Professional Documents
Culture Documents
Application guide
ACS880-01 drives and ACS880-04 drive modules
Common DC systems
List of related manuals
Drive hardware manuals and guides Code (English)
ACS880-01 hardware manual 3AUA0000078093
ACS880-01 quick installation guide for frames R1 to R3 3AUA0000085966
ACS880-01 quick installation guide for frames R4 and R5 3AUA0000099663
ACS880-01 quick installation guide for frames R6 to R9 3AUA0000099689
ACS880-01 assembly drawing for cable entry boxes of IP21 3AUA0000119627
frames R5 to R9
ACS880-04 drive modules (200 to 560 kW, 300 to 700 hp) 3AUA0000128301
hardware manual
ACS880-04 drive modules (200 to 560 kW, 300 to 700 hp) 3AUA0000128301
quick installation guide
ACS-AP assistant control panels user’s manual 3AUA0000085685
You can find manuals and other product documents in PDF format on the Internet. See section
Document library on the Internet on the inside of the back cover. For manuals not available in the
Document library, contact your local ABB representative.
Table of contents
Table of contents
3. Planning – basics
Contents of this chapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Defining the DC link duty cycle and key variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Defining the DC link duty cycle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
DC link duty cycle diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
DC link key variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Selecting the drives which are connected to AC power line . . . . . . . . . . . . . . . . . . . . . . 21
The selection rules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Calculating the rectifier power capacity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Verifying the charging capacity of the common DC system . . . . . . . . . . . . . . . . . . . . 22
Checking the total charging resistance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Checking the peak AC current at charging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Checking the charging energy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Handling the surplus energy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Background . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Defining the energy absorbing capacity of the common DC link . . . . . . . . . . . . . . . . 26
Defining the maximum DC link voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Selecting the brake choppers and resistors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Brake chopper selection formulas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
6
5. Technical data
Contents of this chapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Rectifier power capacity (Prec,ave and Prec,max) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Power correction factor (k) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Frames R1 to R5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Frames R5 to R9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Frames R10 to R11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
DC contactors between the drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Frames R1 to R5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Frames R5 to R9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Frames R10 to R11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Charging resistance values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Charging circuit Er values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
DC link capacitance values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Brake chopper power ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
DC voltage limits of the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
DC fuses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Further information
Product and service inquiries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .......... 47
Product training . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .......... 47
Providing feedback on ABB Drives manuals . . . . . . . . . . . . . . . . . . . . . . . .......... 47
Document library on the Internet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .......... 47
Introduction to the manual 7
1
Introduction to the manual
Applicability
This manual is applicable with the ACS880-01 drives and ACS880-04 drive modules.
Safety instructions
Obey the safety instructions in the drive’s hardware manual.
Target audience
This manual is written for people who plan common DC systems. We expect the reader to
be a qualified electrical engineering professional.
Related documents
See section List of related manuals on page 2.
1. Define a duty cycle diagram for each motor (shaft power). Select the motors and drives as
usual with the DriveSize PC tool by ABB. Do not consider the common DC system yet.
2. Define a DC link duty cycle for the common DC system, and define the key variables
Pmot,ave, Pmot,max , Pgen,ave and Pgen,max.
See section Defining the DC link duty cycle and key variables on page 18.
3. Select the drives that you will connect to the AC power line.
See section Selecting the drives which are connected to AC power line on page 21.
4. Define the means to handle the surplus DC link energy (motor braking energy).
See Handling the surplus energy on page 25.
9. Select the measures necessary for the EMC. See section Electromagnetic Compatibility
(EMC) on page 35.
Motoring mode Motor operation mode in which the motor rotates the load and takes power from
the drive DC link (normal operation).
Generating mode Motor operation mode in which the motor decelerates (brakes) the load and
generates energy back to the drive DC link.
This effect is also seen when the load is held at a fixed speed, but the
mechanical load is trying to “pull” the motor to a higher speed, sometimes
referred to as overhauling. Overhauling loads return energy to the DC link as
well.
Note: The symbols used in the equations and formulas are explained in the context of use.
10 Introduction to the manual
Operation principle and hardware description 11
2
Operation principle and
hardware description
Operation basics
The main circuit of the drive consists of a rectifier, a DC link and an inverter. The rectifier
(input bridge) converts the alternating current and voltage to direct current and voltage for
the DC link. The DC capacitors in the DC link smooth the ripple and form a steady energy
and power supply for the inverter. The inverter converts the intermediate circuit DC power
to AC power for the motor.
