During the period of Early Modern English, modals were mainly used as auxiliary verbs. Thus, they always occurred in connection with a full verb.
One exception is the modal "can". It could also stand alone. The following modals are typical EME modals:
can, could; dare, durst; may, might; shall, should; will, would; must; need; ought
Example: "She is a Papist, she need not trouble her head to answer it." ([HC] Oates 83 Ci)