Delta Electronics COA02 User manual

 This instruction only provides introductory information on electrical specifications, functions, wiring, trouble-shooting
and peripherals for COA02. Details of CANopen protocol are not included in this sheet. For more information on
CANopen protocol, please refer to relevant reference or literatures.
 COA02 is an OPEN-TYPE device and therefore should be installed in an enclosure free of airborne dust, humidity,
electric shock and vibration. The enclosure should prevent non-maintenance staff from operating the device (e.g. key or
specific tools are required to open the enclosure) in case danger and damage on the device may occur.
 COA02 is used for controlling the operating machine and equipment. In order not to damage it, only qualified
professional staff familiar with the structure and operation of COA02 can install, operate, wire and repair it.
 Please read this instruction sheet carefully before use and follow the sheet to operate COA02 in order to prevent
damages on the device or injuries to staff.
 DO NOT connect input AC power supply to any of the I/O terminals; otherwise serious damage may occur. Check all
the wiring again before switching on the power and DO NOT touch any terminal when the power is switched on. Make
sure the ground terminal is correctly grounded in order to prevent electromagnetic interference.
Introduction
1.1 Model Explanation
Thank you for choosing Delta COA02 CANopen slave station communication module. COA02 can be applied to
the connection between CANopen network and Delta’s programmable logic controller, AC motor drive, servo
drive, temperature controller and human machine interface. In addition, the custom function of COA02 allows the
custom equipment with Modbus protocol to be connected to the CANopen network.
Functions supported:
CAN2.0A protocol CANopen DS301 V4.02
Service supported:
Process Data Object (PDO)
Service Data Object (SDO)
Special Object Protocol (SOP)
Network Management (NMT)
Nameplate Explanation
MODEL :
POWER INPUT :
COA02000T7020022
VX.XX
COA02
24Vdc 2.0W
DELTA E LECTR ONICS , IN C MA DE IN X XXXXX X
Model name
Power input spec.
Barcode & serial No.
Version
Serial No. Explanation
Production No.
Production week
Production year (2007)
Production plant (W: Wujiang T: Taoyuan)
Version No.
Model name
1.2 Product Profile and Outline
1 Communication port
2 Address setup rotary switch
3 Function setup DIP switch
4 Instructions on the DIP switch
5 SCAN indicator
6 RUN indicator
7 ERROR indicator
8 CANopen connector
9 DIN rail
Unit: mm 
DIN rail clip
Specifications
CANopen Connector
Transmission method CAN
Electrical isolation 500V DC
Type Removable connector (5.08mm)
Transmission cable 2 communication cables, 2 power cables and 1 shielded cable
Communication
Message type PDO, SDO, SYNC (synchronous object), Emergency (emergency object), NMT
Series transmission
speed 10K, 20K, 50K, 125K, 250K, 500K, 800K, 1M bps (bits per second)
Equipment type 0 (Non-Profile)
Company ID 477 (Delta Electronics, Inc.)
Electrical Specifications
Voltage 11 ~ 25V DC
Current 28mA (typical), 125mA impulse current (24V DC)
Environment
Standards IEC 61131-2, UL508
Storage/Operation Storage: -25°C ~ 70°C (temperature), 5 ~ 95% (humidity)
Operation: 0°C ~ 55°C (temperature), 50 ~ 95% (humidity); pollution degree 2
Shock/Vibration
immunity
International Standards: IEC 61131-2, IEC 68-2-6 (TEST Fc)/IEC 61131-2 & IEC
68-2-27 (TEST Ea)
Interference immunity
RS (IEC 61131-2, IEC 61000-4-3): 80MHz ~ 1,000MHz, 10V/m
EFT (IEC 61131-2, IEC 61000-4-4): Analog & Communication I/O: 1KV
ESD (IEC 61131-2, IEC 61000-4-2): 8KV Air Discharge
Certificates CE, UL
 Components
3.1 CANopen Connector
To connecto with CANopen, use the connector enclosed with COA02 or any connectors you can buy in the store
for wiring.
