Connections - NLi080Q or NLi080X

CANOPEN and MODBUS RTU - DOUBLE CONNECTOR

NLi080Q/X is equipped with double connectors Hirose HR10A-10P-12S, the cable DA00002011 from motor and the PLC has the following configuration on the D-SUB 15 male connector.

cable_da00002011.jpg

CONNECTOR CLOSE TO LED POSITION

PIN	SIGNAL	DESCRIPTION	FUNCTION
1	NC	NC
2	CAN_H	CAN HIGH
3	GND	Ground
4	+24VDC	Power
5	+24VDC	Power
6	GND	Ground
7	GND	Ground
8	CAN_H	CAN HIGH
9	CAN_RES	TERMINATION RESISTANCE
10	DIG_OUT_0	Digital output 0 (24V logic,PNP)	Motor running
11	DIG_OUT_1	Digital output 1 (24V logic, PNP)	Motor fault
12	CAN_L	CAN LOW

In order to have the termination on the node, please make a jumper between CAN_RES andf CAN_L (Pin 9 and Pin 11)

CONNECTOR ON THE OPPOSITE SIDE

PIN	SIGNAL	DESCRIPTION	FUNCTION
1	RS485_B	Modbus B
2	RS485_A	Modbus A
3	GND	Ground
4	+24VDC	Power
5	+24VDC	Power
6	GND	Ground
7	GND	Ground
8	DIG_IN0	Digital Input 0 (24V logic)	Enable / Homing
9	DIG_IN1	Digital Input 1 (24V logic)	Motion trigger
10	CAN_H	CAN HIGH
11	CAN_L	CAN LOW
12	NC	NC

MODBUS RTU only - SINGLE CONNECTOR

nli080q-overview.jpg

NLi080Q/X is equipped with single connector Hirose HR10A-10P-12S, the cable DA00002011 from motor and the PLC has the following configuration on the D-SUB 15 male connector.

cable_da00002011.jpg

D-SUB 15 Pinout	SIGNAL	DESCRIPTION	FUNCTION
1	RS485_B	Modbus B
2	RS485_A	Modbus A
3	GND	Ground
4	+24VDC	Power
5	+24VDC	Power
6	GND	Ground
7	GND	Ground
8	DIG_IN_0	Digital Input 0 (24V logic)	Enable / Homing
9	DIG_IN_1	Digital Input 1 (24V logic)	Motion trigger
10	DIG_OUT_0	Digital output 0 (24V logic, PNP)	Motor running
11	DIG_OUT_1	Digital output 1 (24V logic, PNP)	Motor fault
12	DIG_OUT_2	Digital output 2 (24V logic, PNP)	Programmable

The programmable output have the following options: In Position, Homing in progress, Overtemp fault, sin/cos fault, I2T fault, Master sync, gripper command. This is programmable with NiLAB Starter software.

Pinout HIROSE Connector on motor side

conn_corrected_nli080.jpg

PIN	SIGNAL	DESCRIPTION	FUNCTION
9	DIG_OUT_2	Digital output 2 (24V logic, PNP)	Programmable
8	GND	Ground
7	+24VDC	Power supply
6	+24VDC	Power supply
5	GND	Ground
4	DIG_IN_0	Digital Input 0	Enable / Homing
3	DIG_IN_1	Digital Input 1	Motion trigger
2	DIG_OUT_0	Digital output 0 (24V logic PNP)	Motor running
1	DIG_OUT_1	Digital output 1 (24V logic, PNP)	Motor fault
10	RS485_TX	Modbus
11	RS485_RX	Modbus
12	GND	Ground