From a common DC system point of view, the motor has two main operation modes: the
motoring mode and the generating mode. In the motoring mode, the motor rotates the
machinery. The energy flows from the AC power line to the motor through the rectifier, DC
link and the inverter. In the generating mode, the machinery rotates the motor. This is the
case for example when a hoist motor of a crane lowers a load (overhauling load). To keep
the rotation speed steady, the motor brakes. During the braking, the motor generates
energy back to the inverter which then conveys the energy further to the DC link.
In the generating mode the DC capacitors are charged by the inverters and the DC link
voltage starts to rise. To prevent an excessive voltage rise, the drive must convey the
surplus energy away from the DC link. There are three options: to convey the energy to
the AC power line, to a brake resistor or to another drive. For the first option you need to
have a special type of drive in use, a regenerative drive. If you have an ordinary drive with
a rectifier (diode input bridge), regeneration is not possible so only the two other options
remain. If you connect a brake chopper and resistor to the DC link, you can dissipate the
energy in the resistor as heat. If you connect the DC link of the drive to another drive, you
can use the surplus energy for charging the DC capacitors of the other drive and use the
energy to rotate its motor. This is a common DC system.
R-
UDC+
R+
UDC-
L1 U
L2 b V M
~3 ~3
L3 a c W
1 2 3 4 5
No. Description
1. AC power line
2. Rectifier (input bridge)
3. DC link including DC capacitors (a), its charging circuit (b) and brake chopper (c)
4. Inverter
5. Motor
Operation principle and hardware description 13
4 5
1 AC power line
2 Common DC link
3 Drive
4 Motor
5 Brake resistor
14 Operation principle and hardware description
R1, …, R4
R-
UDC+
R+
UDC-
L1 U
L2 1 V
2
L3 W
R5, …, R11
BR-
UDC+
R+
UDC-
1
L1 U
L2 V
2
L3 W
1 Charging resistor
2 Brake chopper
Type B
Charging resistor is in parallel with the input bridge (frame sizes R5 and larger).
3
Planning – basics
Motor losses Pm
Pmot Pgen =
k eff
Pm
T×n
Pm [kW] =
9550
keff Efficiency factor (1/efficiency) to include drive and motor losses.
If not known, value 1.25 can be used
n Motor shaft speed [rpm]
Pdc DC link power
Pmot Power that the motor takes from the DC link
Pgen Power that the motor supplies to the DC link
Pm Motor mechanical shaft power
T Torque [Nm] on motor shaft
2. Sum the DC link duty cycle diagrams of the individual drives to one common DC link
duty cycle diagram for the common DC system. See section DC link duty cycle
diagram on page 19.
3. On basis of the common DC link duty cycle diagram, define the key variables Pmot,ave,
Pmot,max, Pgen,ave and Pgen,max for the whole system. See section DC link key
variables on page 19.
Planning – basics 19
~ ~ Pdc
Pmot
Drive a t
Pgen
Pdc
Pmot
Drive b t
a b c
Pgen
Pdc
Pmot
Pmot Pgen
Drive c t
M M M Pgen
Pdc
Pmot
Total
t
Pgen
c
M
b
~ M
a
~ M
Pbr Pgen
Prec Pmot
20 Planning – basics
Example 1
Common DC system: The DC links of three converters ACS880-01-11A0-5, 5.5 kW (frame
size R1), ACS880-01-034A-5, 18.5 kW (frame size R3) and ACS880-01-034A-5, 18.5 kW
(frame size R3) are connected together. The input terminals of the 5.5 kW converter are
left unconnected.
Calculating the rectifier power capacity
According to the table, k = 0.9 when two converters of frame size R3 are connected to the
AC power line, and Prec,ave becomes:
Prec,ave = 18.5 kW + (0.9 ×18.5 kW) = 35.15 kW
Example 2
Common DC system: The DC links of three converters ACS880-01-124A-5, 75 kW (frame
size R6), ACS880-01-180A-5, 110 kW (frame size R7) and ACS880-01-414A-5, 250 kW
(frame size R9) are connected together. All three converters are connected to the AC
power line.
