Coarse-grained reconfigurable architectures have become increasingly important in recent years. Automatic design or compilation tools are essential to their success. In this paper, we present a modulo scheduling algorithm to exploit loop-level parallelism for coarse-grained reconfigurable architectures. This algorithm is a key part of our Dynamically Reconfigurable Embedded Systems Compiler (DRESC). It is capable of solving placement, scheduling and routing of operations simultaneously in a modulo-constrained 3D space and uses an abstract architecture representation to model a wide class of coarse-grained architectures. The experimental results show high performance and efficient resource utilization on tested kernels.