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Connections - NLi120Q or NLi120X
MODBUS RTU only
Nli120Q/X is equipped with two M12 connectors.
For power connector ⇒ power female DA00022011 flying leads and for signal connector ⇒ signal male DA00012011.
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| Signal cable DA00012011 | Power cable DA0022011 The power cable terminates with two wire: RED (+24VDC), BLACK (GROUND). |
The signal cable DA00012011 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.
MODBUS RTU + USB
This model has the same connectors and pinout of the MODBUS RTU only except for the additional USB connector for MODBUS over USB connection.
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 |
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 |