PIN Signal Description
1 V- 0V DC
2 CAN_L Signal-
3 SHIELD Shielded cable
4 CAN_H Signal+
5 V+ 24V DC
1 2 3 4 5
3.2 Address Setup Rotary Switch
The two rotary address setup switches set up the node addresses on
the CANopen network in hexadecimal form. Setup range: 01 ~ 7F (00
and 80 ~ FF are forbidden)
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
H
16
1
H
16
0
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
Example:
If you need to set the communication address of COA02 as 26 (H1A), simply switch the corresponding rotary switch
×161 to “1” and the corresponding rotary switch ×160to “A”.
Address Setting Description
01 ~ 7F Valid CANopen communication address
00, 80 ~ FF Invalid CANopen communication address
Note: The changed value on the switch is only valid when COA02 is re-powered. When COA02 is operating, changing the
set value of the communication address will be invalid.
3.3 Function Setup DIP Switch
The DIP switch is to be used on the equipment connected to COA02, the
selection of communication ports and setting up the communication speed
of COA02 and the master station in CANopen.
3.3.1 Selecting the Equipment Connected to COA02
PIN 1 PIN 2 PIN 3 Equipment
ON OFF OFF AC motor drive
OFF ON OFF Programmable logic controller (PLC)
ON ON OFF Temperature controller
PIN 1 PIN 2 PIN 3 Equipment
OFF OFF ON Servo drive
ON OFF ON Human machine interface (HMI)
OFF ON ON Custom equipment
ON ON ON For internal system use
Example:
If the equipment connected to COA02 is Delta servo drive, you only need to switch PIN 3 of the DIP switch to “On”,
PIN 1 and PIN 2 to “Off” and re-power COA02.
Note: The changed setting of the DIP switch is only valid when COA02 is re-powered. When COA02 is operating, changing
the setting of the DIP switch will be invalid.
3.3.2 Selecting COA02 Communication Mode
PIN 4 PIN 5 Communication Mode
OFF OFF RS-485
ON ON RS-232
ON OFF Incorrect setting
OFF ON Incorrect setting
Note: The changed setting of the communication mode is only valid when COA02 is re-powered. When COA02 is operating,
changing the setting of the communication mode will be invalid.
3.3.3 Setting up Baud Rate
PIN 6 PIN 7 PIN 8 Baud Rate
OFF OFF OFF 10K bps
ON OFF OFF 20K bps
OFF ON OFF 50K bps
ON ON OFF 125K bps
OFF OFF ON 250K bps
ON OFF ON 500K bps
OFF ON ON 800K bps
ON ON ON 1M bps
Note: The changed setting of the baud rate of CANopen is only valid when COA02 is re-powered. When COA02 is operating,
changing the baud rate will be invalid
3.4 Communication Ports on COA02
The communication ports on COA02 are used for the connection
with other equipments (Delta PLC, AC motor drive, temperature
controller, servo drive, HMI and custom equipments).
PORT1
PORT2
3.4.1 PORT1
PORT1 PIN Definition
PORT1 Sketch Terminal No. Description
1 N.C.
2 GND
3 DATA-
4 DATA+
5 N.C.
1
2
3
4
5
6
PORT1
6 N.C.
Note: PORT1 supports RS-485 communication mode only.
3.4.2 PORT2
PORT2 Sketch Terminal No. RS-232 RS-485
1 N.C. N.C.
2 RXD N.C.
3 TXD DATA-
4 N.C. N.C.
5 GND N.C.
6 N.C. N.C.
7 N.C. N.C.
8 N.C. DATA+
1
6
2
7
3
8
4
9
5
DB9 male
9 N.C. N.C.
Note: PORT2 supports RS-232 and RS-485 communication mode only.
 Connectors for COA02 and the Equipments
See below communication wirings when COA02 is connected to an equipment through PORT1.