Calculating the rectifier power capacity
According to the table, k = 0.9 when converters of frame size R6 and R7 are connected to
the AC power line, and k = 0.3 when converters of frame size R6 and R9 are connected to
the AC power line. The lowest factor is used in the calculations, that is, k = 0.3, and
Prec,ave becomes:
Prec,ave = 250 kW + (0.3 × 110 kW) + (0.3 × 75 kW) = 305.5 kW
Ra Charging resistance of drive a in the common DC system. See section Charging resistance
values on page 43.
Rb Charging resistance of drive b in the common DC system. See section Charging resistance
values on page 43.
1
Rmin =
1 1 1
+ + +
Rmin,1 Rmin,2 … Rmin,n
Rmin,1 Minimum charging resistance of drive 1 connected to the AC power line. See section
Charging resistance values on page 43.
Rmin,2 Minimum charging resistance of drive 2 connected to AC power line. See section Charging
resistance values on page 43.
24 Planning – basics
2 × U ac
I ac , peak =
Rtot
Calculate the charging energy for a drive and the common DC system with these
equations:
Etot = Ea + …+ En = 1/2 × (CDCa +…+CDCn) × (1.35 × Unet)2
E1 = 1/2 × CDCa × (1.35 × Unet)2
C DC Capacitance of drive DC capacitors. CDCa is the capacitance of drive a. See subsection DC
link capacitance values on page 43.
Ea Charging energy of drive a.
U net Main voltage of the AC power line which the common DC system is connected to.
Planning – basics 25
Example 1
Common DC system: The DC links of three converters ACS880-01-169A-3 (frame size
R7), ACS880-01-246A-3 (frame size R8) and ACS880-01-430A-3 (frame size R9) are
connected together. The main supply voltage is 400 V.
Questions: Is the charging capacity of the largest drive sufficient for the whole common DC
system? Can you connect only the largest drive to the AC power line and leave the others
unconnected?
Calculations:
The total charging energy of the capacitors is:
Etot = 1/2 × (3800 μF + 5600 μF + 8800 μF) × (1.35 × 400 V)2 × 10-6 = 2653 J
The charging capacity of the ACS880-01-430A-3 (frame size R9) is sufficient since:
Er = 5600 J > 2653 J (Etot)
Conclusion: It is sufficient to connect only the largest drive to the AC power line.
Example 2
Common DC system: The DC links of two ACS880-01-240A-5 converters (frame size R8)
and three ACS880-01-361A-5 converters (frame size R9) are connected together. The
main supply voltage is 500 V.
Question: How many frame size R9 drives you must connect to the AC power line to
supply the charging energy for the whole system?
Calculations:
The total charging energy of the DC link capacitors is:
Etot = 1/2 × (2 ×5600 μF + 3 ×8800 μF) × (1.35 ×500 V)2 ×10-6 = 8566 J
The charging capacity of the ACS880-01-361A-5 (frame size R9):
One frame size R9 drive: Er = 5600 J < 8566 J (Etot)
Two frame size R9 drives: 2 × Er = 112 000 J > 8566 J (Etot)
Conclusion: It is sufficient to connect two frame size R9 drives to the AC power line.
Udc,lim = 2 × Uac
Drive a t
duty cycle
Drive b t
a b c duty cycle
M M M
Drive c t
duty cycle
Common DC t
duty cycle Pg1 Pg2
tg2
tg1
T
1)
Parameter 30.30 Overvoltage control in the ACS880 primary control program.
2)
You must have some margin to the limit to avoid fault trips.
3)
The resistor braking starts when the voltage exceeds the limit.
Er Energy pulse that the resistor can withstand and dissipate during a predefined period. See
the drive hardware manual (ABB brake resistors) or resistor data sheet.
Pg1 Generating power of the common DC link during time tg1. See tg1 and the graph in section
Defining the energy absorbing capacity of the common DC link on page 22.
Pgen(t) Generating power of the common DC link as a function of time over one duty cycle.
Pgen,max Maximum generating power of the common DC link.
PN,r Nominal power of the brake resistor
R br Resistance of the brake resistor
R min Minimum resistance of the brake resistor that you can use with the drive. See the drive
hardware manual.
tg1 Duration for generating power Pg1. See the graph in section Defining the energy absorbing
capacity of the common DC link on page 22.
U ac AC power line voltage
U dc,h = 2.1 × U ac (high DC link voltage value but clearly below the trip level)
Planning – basics 29
Brake resistor selection formulas - system with several brake choppers and
resistors
Use these formulas to select the brake resistor for each chopper, and to verify the resistor
selection:
Rbr(i) > Rbr,min(i)
2
U dc
i) < Rbr ( i ) <
Pbr , max( i )
× Pgen ,max
( Pbr ,max 1 + Pbr ,max 2 + ...)
