “Install Lexium MDrive Ethernet Interface”. This will install the TCP/IP utility within the Lexium MDrive Software Suite for use.
  3. After installing this utility, a green check mark will be placed by the new command button that states “Launch Lexium MDrive Ethernet Interface”. Select the command button with a single mouse-click. You should now see the Ethernet Interface software utility launch.
  4. Select “Refresh” in the upper left hand corner of the screen to insure your “Adapter (NIC)” list is current with your PC settings:
    Ethernet Configuration Utility
    Figure 1: Refresh adapter list
  5. After selecting the proper “Adapter (NIC)” IP address that your PC is set up to communicate with the Lexium MDrive in the drop down box provided, choose the “Select” button to the right of “Refresh” to solidify the selection. You should see a similar recognition as the image below:
    Ethernet Configuration Utility
    Figure 2: Select Adapter (NIC) IP
  6. We now need to physically connect to the motor to insure the application protocol over Ethernet is set for Modbus TCP/IP. To do this, locate the “Connection” area in the upper right hand side of the TCP/IP utility and enter your IP address in the “Connection” box. For a first time Lexium MDrive user, all of our drives come from the factory with an IP address of Once the IP address has been entered, choose “Connect” to the right of the “Connection” box where you entered the device IP address. You should have a similar screen as shown in Figure 3 below:
    Ethernet Configuration Utility
    Figure 3: Select Lexium MDrive IP address
  7. If you are successfully connected to the LMD device you will also see confirmation in the center of the TCP/IP utility at the bottom of the screen. Figure 4 below shows a successful connection between (NIC) and LMD device
    Ethernet Configuration Utility
    Figure 4: Successful connection to the Lexium product
  8. We now are able to read and write values for the connected device to configure it properly in your network. For this example we are going to keep the default IP address of and insure the Ethernet Application Protocol is set to Modbus TCP/IP. By selecting “Read All” in the center of the TCP/IP utility, you can see what has been set in the device you are working with:
    Ethernet Configuration Utility
    Figure 5: Select the Modbus/TCP application protocol
  9. In this case, the motor has already been set to “Modbus/TCP” in the Application Protocol section, and the device IP address has been set to If you wished to make changes, you simply would edit the proper fields, select “Write” (or “Set” for the Application Protocol), and then cycle power to the drive so the updated information can take effect in the device.
  10. Once you have your IP settings and Application Protocol selected, you now can proceed to the Proface GP-Pro EX software to set up your HMI to talk to the LMD device.

HMI Setup

  1. Open EasyBuilder 5000 Software and create a “New” project. Once prompted, select the proper model of HMI you are using. For this application we are using the HMI5070TH display:
    Maple Systems HMI EasyBuilder
    Figure 5: EasyBuilder 5000 setup dialog

    Once this selection has been made, EasyBuilder 5000 will open up to the “System Parameters” utility that will allow you to create, select, and edit different devices for communication with the HMI.

  2. In the “System Parameters” section of EasyBuilder 5000, select the “New” button in order to create a new device for the HMI to communicate with:
    Maple Systems HMI EasyBuilder
    Figure 6: Create new device
  3. The “Device Properties” box will now be active, within this utility you will setup the properties for the Lexium MDrive you are communicating with.
    1. First give the Device a name. In this example we are naming the device “Lexium MDrive”
    2. Insure you have selected “PLC” as the Device type, and given it a “Local” location
    3. Set the PLC Type to “Modbus TCP/IP Master”
    4. Set PLC I/F to “Ethernet”
    5. Select the “IP” settings tab and configure the IP address for the device. In this example we are using the Lexium MDrive default IP address of
    6. All other default settings in the Device Properties utility work fine for this example, a sample image of these settings is below:
      Maple Systems HMI EasyBuilder
      Figure 7: Lexium MDrive Device Properies
  4. Once these communication settings are set, you then can begin to build your project as you see fit. The only other critical piece of information to realize when working with the Maple Systems device is that the register mapping starts at a value of “1” and we (Schneider Electric Motion) start at a value of “0”. Because of this, when working with our Modbus register map, you just need to add a value of 1 to any starting address for the register you want to access. For example, our slewing command, SL, has an address of 120 in our map. For the Maple Systems device you would want to select the starting address to be 121. See the example of this below for a “Numeric Input” device allowing the user to enter a Slew speed:
    Maple Systems HMI EasyBuilder
    Figure 8: Configuring an input object

Note about Modbus registers

Also worth noting from the example above, our Modbus registers are “holding” registers and are denoted by the “4x” address type in the Maple Interface software. Our registers can be 1, 2, or 4 bytes in length. If I am reading or writing a value for run current for example, you would want to select the “16-bit Unsigned” Data format for the information to be read back or set (RC can only be a value between 1-100 in terms of percentage). If I were looking to input a slewing velocity, or read a position register, it will be much longer so the “32-bit Signed” Data format would need to be selected. If it is a longer value than it is a double word and the address type should be 4x_Double as opposed to 4x. See the numeric format for the slewing example below:

Maple Systems HMI EasyBuilder
Figure 9: Define input object numeric properties