When connected to Delta AC motor drive When connected to Delta PLC
RS-485 communication mode
（Using standard cable with RJ-12 connectors at its two ends is
suggested.）
RS-485 communication mode
COA02
RJ-12 (RS-485)
VFD series AC motor drive
RJ-12 (RS-485)
COA02
RJ-12 (RS-485)
DVP series PLC
RS-485 wiring terminal
1
2
3
4
5
6
RJ-12
RJ-12
DATA-
DATA+
DATA-
DATA+
(3)
(4)
(3)
(4)
1
2
3
4
5
6
DATA-
DATA+
DATA-
DATA+
(3)
(4)
1
2
3
4
5
6
RJ-12
+
_
PLC COM2
http://www.delta.com.tw/industrialautomation/
5011656801-OAE1
2007-05-24
CANopen Slave Station Communication Module
Instruction Sheet
Warning

When connected to Delta temperature controller When connected to Delta servo drive
RS-485 communication mode RS-485 communication mode
COA02
RJ-12 (RS-485)
DTA series temperature
controller
RS-485 wiring terminal
COA02
RJ-12 (RS-485)
ASDA series servo drive
CN3 connector (RS-485)
DATA-
DATA+
DATA-
DATA+
(3)
(4)
1
2
3
4
5
6
RJ-12
DATA+
RS-485
DATA-
DATA+
DATA-
(4)
(3)
1
2
3
4
5
6
RJ-12
CN3 connector
1
3
5
2
4
6
(3) 485+
(5) 485+
(4) 485-
(6) 485-
When connected to Delta human machine interface
RS-485 communication mode
COA02
RJ-12 (RS-485)
DOP series HMI
DB9 connector (RS-485)
DATA+
DATA-
(4)
(3)
1
2
3
4
5
6
RJ-12
(2) 485+
(3) 485+
(1) 485-
(4) 485-
5
9
4
8
3
7
2
6
1
DOP COM2
See below communication wirings when COA02 is connected to an equipment through PORT2.
When connected to Delta AC motor drive When connected to Delta temperature controller
RS-485 communication mode RS-485 communication mode
COA02
DB9 female (RS-485)
VFD series AC motor drive
RJ-12 (RS-485)
COA02
DB9 female (RS-485)
DTA series temperature
controller
RS-485 wiring terminal (RS-485)
DATA-
DATA+
(3)
(8)
DATA-
DATA+
5
9
4
8
3
7
2
6
1
DB9 female
RJ-12
1
2
3
4
5
6
(3)
(4)
DATA-
DATA+
(3)
(8)
5
9
4
8
3
7
2
6
1
DB9 female
DATA-
DATA+
DATA+
RS-485
DATA-
When connected to Delta PLC
RS-232 communication mode
（Using standard communication cable
DVPACAB215/DVPACAB230 is suggested）
RS-485 communication mode
COA02
DB9 female (RS-232)
DVP series PLC
8 pin Mini DIN male (RS-232)
COA02
DB9 female (RS-485)
DVP series PLC
RS-485 wiring terminal (RS-485)
5
9
4
8
3
7
2
6
1
DB9 female
TX
RX
RXD
TXD
(2)
(3)
GND (5)
(5)
(4)
(8)GND
1
2
5
8
7
6
4
3
DATA-
DATA+
(3)
(8)
5
9
4
8
3
7
2
6
1
DB9 female
DATA-
DATA+
+
_
PLC COM2
When connected to Delta servo drive
RS-232 communication mode RS-485 communication mode
COA02
DB9 female (RS-232)
ASDA series servo drive
CN3 connector (RS-232)
COA02
DB9 female (RS-485)
ASDA series servo drive
CN3 connector (RS-485)
CN3 connector
1
3
5
2
4
6
5
9
4
8
3
7
2
6
1
DB9 female
TX
RX
RXD
TXD
(2)
(3)
GND
(5)
(2)
(4)
(1)GND
5
9
4
8
3
7
2
6
1
DB9 female
DATA+
DATA-
(8)
(3)
CN3 connector
1
3
5
2
4
6
(3) 485+
(5) 485+
(4) 485-
(6) 485-
When connected to Delta human machine interface
RS-232 communication mode RS-485 communication mode
COA02
DB9 female (RS-232)
DOP series HMI
DB9 connector (RS-232)
COA02
DB9 female (RS-485)
DOP series HMI
DB9 connector (RS-485)
5
9
4
8
3
7
2
6
1
DOP COM1
5
9
4
8
3
7
2
6
1
DB9 female
TX
RX
RXD
TXD
(2)
(3)
GND
(5)
(3)
(2)
(5)GND
5
9
4
8
3
7
2
6
1
DOP COM2
5
9
4
8
3
7
2
6
1
DB9 female
DATA+
DATA-
(8)
(3)
(2) 485+
(3) 485+
(1) 485-
(4) 485-
 Communication between COA02 and the Equipments
COA02 is able to read, write and set up the parameters of all equipments (Delta PLC, AC motor drive, servo drive,
temperature controller, HMI and custom equipments).