Pbr ,cont ( i )
× Pgen dt < E R ( i )
(P br ,cont1 + Pbr ,cont 2 + ...)
Pbr ,cont ( i )
× Pgen ,ave < PN , R ( i )
(P
br ,cont1 + Pbr ,cont 2 + ...)
Er(i) Energy pulse that individual brake resistor i can withstand and dissipate during one load
cycle. See the drive hardware manual (ABB brake resistors) or resistor data sheet.
Rbr(i) Resistance of individual brake resistor i. See the drive hardware manual (ABB brake
resistors) or resistor data sheet.
Rbr,min(i) Minimum resistance of brake resistor i that you can use with individual drive (brake
chopper). See the drive hardware manual.
Pbr,cont(i) Continuous braking power of individual brake chopper. See the drive hardware manual
(ABB brake resistors) or resistor data sheet.
Pg1 Generating power of the common DC link during time tg1. See the graph in section Defining
the energy absorbing capacity of the common DC link on page 26.
Pgen(t) Generating power of the common DC link as a function of time over one duty cycle.
Pgen,max Maximum generating power of the common DC link.
PN,r(i) Nominal power of individual brake resistor i. See the drive hardware manual (ABB brake
resistors) or resistor data sheet.
Pbr,contr(i) Continuous power of brake chopper supplying the individual brake resistor i. See section
Brake chopper power ratings on page 44.
Pbr,max(i) Maximum power of brake chopper supplying the individual brake resistor i. See section
Brake chopper power ratings on page 44.
tg1 Duration for generating power Pg1. See graph in section Defining the energy absorbing
capacity of the common DC link on page 22.
Uac AC power line voltage
Udc,h = 2.1 × Uac High DC link voltage value but clearly below the trip level
30 Planning – basics
Planning – additional instructions 31
4
Planning – additional
instructions
Pdc,ave(i)
Idc,ave =
Udc
1.6 Factor which covers the influence of the cyclic load and ambient conditions
Idc,ave Average DC link current
IF,N Nominal current of the fuse
Pdc,ave(i) Maximum average DC link power in the DC connection terminals of the
individual drive i. (during a worst case 3 min time window)
Udc actual DC link voltage = 1.35 x Uac
Planning – additional instructions 33
DC contactors
DC link separation
If you connect drives with different type of charging circuits to the AC power line, you must
separate their DC link with a DC contactor. The DC links of drives with Type B charging
circuit may not be connected to the DC link of drives with Type A charging circuit during
the charging. See the table in section Power correction factor (k) on page 41.
The contactor must be open during the power up until the separate DC links are charged
and the drives are in Ready state. Then you can close the contactor and connect the DC
links.
Select the DC contactor in the DC link using these values:
Udc_max = 1.21 × 1.35 × U1
IdcN = PDC / Udc
PDC ≈ Pcont.max
IdcN Nominal DC current in the DC link
Pcont.max Power rating of the larger drive to be separated (See the drive hardware manual.)
U1 AC input voltage of the drive
Udc_max Maximum voltage over the contactor in the DC link
3 3
2 2 2
DICOM
DICOM
2 COM
2 +24V
2 +24V
2 +24V
2 COM
2 COM
DIIL
DIIL
DIIL
DI6
DI6
DI6
NO
NO
NO
1 NC
1 NC
1 NC
XRO1
XRO1
XRO1
XD24
XD24
XD24
XDI
XDI
XDI
1
3 3 3
M M M
~3 ~3 ~3
Planning – additional instructions 37
5
Technical data
Frames R1 to R5
Frame R1 R2 R3 R4 R5
R1 0.9 0.4 0.9
R2 0.4 0.9 0.7 0.8 0.8
R3 0.9 0.7 0.9 0.6 0.4
R4 0.8 0.6 0.9 0.7
R5 0.8 0.4 0.7 0.9
Frames R5 to R9
Uac = 208…240, 380…415, 380…500
Frame R5 R6 R7 R8 R9
R5 0.9 0.3
R6 0.3 0.9 0.9 0.5 0.3
R7 0.9 0.9 0.7 0.6
R8 0.5 0.7 0.9 0.9
R9 0.3 0.6 0.9 0.9
Uac = 600…690
Frame R5a R5b R6 R7 R8 R9
R5a 0.9 0.9 1 1 0.7 0.9
R5b 0.9 0.9 0.7 0.5 0.2
R6 1 0.7 0.9 1 0.8 0.7
R7 1 0.5 1 0.9 0.9 0.8
R8 0.7 0.2 0.8 0.9 0.9 1
R9 0.4 0.7 0.8 1 0.9
Frames R1 to R5
Frame R1 R2 R3 R4 R5
R1
R2 X
R3 X
R4 X
R5 X X X
Frames R5 to R9
Frame R5 R6 R7 R8 R9
R5
R6
R7
R8
R9
Er: Maximum energy pulse that the charging circuit of the drive can withstand.
