If it is like most servo drives, the 3 phase is fed directly into a 3 phase bridge rectifier, where it gets turned into DC. If you simply connect your single phase to two of the wires, it should work fine. Some manufacturers recommend connecting one wire to L1 and the other wire to both L2 and L3. The paralleled paths lower losses a little bit so it will be a tad bit more efficient. Also on single phase you should reduce your max current a bit as single phase supply will have a much higher ripple voltage than three phase, with the same DC bus capacitance. I'd be surprised if the manual doesn't explain how to do it, most I have seen do.
Matt