5.1 Setting up Baud Rate and Format (when connected to AC motor drive)
Before connecting Delta AC motor drive to the BUS, first set up the communication address of the AC motor drive
as 01, baud rate as 38,400bps and communication format as 8, N, 2; RTU (the format is fixed; other formats will
be invalid). To adjust the baud rate, follow the steps listed below.
Set up the DIP switch of COA02 to custom equipment mode.
Connect COA02 to the BUS of CANopen and enable the operation of COA02.
Modify the index parameter 5003/02 (main index: H5003, sub index H02).
1. 5003/02 = 1 →19,200; 8, N, 2; RTU
2. 5003/02 = 2 →38,400; 8, N, 2; RTU (default)
Return the DIP switch of COA02 back to AC motor drive mode and re-power COA02.
Adjust the baud rate of the AC motor drive to the corresponding one.
5.2 Setting up Baud Rate and Format (when connected to PLC)
Before connecting Delta PLC to the BUS, first set up the communication address of the PLC as 01, baud rate as
115,200bps and communication format as 7, E, 1; ASCII (the format is fixed; other formats will be invalid). To
adjust the baud rate, follow the steps listed below.
Set up the DIP switch of COA02 to custom equipment mode.
Connect COA02 to the BUS of CANopen and enable the operation of COA02.
Modify the index parameter 5003/03 (main index: H5003, sub index: H03).
1. 5003/03 = 1 →19,200; 7, E, 1; ASCII
2. 5003/03 = 2 →38,400; 7, E, 1; ASCII
3. 5003/03 = 3 →57,600; 7, E, 1; ASCII
4. 5003/03 = 4 →115,200; 7, E, 1; ASCII (default)
Return the DIP switch of COA02 back to PLC mode and re-power COA02.
Adjust the baud rate of the PLC to the corresponding one.
5.3 Setting up Baud Rate and Format (when connected to temperature controller)
Before connecting Delta temperature controller to the BUS, first set up the communication address of the
temperature controller as 01, baud rate as 38,400bps and communication format as 7, E, 1; ASCII (the format is
fixed; other formats will be invalid). Before communicating with DTA series temperature controller, first set the
content of H471A as H0001 to allow the write-in of communication. To adjust the baud rate, follow the steps listed
below.
Set up the DIP switch of COA02 to custom equipment mode.
Connect COA02 to the BUS of CANopen and enable the operation of COA02.
Modify the index parameter 5003/04 (main index: H5003, sub index: H04).
1. 5003/04 = 1 →19,200; 7, E, 1; ASCII
2. 5003/04 = 2 →38,400; 7, E, 1; ASCII (default)
Return the DIP switch of COA02 back to temperature controller mode and re-power COA02.
Adjust the baud rate of the temperature controller to the corresponding one.
5.4 Setting up Baud Rate and Format (when connected to servo drive)
Before connecting Delta servo drive to the BUS, first set up the communication address of the servo drive as 01,
baud rate as 115,200bps and communication format as 7, E, 1; ASCII (the format is fixed; other formats will be
invalid). To adjust the baud rate, follow the steps listed below.
Set up the DIP switch of COA02 to custom equipment mode.
Connect COA02 to the BUS of CANopen and enable the operation of COA02.
Modify the index parameter 5003/05 (main index: H5003, sub index: H05).
1. 5003/05 = 1 →19,200; 7, E, 1; ASCII
2. 5003/05 = 2 →38,400; 7, E, 1; ASCII
3. 5003/05 = 3 →57,600; 7, E, 1; ASCII
4. 5003/05 = 4 →115,200; 7, E, 1; ASCII (default)
Return the DIP switch of COA02 back to servo drive mode and re-power COA02.
Adjust the baud rate of the servo drive to the corresponding one.
