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Connection - 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.
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/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 |