Pbr,cont: Continuous braking power of the chopper. The braking is considered continuous if the braking time
exceeds 30 seconds.
R br,min: The minimum allowed resistance of the brake resistor used with the brake chopper.
Note: Pbr,max= UDC,brcl2 / Rbr, min: This is the theoretical maximum braking power which
the brake chopper can withstand for a short time. Thermal protection of the brake chopper
can limit the available braking power to a lower value.
Technical data 45
Uac : AC input voltage. Set also parameter 95.01 Supply voltage in the drive control program to this value. All
drives on the common DC system must have the same setting. Set parameter 95.02 Adaptive voltage limits to
Disabled.
Udc : Nominal DC link voltage = 1.35 × Uac in normal motoring operation mode of the drive.
UDC,chr: Charging limit. Drive opens the charging circuit when the DC voltage reaches this limit at power up.
UDC,ovc, UDC,uvc: Overvoltage control limit and Undervoltage control limit. The overvoltage and undervoltage
control of the DC link voltage level are enabled by default. The drive limits the motoring and generating torque
when necessary to keep the DC link voltage within the control limits. When a brake chopper and resistor are in
use, you must disable the overvoltage control.
UDC,ovt, U DC,uvt: DC overvoltage trip limit and DC undervoltage trip limit. The drive trips and gives a fault
message if the DC link voltage reaches these levels.
UDC,brcl, UDC,brch: Brake chopper limit low and Brake chopper limit high. The brake chopper starts operation
when the DC link voltage reaches the low level and you have enabled the chopper with the drive parameter. If
the DC link voltage level reaches the high level, the brake chopper will be at its maximum load.
46 Technical data
DC fuses
Drive type Fuse [A] Drive type Fuse [A] Drive type Fuse [A] Drive type Fuse [A]
ACS880-01- ACS880-01- ACS880-01- ACS880-01-
04A6-2 10 02A4-3 10 02A1-5 10 07A3-7 16
06A6-2 16 03A3-3 10 03A0-5 10 09A8-7 20
07A5-2 16 04A0-3 10 03A4-5 10 14A2-7 32
10A6-2 20 05A6-3 10 04A8-5 10 018A-7 40
16A8-2 32 07A2-3 16 05A2-5 10 022A-7 40
24A3-2 50 09A4-3 20 07A6-5 16 026A-7 50
031A-2 63 12A6-3 25 11A0-5 20 035A-7 63
046A-2 100 017A-3 32 014A-5 32 042A-7 80
061A-2 125 025A-3 50 021A-5 40 049A-7 100
075A-2 160 032A-3 63 027A-5 50 061A-7 125
087A-2 160 038A-3 80 034A-5 63 084A-7 160
115A-2 250 045A-3 100 040A-5 80 098A-7 200
145A-2 315 061A-3 125 052A-5 100 119A-7 250
170A-2 315 072A-3 160 065A-5 125 142A-7 315
206A-2 400 087A-3 160 077A-5 160 174A-7 350
274A-2 500 105A-3 200 096A-5 200 210A-7 400
145A-3 315 124A-5 250 271A-7 500
169A-3 315 156A-5 315
206A-3 400 180A-5 350
246A-3 450 240A-5 450
293A-3 550 260A-5 500
363A-3 700 302A-5 550
430A-3 800 361A-5 700
414A-5 800
Further information
Product and service inquiries
Address any inquiries about the product to your local ABB representative, quoting the type
designation and serial number of the unit in question. A listing of ABB sales, support and
service contacts can be found by navigating to www.abb.com/searchchannels.
Product training
For information on ABB product training, navigate to www.abb.com/drives and select
Training courses.
www.abb.com/drives
www.abb.com/drivespartners