5.5 Setting up Baud Rate and Format (when connected to HMI)
Before connecting Delta HMI to the BUS, first set up the communication address of the HMI as 01, baud rate as
115,200bps and communication format as 7, E, 1; ASCII (the format is fixed; other formats will be invalid). HMI as
the master and COA02 as the slave. There are 64 virtual D devices (D0 ~ D63) in COA02 and CANopen master
and HMI are able to read and write the virtual D devices in COA02. In this case, set up the address of the slave
(COA02) monitored by HMI as 01 by the HMI editing software. To adjust the baud rate, follow the steps listed
below.
Set up the DIP switch of COA02 to custom equipment mode.
Connect COA02 to the BUS of CANopen and enable the operation of COA02.
Modify the index parameter 5003/06 (main index: H5003, sub index: 06).
1. 5003/06 = 1 →19,200; 7, E, 1; ASCII
2. 5003/06 = 2 →38,400; 7, E, 1; ASCII
3. 5003/06 = 3 →57,600; 7, E, 1; ASCII
4. 5003/06 = 4 →115,200; 7, E, 1; ASCII (default)
Return the DIP switch of COA02 back to HMI mode and re-power COA02.
Adjust the baud rate of the HMI to the corresponding one.
5.6 Setting up Baud Rate and Format (when connected to custom equipment)
Before connecting the custom equipment to the BUS, first set up the communication address of the equipment as
01, baud rate as 19,200bps and communication format as 8, N, 2; RTU (the format is fixed; other formats will be
invalid). To adjust the baud rate, follow the steps listed below.
Modify the index parameter 5003/07 (main index: H5003, sub index: H07).
1. 5003/07 = 1 →19,200; 8, N, 2; RTU (default)
2. 5003/07 = 2 →38,400; 8, N, 2; RTU
3. 5003/07 = 3 →57,600; 8, N, 2; RTU
4. 5003/07 = 4 →115,200; 8, N, 2; RTU
Re-power COA02.
Adjust the baud rate of the custom equipment to the corresponding one.
 LED Indicators & Trouble-shooting
There are 3 LED indicators on COA02, RUN, ERROR and SCAN, for displaying the connection status of the
communication in COA02.
6.1 RUN LED
LED Status COA02 Status How to deal with it
Off No power
Check the power of COA02 and make sure the
connection is normal.
Green light 1 flash Stop
Green light flashes Pre-operation
Green light On Operating
Red light On NODE-ID error Check if the setting of NODE-ID of COA02 is correct.
6.2 ERROR LED
LED Status COA02 Status How to deal with it
Off No error COA02 operation is normal.
Red light 2 flashes Erroneous control occurs.
1. Check if the connection between COA02 and the
master station is intact.
2. Check if the communication between COA02 and the
master station is normal.
Red light On BUS OFF 1. Check if the BUS connection is normal.
2. Re-power COA02.
6.3 SCAN LED
LED Status COA02 Status How to deal with it
Off No power Check the power of COA02 and make sure the
connection is normal.
Green light flashes
The correct information of the
equipment connected has not
been detected.
Re-connect COA02 to the equipment.
Green light On
The communication with the
equipment connected is
normal.
Red light flashes CRC check fails
1. Check if the communication cable between COA02
and the equipment is correct.
2. Check if there is electromagnetic interference nearby.
Red light On Connection fails, or no
connection
1. Check if the communication format of the equipment
is correct.
2. Check if COA02 and the equipment are correctly
connected.
3. Restart the connection and make sure the
communication cable meets the specification.
t Installation & Wiring
Install COA02 in an enclosure with sufficient space around it to
allow heat dissipation (see the figure).
DO NOT place the I/O signal wires and power supply wire in the
same wiring circuit.
COA02
D
D
D
D
D>50mm
<1.5mm
28-12AWG
Use 28-12AWG (1.5mm) single or multiple core wire on I/O wiring terminals.
See the figure for its specification.
The terminal screws shall be tightened to 5.19 kg-cm (4.5 in-lbs).
Use 60°C /75°C copper wires only.
The content of this instruction sheet may be revised without prior notice. Please consult our distributors or
download the most updated version at http://www.delta.com.tw/industrialautomation