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Connection system
NLI080Q/X linear motors with 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.
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 |
NLI080Q/X linear motors with MODBUS RTU only - SINGLE CONNECTOR
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.
| 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
| 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 |
NLi120Q/X linear motors with MODBUS RTU only
Nli120Q/X is equipped with two M12 connectors: power female DA00022011 flying leads and signal male DA00012011.
The power cable terminates with two wire: RED (+24VDC), BLACK (GROUND).
The signal cable terminates with with D-SUB15 male connector with this pinout:
| D-SUB 15 Pinout | SIGNAL | DESCRIPTION | FUNCTION |
| 1 | RS485_B | Modbus B | |
| 2 | RS485_A | Modbus A | |
| 3 | GND | Ground | |
| 4 | NC | Not connected | |
| 5 | NC | Not connected | |
| 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.
NLi120Q/X linear motors with CANOPEN, MODBUS RTU and single rear connector
The hybrid for NLi120Q/X M12 and D-SUB9 connector is DA012019-5M
| D-SUB9 Pinout | SIGNAL | SIGNAL | WIRE COLOR |
| 1 | CAN_H | Canbus high | Brown |
| 2 | CAN_L | Canbus LOW | Green |
| 3 | MODBUS_A | Modbus A | Yellow |
| 4 | MODBUS_B | Modbus B | Grey |
| 5 | – | – | – |
| 6 | GND | Ground | Violet |
| 7 | GND | Ground | Blue |
| 8 | 24V | Power | White |
| 9 | 24V | Power | Red |
NLi120Q/X linear motors with MODBUS RTU and CANOPEN or ANALOG INPUTS
The Can cable for NLi120Q/X (third connector M12 female) and D-SUB9 connector is DA122011
| D-SUB9 Pinout | SIGNAL | CAN VERSION | ANALOG VERSION | CAN VERSION WIRE COLOR |
| 1 | NC | – | PULSE IN/OUT | - |
| 2 | CAN_L | Canbus LOW | DIR IN/OUT | White |
| 3 | CAN_GND | Canbus Ground | GND | Yellow/Green or Gray |
| 4 | NC | – | - | - |
| 5 | NC | – | ANP (0 to 10V voltage control) | - |
| 6 | NC | – | ANN (4 to 20mA current control) | - |
| 7 | CAN_H | CAN HIGH | - | Brown |
| 8 | CAN_RES | TERMINATION RESISTANCE | - | Black |
| 9 | CAN_H | CAN HIGH | - | Blue |
In order to have the termination on the node, please make a jumper between CAN_RES andf CAN_L (Pin 8 and Pin 2)
M12 power connector on the motor side pinout
| Pin | Signal | Description |
| 1 | +24VDC | 24VDC power line |
| 2 | +24VDC | 24VDC power line |
| 3 | GND | Ground |
| 4 | GND | Ground |
| 5 | NC | Not connected |