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 ELECTRONICS, INC MADE IN XXXXXXX
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
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)
01
2
3
4
5
6
7 8 9 A
B
C
D
EF
H
16
1
H
16
0
01
2
3
4
5
6
7 8 9 A
B
C
D
EF
Example:
If you need to set the communication address of COA02 as 26 (H1A), simply switch the corresponding rotary switch
×16
1
to “1” and the corresponding rotary switch ×16
0
to “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
